Fastening oil cylinder torque control method applied to driving tongs and driving tongs

Abstract

The invention relates to the technical field of drilling tool dismounting and mounting equipment in the petroleum industry, in particular to a torque control method for a punching and buckling oil cylinder applied to a driving clamp and the driving clamp, and the torque control method for the punching and buckling oil cylinder applied to the driving clamp comprises the following steps that the first extension length L1 and the second extension length L2 are obtained; calculating a first included angle alpha 1 and a first real-time force arm H1 according to the L1, pre-stored R1 and r1 and a first preset rule; according to the same rule, a second included angle alpha 2 and a second real-time force arm H2 are calculated according to L2, R2 and r2; acquiring a first rodless cavity pressure intensity P11, a second rod cavity pressure intensity P22, a first rod cavity pressure intensity P12 and a second rodless cavity pressure intensity P21; according to the parameters and the pre-stored sectional area of each cavity of the oil cylinder, the current torque M is calculated according to a second preset rule; and according to the relation between the current torque M and the preset target torque, the output torque of the first punching and buckling oil cylinder and the output torque of the second punching and buckling oil cylinder are controlled. The invention aims to solve the problems of torque overshoot and overlong screwing-on and screwing-off time in the prior art.

Description

Technical Field

[0001] The present application relates to the technical field of drilling tool disassembly and assembly equipment in the oil industry, and particularly relates to a method for controlling the torque of a punching cylinder applied to an active tong and an active tong. Background Art

[0002] In oil and gas drilling operations, the quality of the threaded connection of drilling tools is crucial, which is related to the wellbore sealing performance and structural strength. If the connection is not good, it is easy to cause accidents such as oil and gas leakage and blowout, resulting in waste of resources, economic losses and potential safety hazards.

[0003] At present, the common torque control methods include converting the torque by the pressure of the punching cylinder and measuring the torque by a tension and compression sensor. Among them, converting the torque by the pressure of the punching cylinder is to indirectly calculate the torque by using the cylinder pressure. However, during punching and unthreading, the force application direction and the length of the force arm of the cylinder are constantly changing, and it is difficult to establish a stable corresponding relationship between the torque and the cylinder pressure. Measuring the torque by a tension and compression sensor has high accuracy, but at different punching positions, it is impossible to establish a direct corresponding relationship between the measured torque and the pressure and flow rate. This results in problems such as torque overshoot (upward overshoot) and too long automatic control time for threading and unthreading in torque automatic control. Torque overshoot will cause the drilling tool thread to bear excessive stress and damage the thread; too long threading and unthreading time will reduce the operation efficiency, increase the cost, and may also cause fatigue damage to the drilling tool. Summary of the Invention

[0004] The present application provides a method for controlling the torque of a punching cylinder applied to an active tong and an active tong, wherein the method for controlling the torque of the punching cylinder applied to the active tong can solve the technical problems of torque overshoot (upward overshoot) and too long threading and unthreading time in the prior art.

[0005] In a first aspect, the present application provides a method for controlling the torque of a punching cylinder applied to an active tong. The active tong includes a first punching cylinder and a second punching cylinder arranged mirror-symmetrically, and the method includes the following steps: Obtain the first extended length L1 of the first piston rod of the first punching cylinder in real time through a first displacement sensor, and obtain the second extended length L2 of the second piston rod of the second punching cylinder in real time through a second displacement sensor; According to the first extended length L1, and the pre-stored first force arm radius R1 and first fixed radius r1 of the first punching cylinder, calculate the first included angle α1 between the first force arm radius R1 and the first fixed radius r1 and the first real-time force arm H1 of the first punching cylinder according to a first preset rule; According to the second extended length L2, and the pre-stored second force arm radius R2 and second fixed radius r2 of the second punching cylinder, calculate the second included angle α2 between the second force arm radius R2 and the second fixed radius r2 and the second real-time force arm H2 of the second punching cylinder by using the first preset rule; Obtain the first rodless cavity pressure P of the first buckling cylinder in real time through the first pressure sensor 11 and the second rod - end cavity pressure P of the second buckling cylinder 22 ; Obtain the first rod - end cavity pressure P of the first buckling cylinder in real time through the second pressure sensor 12 and the second rodless cavity pressure P of the second buckling cylinder 21 ; According to the first real - time arm length H1, the second real - time arm length H2, the first rodless cavity pressure P 11 , the first rod - end cavity pressure P 12 , the second rodless cavity pressure P 21 , the second rod - end cavity pressure P 22 , as well as the pre - stored first rodless cavity cross - sectional area A of the first buckling cylinder 11 and the first rod - end cavity cross - sectional area A 12 , and the second rodless cavity cross - sectional area A of the second buckling cylinder 21 and the second rod - end cavity cross - sectional area A 22 , calculate the current torque M according to the second preset rule, and the current torque M can be the current make - up torque M 上扣 or the current break - out torque M 卸扣 ; Control the output torques of the first buckling cylinder and the second buckling cylinder respectively according to the relationship between the current torque M and the preset target torque.

[0006] In a possible implementation manner, the calculating the first included angle α1 between the first force - arm radius R1 and the first fixed radius r1 and the first real - time arm length H1 of the first buckling cylinder according to the first extended length L1 and the pre - stored first force - arm radius R1 and first fixed radius r1 of the first buckling cylinder according to the first preset rule includes: Calculate the first included angle α1 and the first real - time arm length H1 according to the first extended length L1 and the pre - stored first force - arm radius R1 and first fixed radius r1 of the first buckling cylinder according to the following formula: L1 2 =R1 2 +r1 2 -2R1r1cosα1; S1 = R1r1sinα1 / 2 = L1H1 / 2.

[0007] In a possible implementation manner, the calculating the second included angle α2 between the second force - arm radius R2 and the second fixed radius r2 and the second real - time arm length H2 of the second buckling cylinder according to the second extended length L2 and the pre - stored second force - arm radius R2 and second fixed radius r2 of the second buckling cylinder by using the first preset rule includes: According to the second extended length L2, and the pre-stored second force arm radius R2 and second fixed radius r2 of the second punching and buckling oil cylinder, the second included angle α2 and the second real-time force arm H2 are calculated according to the following formula: L2 2 =R2 2 +r2 2 -2R2r2cosα2; S2 = R2r2sinα2 / 2 = L2H2 / 2.

[0008] In a possible implementation manner, according to the first real-time force arm H1, the second real-time force arm H2, the first rodless cavity pressure P 11 , the first rod cavity pressure P 12 , the second rodless cavity pressure P 21 , the second rod cavity pressure P 22 , and the pre-stored first rodless cavity cross-sectional area A 11 and the first rod cavity cross-sectional area A 12 of the first punching and buckling oil cylinder, and the second rodless cavity cross-sectional area A 21 and the second rod cavity cross-sectional area A 22 of the second punching and buckling oil cylinder, calculate the current torque M according to the second preset rule, and the current torque M can be the current make-up torque M 上扣 or the current unmake-up torque M 卸扣 includes: According to the first real-time force arm H1, the second real-time force arm H2, the first rodless cavity pressure P 11 , the first rod cavity pressure P 12 , the second rodless cavity pressure P 21 , the second rod cavity pressure P 22 , and the pre-stored first rodless cavity cross-sectional area A 11 and the first rod cavity cross-sectional area A 12 , and the second rodless cavity cross-sectional area A 21 and the second rod cavity cross-sectional area A 22 , calculate the current make-up torque M 上扣 and the current unmake-up torque M 卸扣 according to the following formula: M 上扣 = (P 11 A 11 H1 + P 22 A 22 H2) - (P 12 A 12 H1 + P 21 A 21 H2); M 卸扣 = (P 21 A 21H2+P 12 A 12 H1)-(P 22 A 22 H2+P 11 A 11 H1).

[0009] In a possible implementation manner, the controlling the output torques of the first and second impact and buckle cylinders respectively according to the relationship between the current torque M and a preset target torque includes: Dividing the preset target torque into multiple intervals proportionally. When the current torque M reaches the corresponding interval, automatically adjusting the opening degree of the corresponding electro-hydraulic proportional direction valve to control the flow rates of the first and second impact and buckle cylinders, and correspondingly adjusting the opening degree of the electro-hydraulic proportional pressure valve to control the pressures of the first and second impact and buckle cylinders.

[0010] In a possible implementation manner, during the entire threading process, each time the second displacement sensor retracts, the displacement change amount is recorded once. The rotation angle can be calculated based on the displacement change amount, and the accumulated rotation angle is converted into the number of turns of threading for performing a yield test and a destructive test on the threaded joint.

[0011] In a second aspect, the present application further provides an active clamp, including a support seat, an oil cylinder seat, a first impact and buckle cylinder, and a second impact and buckle cylinder. The oil cylinder seat is rotatably arranged on the support seat. The first impact and buckle cylinder and the second impact and buckle cylinder are both mirror-symmetrical about the central axis of the oil cylinder seat. The first impact and buckle cylinder and the second impact and buckle cylinder adopt the above-mentioned impact and buckle cylinder torque control method for the active clamp during threading.

[0012] In a possible implementation manner, it further includes a plurality of clamping cylinders, and the plurality of clamping cylinders are evenly distributed on the circumference of the oil cylinder seat.

[0013] In a possible implementation manner, a first displacement sensor is arranged in the first impact and buckle cylinder, and a second displacement sensor is arranged in the second impact and buckle cylinder. Wherein, the first displacement sensor is used to obtain the extending length of the piston rod of the first impact and buckle cylinder, and the second displacement sensor is used to obtain the extending length of the piston rod of the second impact and buckle cylinder.

[0014] In a possible implementation manner, it further includes a first rocker arm and a second rocker arm fixedly connected to the oil cylinder seat. The piston rod of the first impact and buckle cylinder is hinged to the first rocker arm, and the piston rod of the second impact and buckle cylinder is hinged to the second rocker arm.

[0015] The above technical solutions provided by the embodiments of the present application have the following advantages compared with the prior art: The torque control method for the punching and buckling oil cylinder applied to the active clamp provided by the embodiment of the present application obtains the extended lengths of the piston rods of the two punching and buckling oil cylinders in real time through two displacement sensors, calculates the real-time force arm by combining the pre-stored force arm radius and fixed radius, then obtains the pressures of different chambers through two pressure sensors, calculates the current torque according to a specific rule by combining the pre-stored cross-sectional area of the oil cylinder chamber, and compares it with the preset target torque, so as to control the pressure and flow rate of the first punching and buckling oil cylinder and the first punching and buckling oil cylinder, and prevent torque overshoot and excessive upper and lower buckling times. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application and used together with the specification to explain the principles of the present application.

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or in the prior art, the following will briefly introduce the accompanying drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] One or more embodiments are exemplarily illustrated by the pictures in the corresponding accompanying drawings. These exemplary illustrations do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements, unless otherwise stated, and the drawings in the drawings do not constitute a proportional limitation.

[0019] Figure 1 It is a diagram showing the relationship between the acting force arms of the first punching and buckling oil cylinder and the second punching and buckling oil cylinder provided by the embodiment of the present application.

[0020] Figure 2 It is an initial position diagram of the first punching and buckling oil cylinder and the second punching and buckling oil cylinder provided by the embodiment of the present application.

[0021] Figure 3 It is a position diagram after the first punching and buckling oil cylinder and the second punching and buckling oil cylinder act provided by the embodiment of the present application.

[0022] Figure 4 It is a structural schematic diagram of the active clamp provided by the embodiment of the present application.

[0023] Figure 5 It is a hydraulic schematic diagram provided by the embodiment of the present application.

[0024] Figure 6 It is a flowchart of the automatic control of the upper buckling torque provided by the embodiment of the present application.

[0025] Description of the reference numerals in the drawings: 1. First punching and clamping oil cylinder; 101. First piston rod; 102. First displacement sensor; 103. First pressure sensor; 104. First rodless cavity; 2. Second punching and clamping oil cylinder; 201. Second piston rod; 202. Second displacement sensor; 203. Second pressure sensor; 204. Second rodless cavity; 100. Active clamp; 3. Support seat; 4. Oil cylinder seat; 5. Clamping oil cylinder; 6. First rocker arm; 7. Second rocker arm; 301. First extension length L1; 302. Second extension length L2; 401. First force arm radius R1; 402. Second force arm radius R2; 403. Initial force arm radius R 初始 ; 404. Force arm radius R after action 动作后 ; 501. First fixed radius r1; 502. Second fixed radius r2; 503. Initial fixed radius r 初始 ; 504. Fixed radius r after action 动作后 ; 601. First included angle α1; 602. Second included angle α2; 603. Initial included angle α 初始 ; 604. Included angle β after action; 701. First real-time force arm H1; 702. Second real-time force arm H2; 10. Hydraulic pump; 11. Electromagnetic unloading valve; 12. Relief valve; 13. Manual proportional direction valve; 14. Electric proportional direction valve; 15. Traveling motor; 16. Backing clamp oil cylinder; 17. Accumulator; 18. Electric proportional pressure valve. Detailed implementation manners

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are some but not all of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the scope of protection of this application.

[0027] The following disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure of this application, components and settings of specific examples are described below. Of course, they are only examples and are not intended to limit this application. In addition, this application may repeat reference numerals and / or letters in different examples. This repetition is for the purpose of simplification and clarity and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0028] For ease of description, spatial relative relationship terms may be used in the text to describe the relative position relationship or movement of one element or feature shown in the figure with respect to another element or feature. These relative relationship terms are, for example, "inner", "outer", "inner side", "outer side", "below", "beneath", "above", "over", "front", "rear", etc. Such spatial relative relationship terms are intended to include different orientations of the device during use or operation in addition to the orientations depicted in the figure. For example, if the device in the figure undergoes a position flip, attitude change, or motion state change, then these directional indications will change accordingly. For example, an element described as "below other elements or features" or "beneath other elements or features" will subsequently be oriented as "above other elements or features" or "over other elements or features". Therefore, the exemplary term "below" can include both upward and downward orientations. The device can be oriented otherwise (rotated 90 degrees or in other directions) and the spatial relative relationship descriptors used in the text are interpreted accordingly.

[0029] To solve the technical problems of torque overshoot (upward overshoot) and excessive make-up time in the prior art, the present application provides a torque control method for a make-up cylinder applied to an active clamp. By calculating the real-time make-up torque, when the make-up torque approaches the target torque, the pressure of the make-up cylinder is automatically increased and the flow rate of the make-up cylinder is reduced to prevent overshoot of the make-up torque or excessive automatic make-up time.

[0030] Please refer to Figures 1 to 4 , a torque control method for a make-up cylinder applied to an active clamp provided by an embodiment of the present application. The active clamp 100 includes a first make-up cylinder 1 and a second make-up cylinder 2 arranged in mirror image, and the method includes the following steps: The first extension length L1301 of the first piston rod 101 of the first make-up cylinder is obtained in real time through the first displacement sensor 102, and the second extension length L2302 of the second piston rod 201 of the second make-up cylinder is obtained in real time through the second displacement sensor 202; According to the first extension length L1301, and the pre-stored first force arm radius R1401 and first fixed radius r1501 of the first make-up cylinder 1, the first included angle α1601 between the first force arm radius R1401 and the first fixed radius r1501 and the first real-time force arm H1701 of the first make-up cylinder 1 are calculated according to the first preset rule; According to the second extension length L2302, and the pre-stored second force arm radius R2402 and second fixed radius r2502 of the second make-up cylinder 2, the second included angle α2602 between the second force arm radius R2402 and the second fixed radius r2502 and the second real-time force arm H2702 of the second make-up cylinder 2 are calculated using the first preset rule; Obtain the pressure P of the first rodless cavity 104 of the first buckling cylinder 1 in real time through the first pressure sensor 103 11 and the pressure P of the second rod - end cavity (not shown in the attached drawing) of the second buckling cylinder 2 22 ; Obtain the pressure P of the first rod - end cavity (not shown in the attached drawing) of the first buckling cylinder 1 in real time through the second pressure sensor 203 12 and the pressure P of the second rodless cavity 204 of the second buckling cylinder 2 21 ; According to the first real - time lever arm H1701, the second real - time lever arm H2702, the pressure P of the first rodless cavity 104 11 , the pressure P of the first rod - end cavity 12 , the pressure P of the second rodless cavity 204 21 , the pressure P of the second rod - end cavity 22 , and the pre - stored cross - sectional area A of the first rodless cavity 104 of the first buckling cylinder 1 11 and the cross - sectional area A of the first rod - end cavity 12 , and the cross - sectional area A of the second rodless cavity 204 of the second buckling cylinder 2 21 and the cross - sectional area A of the second rod - end cavity 22 , calculate the current torque M according to the second preset rule. The current torque M can be the current make - up torque M 上扣 or the current break - out torque M 卸扣 ; Control the output torques of the first buckling cylinder 1 and the second buckling cylinder 2 respectively according to the relationship between the current torque M and the preset target torque.

[0031] In the above steps, regarding the data acquisition stage: Displacement data acquisition: Use the first displacement sensor 102 and the second displacement sensor 202 to respectively obtain the first extension length L1301 of the first piston rod 101 of the first buckling cylinder 1 and the second extension length L2302 of the second piston rod 201 of the second buckling cylinder 2 in real time. The extension lengths of the first piston rod 101 and the second piston rod 201 change with the progress of the buckling process. Obtaining this data in real time provides a basis for calculating the real - time lever arm.

[0032] Pressure data acquisition: Obtain the pressure P of the first rodless cavity 104 of the first buckling cylinder 1 through the first pressure sensor 103 11 and the pressure P of the second rod - end cavity of the second buckling cylinder 2 22 , and at the same time use the second pressure sensor 203 to obtain the pressure P of the first rod - end cavity of the first buckling cylinder 1 12 and the pressure P of the second rodless cavity of the second buckling cylinder 2 21 . The pressure changes in different chambers of the cylinder reflect the force - applying situation of the cylinder and are important parameters for calculating the torque.

[0033] Regarding the real-time moment arm calculation stage: Calculation of the first real-time moment arm H1701 of the first clamping cylinder 1: According to the obtained first extension length L1301, the pre-stored first moment arm radius R1401 and the first fixed radius r1501 of the first clamping cylinder 1, calculate the first included angle α1601 between the first moment arm radius R1401 and the first fixed radius r1501 according to the first preset rule (usually based on geometric relationships and trigonometric functions), and then calculate the first real-time moment arm H1701 of the first clamping cylinder 1. During the clamping process, the force application direction and moment arm length of the cylinder will change continuously. Calculating the moment arm in real time can more accurately reflect the force application situation of the cylinder.

[0034] Calculation of the second real-time moment arm H2702 of the second clamping cylinder 2: Similarly, according to the first preset rule, based on the second extension length L2302, the pre-stored second moment arm radius R2402 and the second fixed radius r2502 of the second clamping cylinder 2, calculate the second included angle α2602 between the second moment arm radius R2402 and the second fixed radius r2502 and the second real-time moment arm H2702 of the second clamping cylinder 2. It is also to obtain the moment arm information of the second clamping cylinder 2 in real time and accurately.

[0035] Regarding the torque calculation stage: According to the calculated first real-time moment arm H1701 and second real-time moment arm H2702, the first rodless cavity pressure P 11 , the first rod cavity pressure P 12 , the second rodless cavity pressure P 21 , the second rod cavity pressure P 22 , and the pre-stored first rodless cavity cross-sectional area A 11 and the first rod cavity cross-sectional area A 12 of the first clamping cylinder 1, the second rodless cavity cross-sectional area A 21 and the second rod cavity cross-sectional area A 22 of the second clamping cylinder 2, calculate the current torque M according to the second preset rule (usually based on the principle of moment balance). This formula takes into account multiple factors and can calculate the actual make-up torque more accurately.

[0036] Regarding the torque comparison stage According to the calculated cylinder force moment arm, calculate the maximum and minimum moment arms during the make-up process. According to the target set torque, calculate the minimum pressure P 小 and the maximum pressure P 大 corresponding to the maximum and minimum moment arms respectively.

[0037] The pressure setting P1 of the electro-hydraulic proportional pressure valve 18 is the same as P 小 , and the opening of the electro-hydraulic proportional directional valve 14 is 100%. Start the make-up operation.

[0038] Compare the calculated current torque M with a preset target torque. Through this comparison, it can be determined whether the current torque M meets the requirements. If it exceeds or is lower than the target torque, the working parameters of the first and second thread-tightening cylinders 1 and 2 can be adjusted in a timely manner to ensure the quality of the drill tool thread connection. Exemplarily, please refer to Figure 6 the flowchart of the automatic control of the make-up torque in [reference], divide the preset target torque into multiple intervals in proportion. When the current torque M reaches the corresponding interval, automatically adjust the opening degree of the corresponding electro-hydraulic proportional directional valve to control the flow rate of the first and second thread-tightening cylinders 1 and 2, and correspondingly adjust the opening degree of the electro-hydraulic proportional pressure valve to control the pressure of the first and second thread-tightening cylinders 1 and 2.

[0039] Specifically, when the current torque M is the current make-up torque M 上扣 , define the preset target torque as M 预设 , when: the current make-up torque M 上扣 satisfies the relationship 0 ≤ M 上扣 <50%M 预设 , set the value of the electro-hydraulic proportional pressure valve to P1, and the opening degree of the electro-hydraulic proportional directional valve is 100%.

[0040] the current make-up torque M 上扣 satisfies the relationship 50%M 预设 ≤ M 上扣 <80%M 预设 , set the value of the electro-hydraulic proportional pressure valve to P1, and the opening degree of the electro-hydraulic proportional directional valve is 50%.

[0041] the current make-up torque M 上扣 satisfies the relationship 80%M 预设 ≤ M 上扣 <95%M 预设 , calculate the corresponding pressure P2 according to the thread-tightening force arm near here, set the electro-hydraulic proportional pressure valve to P2, and the opening degree of the electro-hydraulic proportional directional valve is 20%.

[0042] the current make-up torque M 上扣 satisfies the relationship 95%M 预设 ≤ M 上扣 <M 预设 , calculate the corresponding pressure P3 according to the thread-tightening force arm near here, set the electro-hydraulic proportional pressure valve to P3, and the opening degree of the electro-hydraulic proportional directional valve is 5%. It should be noted that when the current make-up torque M 上扣 is in the range of 95%M 预设 ≤ M 上扣 <M 预设When in this interval, the value of the electro-hydraulic proportional pressure valve can automatically increase, and the pressure setting value does not exceed the maximum pressure P 大 .

[0043] The current make-up torque M 上扣 When the following relational expression is satisfied, the value of the electro-hydraulic proportional pressure valve is P4 and remains unchanged, the opening of the electro-hydraulic proportional directional valve is 0%, and the system unloads after holding pressure for 3S: M 上扣 =M 预设 .

[0044] In the actual application process, the current torque M can be the current make-up torque M 上扣 or the current breakout torque M 卸扣 . Specifically, when the active tong 100 is making up, the first impact tong cylinder 1 and the second impact tong cylinder 2 output the current make-up torque M 上扣 ; when the active tong 100 is breaking out, the first impact tong cylinder 1 and the second impact tong cylinder 2 output the current breakout torque M 卸扣 . In this embodiment, the first direction is the make-up direction, and the second direction is the breakout direction.

[0045] Compared with the prior art, the present application calculates the real-time moment arm by obtaining the extended lengths of the first piston rod 101 and the second piston rod 201 in real time, and then combines the pressure and the cross-sectional area to calculate the torque, fully considering the change factor of the moment arm, thereby establishing a more accurate torque calculation model and solving the problem of unstable corresponding relationship between torque and pressure.

[0046] Since the make-up torque and the breakout torque can be calculated and controlled more accurately, the problem of torque overshoot (overshoot) caused by inaccurate torque calculation is avoided, and the risk of damage to the drill pipe thread due to excessive stress is reduced. At the same time, accurate torque control can also improve the operation efficiency, and avoid increasing the cost and causing fatigue damage to the drill pipe due to too long make-up and breakout time.

[0047] In a possible implementation manner, according to the first extended length L1301, and the pre-stored first moment arm radius R1401 and the first fixed radius r1501 of the first impact tong cylinder 1, calculating the first included angle α1601 between the first moment arm radius R1401 and the first fixed radius r1501 and the first real-time moment arm H1701 of the first impact tong cylinder 1 according to the first preset rule includes: According to the first extended length L1301, and the pre-stored first moment arm radius R1401 and the first fixed radius r1501 of the first impact tong cylinder, the first included angle α1601 and the first real-time moment arm H1701 are calculated according to the following formula: L1 2 =R1 2 +r1 2 -2R1r1cosα1; S1 = R1r1sinα1 / 2 = L1H1 / 2.

[0048] Calculation of the first included angle α1601: The formula L1 2 = R1 2 + r1 2 - 2R1r1cosα1 is derived from the cosine theorem. In the triangle formed by the first lever arm radius R1401, the first fixed radius r1501, and the first extended length L1301 of the first piston rod 101 of the first punching cylinder 1, the cosine theorem establishes the relationship between the lengths of the three sides and one of the interior angles (α1). Given the known first extended length L1301, the first lever arm radius R1401, and the first fixed radius r1501, the first included angle α1601 can be solved.

[0049] During specific calculations, the formula can be first transformed into: cosα1 = (R1 2 + r1 2 - L1 2 ) / 2R1r1, and then the value of α1 can be obtained through the inverse cosine function α1 = arccos(R1 2 + r1 2 - L1 2 ) / 2R1r1.

[0050] Calculation of the first real-time lever arm H1701: In the formula S1 = R1r1sinα1 / 2 = L1H1 / 2, S1 represents the area of the triangle formed by the first extended length L1301, the first lever arm radius R1401, and the first fixed radius r1501. This formula utilizes two different expressions for the area of a triangle, one based on the sine of the included angle between two sides (R1r1sinα1 / 2), and the other based on the base and height (L1H1 / 2).

[0051] From R1r1sinα1 / 2 = L1H1 / 2, it can be deduced that H1 = (R1r1sinα1) / L1. Given that the first included angle α1601 has been calculated, substituting it into this formula can obtain the first real-time lever arm H1701 of the first punching cylinder 1.

[0052] Through the above method, the first real-time lever arm H1701 of the first punching cylinder 1 can be calculated in real time, fully considering the dynamic changes of the lever arm during the punching process, and can more accurately reflect the actual force application situation of the cylinder.

[0053] By accurately calculating the first real-time lever arm H1701 and combining parameters such as pressure and cross-sectional area, the current torque M can be calculated more accurately, thus avoiding torque calculation errors caused by changes in the lever arm, improving the accuracy of torque control, helping to ensure the quality of the drill tool thread connection, and reducing the accident risk caused by inaccurate torque control.

[0054] In a possible implementation manner, according to the second extended length L2302, and the second lever arm radius R2402 and the second fixed radius r2502 of the pre-stored second impact buckle oil cylinder 2, using the first preset rule to calculate the second included angle α2602 and the second real-time lever arm H2702 of the second lever arm radius R2402 and the second fixed radius r2502 includes: According to the second extended length L2302, and the second lever arm radius R2402 and the second fixed radius r2502 of the pre-stored second impact buckle oil cylinder 2, the second included angle α2602 and the second real-time lever arm H2702 are calculated according to the following formula: L2 2 =R2 2 +r2 2 -2R2r2cosα2; S2 = R2r2sinα / 2 = L2H2 / 2.

[0055] Regarding the calculation of the second included angle α2602: The formula L2 2 =R2 2 +r2 2 -2R2r2cosα2 is also based on the cosine theorem. In the triangle formed by the second lever arm radius R2402 of the second impact buckle oil cylinder 2, the second fixed radius r2502, and the second extended length L2302 of the second piston rod 201 of the second impact buckle oil cylinder 2, this formula describes the mathematical relationship between the lengths of the three sides and the second included angle α2602. After knowing the values of the second extended length L2302, the second lever arm radius R2402, and the second fixed radius r2502, by transforming the formula cosα2 = (R2 2 +r2 2 -L2 2 ) / 2R2r2, and then using the inverse cosine function α2 = arccos(R2 2 +r2 2 -L2 2 ) / 2R2r2, the second included angle α2602 can be calculated. This calculation process is the same as the calculation principle of the first included angle α1601 of the first impact buckle oil cylinder 1, only the objects are different.

[0056] Calculation of the second real-time force arm H2702: In the formula S2 = R2r2sinα2 / 2 = L2H2 / 2, S2 represents the area of the triangle formed by the second extended length L2302, the second force arm radius R2402, and the second fixed radius r2502. Here, two different calculation methods for the triangle area are used. One is based on the sine value of the included angle between two sides (R2r2sinα2 / 2), and the other is based on the base and height (L2H2 / 2).

[0057] From R2r2sinα2 / 2 = L2H2 / 2, we can derive (R2r2sinα2) / L2. Based on the already calculated second included angle α2602, substituting it into this formula can obtain the second real-time force arm H2702 of the second impact and buckle oil cylinder 2.

[0058] By calculating its second included angle α2602 and second real-time force arm H2702 in real time through the above method, the dynamic change of the force arm of the second impact and buckle oil cylinder 2 during the impact and buckle process is fully considered, and its actual force application state can be more accurately reflected.

[0059] In the entire impact and buckle oil cylinder torque control system, the force application conditions of the first impact and buckle oil cylinder 1 and the second impact and buckle oil cylinder 2 need to be considered simultaneously. Accurately calculating the second real-time force arm H2702 of the second impact and buckle oil cylinder 2 and combining other relevant parameters help improve the accuracy of torque calculation for the entire system. This helps ensure the quality of the drill pipe thread connection, reduce the risk of accidents such as drill pipe damage and oil and gas leakage caused by inaccurate torque control, and improve the safety and reliability of oil and gas drilling operations.

[0060] Using the first preset rule to calculate the second included angle α2602 and the second real-time force arm H2702 of the second impact and buckle oil cylinder 2 ensures the consistency of the calculation methods for the two impact and buckle oil cylinders. This not only simplifies the calculation process but also facilitates the unified management and optimization of the torque control for the entire system, improving the operability and maintainability of the torque control method.

[0061] Similarly, according to the formula L 2 =R 2 +r 2 -2R2r2cosα, the first included angle α1601 and the second included angle α2602 can be calculated, and the initial included angle α 初始 603 and the included angle β604 after action can also be calculated. Among them, the initial included angle α 初始 603 is the included angle between the initial force arm radius R 初始 403 and the initial fixed radius r 初始 503 of the second impact and buckle oil cylinder 2 in the initial state of the active clamp 100, and the included angle β604 after action is the force arm radius R 动作后404 and the fixed radius r after the action 动作后 The included angle between 504. For the specific calculation process, please refer to the above content and will not be elaborated here. According to the initial included angle α obtained previously 初始 The included angle β604 between 603 and after the action. The rotation angle θ1 of the impact buckle oil cylinder = α 初始 -β. Calculate the rotation angle of the impact buckle oil cylinder in sequence and accumulate the total angle θ.

[0062] According to the above method, for different measurement situations during the entire make-up process (for example, different displacement change amounts correspond to different L values), calculate the corresponding rotation angles θ1, θ2, θ3,..., θ of the impact buckle oil cylinder in sequence n .

[0063] Accumulate the rotation angles obtained each time to get the total angle θ = θ1 + θ2 +... + θ n .

[0064] It is known that the relationship between the number of rotation circles N and the total angle θ is N = θ / 360. Substitute the calculated total angle θ into this formula to obtain the number of rotation circles N during the make-up process.

[0065] During the entire make-up process, each time the second displacement sensor 202 retracts, record the displacement change amount. Since the rotation radius is constant, the rotation angle can be calculated based on the displacement change amount (the specific calculation method is similar to the previous solution of α2 or β, obtaining the corresponding length change through the displacement change amount and then substituting it into the formula to calculate the angle) until the final torque is reached. Convert the accumulated rotation angle into the number of make-up circles of the oil cylinder for yield test and destructive test of the make-up thread.

[0066] At this time, the first displacement sensor 102 records the displacement change amount of the extension, which is only used for verification. Specifically, the accuracy of the entire calculation process can be verified by comparing whether the displacement change amount recorded by the first displacement sensor 102 is consistent with the theoretical displacement change amount calculated based on the second displacement sensor 202 (derived based on the rotation angle and geometric relationship).

[0067] In a possible implementation manner, according to the first real-time force arm H1701, the second real-time force arm H2702, the pressure P of the first rodless cavity 104 11 , the pressure P of the first rod chamber 12 , the pressure P of the second rodless cavity 204 21 , the pressure P of the second rod chamber 22 , and the pre-stored cross-sectional area A of the first rodless cavity of the first impact buckle oil cylinder 1 11 and the cross-sectional area A of the first rod chamber 12 , and the cross-sectional area A of the second rodless cavity of the second impact buckle oil cylinder 2 21 and the cross-sectional area A of the second rod chamber22 , calculate the current torque M according to the second preset rule, and the current torque M can be the current make-up torque M 上扣 or the current breakout torque M 卸扣 including: According to the first real-time lever arm H1701, the second real-time lever arm H2702, the first rodless cavity pressure P 11 , the first rod cavity pressure P 12 , the second rodless cavity pressure P 21 , the second rod cavity pressure P 22 , and the pre-stored first rodless cavity cross-sectional area A of the first impact buckle oil cylinder 1 11 and the first rod cavity cross-sectional area A 12 , and the second rodless cavity cross-sectional area A of the second impact buckle oil cylinder 2 21 and the second rod cavity cross-sectional area A 22 , calculate the current make-up torque M 上扣 and the current breakout torque M 卸扣 as follows: M 上扣 = (P 11 A 11 H1 + P 22 A 22 H2) - (P 12 A 12 H1 + P 21 A 21 H2).

[0068] Positive torque part: P 11 A 11 H1 + P 22 A 22 H2 P 11 A 11 represents the force generated by the first rodless cavity 104 of the first impact buckle oil cylinder 1. According to the relationship between pressure and area F = PA (F is force, P is pressure, A is area), P 11 is the pressure of the first rodless cavity 104 of the first impact buckle oil cylinder, and A 11 is the cross-sectional area of its first rodless cavity. The product of the two gives the thrust of the first rodless cavity 104 on the first piston rod 101. Multiplying by the first real-time lever arm H1701 gives the torque generated by the first rodless cavity 104 of the first impact buckle oil cylinder 1.

[0069] Similarly, P 22 A 22 is the force generated by the second rod cavity (not shown in the drawing) of the second impact buckle oil cylinder 2 (here it is assumed that under specific working conditions, the pressure of the second rod cavity P 22The direction of the generated force is consistent with the direction of the overall torque calculation. Specifically, it needs to be analyzed in combination with the actual mechanical structure), and multiplied by the second real-time force arm H2702 to obtain the torque generated by the second rod chamber of the second clamping cylinder 2. The sum of the two constitutes the positive torque part, that is, the total torque that plays a positive pushing role in the threading process.

[0070] Negative torque part: P 12 A 12 H1 + P 21 A 21 H2 P 12 A 12 is the force generated by the first rod chamber of the first clamping cylinder 1 (not shown in the attached drawing), and multiplied by the first real-time force arm H1701 to obtain the torque generated by the first rod chamber of the first clamping cylinder 1.

[0071] P 21 A 21 is the force generated by the second rodless chamber 204 of the second clamping cylinder 2 (the direction also needs to be analyzed in combination with the actual mechanical structure), and multiplied by the second real-time force arm H2702 to obtain the torque generated by the second rodless chamber 204 of the second clamping cylinder 2. The sum of the two constitutes the negative torque part, that is, the total torque that plays a reverse obstructive role in the threading process.

[0072] Current threading torque M 上扣 Calculation of: Current threading torque M 上扣 is equal to the positive torque part minus the negative torque part, that is, M 上扣 = (P 11 A 11 H1 + P 22 A 22 H2) - (P 12 A 12 H1 + P 21 A 21 H2). This formula comprehensively considers the pressure, cross-sectional area, and real-time force arm of different chambers of the two clamping cylinders, and can accurately calculate the actual threading torque.

[0073] By obtaining the first real-time force arm H1701 and the second real-time force arm H2702 in real time, and combining the pressure and cross-sectional area of each chamber, the threading torque is calculated according to the above formula, fully considering various dynamic factors, and can more accurately calculate the actual threading torque, solving the problem of inaccurate torque calculation.

[0074] In oil and gas drilling operations, the quality of the threaded connections of drill tools is of utmost importance. Accurate torque calculation can ensure that the make-up torque meets the requirements, avoiding problems such as loose threaded connections and oil and gas leakage caused by insufficient torque; it can also prevent thread damage due to excessive torque, affecting the service life of the drill tool and the safety of the wellbore. The torque calculation method provided by this claim helps to improve the quality of the threaded connections of drill tools and ensure the smooth progress of drilling operations.

[0075] By precisely calculating the current make-up torque M 上扣 , it can be compared with the preset target torque, and torque deviations can be detected and adjusted in a timely manner. This helps to optimize the torque control process, improve operation efficiency, reduce repeated operations and equipment damage caused by improper torque control, and reduce drilling costs.

[0076] M 卸扣 = (P 21 A 21 H2 + P 12 A 12 H1) - (P 22 A 22 H2 + P 11 A 11 H1).

[0077] Positive torque part: P 21 A 21 H2 + P 12 A 12 H1 P 21 A 21 The meaning of P 21 A 21 is the pressure in the second rodless cavity 204 of the second make-up cylinder 2, and A 21 A 21 is the cross-sectional area of the second rodless cavity 204 of the second make-up cylinder 2. According to the relationship between pressure and area F = PA, P

[0078] P 12 A 12 The meaning of P 12 is the pressure in the first rod chamber of the first make-up cylinder 1, and A 12 is the cross-sectional area of the first rod chamber of the first make-up cylinder 1. P 12 A 12Calculate the force generated by the first rod-end chamber of the first impact and release oil cylinder 1, and multiply it by the first real-time force arm H1701 to obtain the torque generated by the first rod-end chamber (not shown in the drawing) of the first impact and release oil cylinder 1 during the shackle release process, which also plays a positive pushing role in shackle release. The sum of the two constitutes the positive torque part during the shackle release process.

[0079] Negative torque part: P 22 A 22 H2 + P 11 A 11 H1 P 22 A 22 Meaning: P 22 is the pressure in the second rod-end chamber of the second impact and release oil cylinder 2, and A 22 is the cross-sectional area of the second rod-end chamber of the second impact and release oil cylinder 2. P 22 A 22 Calculate the force generated by the second rod-end chamber of the second impact and release oil cylinder 2, and multiply it by the second real-time force arm H2702 to obtain the torque generated by the second rod-end chamber of the second impact and release oil cylinder 2 during the shackle release process. Under the shackle release working condition, the direction of this torque is opposite to the shackle release direction and plays a reverse hindering role in shackle release.

[0080] P 11 A 11 Meaning: P 11 is the pressure in the first rodless chamber of the first impact and release oil cylinder 1, and A 11 is the cross-sectional area of the first rodless chamber of the first impact and release oil cylinder 1. P 11 A 11 Calculate the force generated by the first rodless chamber 104 of the first impact and release oil cylinder 1, and multiply it by the first real-time force arm H1 to obtain the torque generated by the first rodless chamber 104 of the first impact and release oil cylinder 1 during the shackle release process, which also plays a reverse hindering role in shackle release. The sum of the two constitutes the negative torque part during the shackle release process.

[0081] Current shackle release torque M 卸扣 is equal to the positive torque part minus the negative torque part, that is, M 卸扣 =(P 21 A 21 H2 + P 12 A 12 H1)-(P 22 A 22 H2 + P 11 A 11 H1).

[0082] Specifically, the current make-up torque M 上扣 and the current shackle release torque M 卸扣 satisfy the following conditions: M 上扣 = M 卸扣The torque output by current active tongs 100 during breakout is always greater than the actual required torque. When the breakout torque is too high, the shear force on the threads may exceed the material strength, causing thread slippage, deformation, or even breakage. For example, during drilling operations, damage to the drill tool threads may cause the drill tool to fall off, leading to downhole accidents. However, the make-up and breakout torques of the present application are consistent, resulting in more uniform mechanical stress on the drill tool and avoiding excessive wear or fatigue damage caused by torque differences.

[0083] In a possible implementation, the following conditions are met: A 11 =A 21 , A 12 =A 22 .

[0084] A 11 =A 21 It indicates that the cross-sectional area of the first rodless cavity 104 of the first punching cylinder 1 is equal to the cross-sectional area of the second rodless cavity 204 of the second punching cylinder 2 .

[0085] A 12 =A 22 It means that the cross-sectional area of the first rod chamber of the first punching and buckling cylinder 1 is equal to the cross-sectional area of the second rod chamber of the second punching and buckling cylinder 2.

[0086] This means that the two punching cylinders are symmetrical in structure, and the cross-sectional areas of the rodless cavity and the rod cavity are the same.

[0087] Simplified make-up torque formula: The make-up torque formula is M 上扣 =(P 11 A 11 H1+P 22 A 22 H2)-(P 12 A 12 H1+P 21 A 21 H2). Due to A 11 =A 21 and A 12 =A 22 , the formula can be simplified to M 上扣 =A 11 (P 11 H1+P 22 H2-P 21 H2)-A 12 (P 12 H1). This simplification makes the calculation process more convenient and reduces the complexity caused by the differences in the cross-sectional areas of different cylinders.

[0088] Simplified formula for shackle torque: The formula for the shackle torque is M卸扣 = (P 21 A 21 H2 + P 12 A 12 H1) - (P 22 A 22 H2 + P 11 A 11 H1). Similarly, it can be simplified to M 卸扣 = A 11 (P 21 H2 - P 22 H2 - P 11 H1) + A 12 (P 12 H1).

[0089] When the cross-sectional areas of the two punching cylinders are equal, a more unified and simplified control strategy can be adopted. For example, when adjusting the cylinder pressure, more precise control can be carried out based on the same cross-sectional area parameter, reducing the complex adjustments required due to different cross-sectional areas and improving the accuracy and efficiency of control.

[0090] In terms of hardware design, since the cross-sectional areas of the two cylinders are the same, the same specifications of seals, pistons and other components can be used, reducing the design and manufacturing costs, and at the same time facilitating the maintenance and replacement of the equipment.

[0091] In a possible implementation, the following conditions are met: P 11 = P 22 , P 21 = P 12 .

[0092] P 11 = P 22 represents that the pressure in the first rodless chamber 104 of the first punching cylinder 1 is equal to the pressure in the rod chamber of the second punching cylinder 2.

[0093] P 21 = P 12 represents that the pressure in the second rodless chamber 204 of the second punching cylinder 2 is equal to the pressure in the first rod chamber of the first punching cylinder 1.

[0094] It can be understood that the first pressure sensor 103 is connected to the first rodless chamber 104 of the first punching cylinder 1 and the second rod chamber of the second punching cylinder 2, and detects the pressure in the first rodless chamber 104 of the first punching cylinder 1 and the pressure in the second rod chamber of the second punching cylinder 2; the second pressure sensor 203 is connected to the second rodless chamber 204 of the second punching cylinder 2 and the first rod chamber of the first punching cylinder 1, and detects the pressure in the first rodless chamber 104 of the first punching cylinder 1 and the pressure in the second rod chamber of the second punching cylinder 2.

[0095] The present application also provides an active tong 100, which includes a support base 3, an oil cylinder base 4, a first punching and buckling oil cylinder 1 and a second punching and buckling oil cylinder 2. The oil cylinder base 4 is rotatably arranged on the support base 3. The first punching and buckling oil cylinder 1 and the second punching and buckling oil cylinder 2 are mirror-symmetrical with respect to the central axis of the oil cylinder base 4. When making up the connection, the first punching and buckling oil cylinder 1 and the second punching and buckling oil cylinder 2 execute the above-mentioned torque control method for the punching and buckling oil cylinder applied to the active tong.

[0096] Exemplarily, during the operation of making up the connection of drill pipes or instruments, when it is necessary to connect the drill pipe on the disassembly and assembly rack, the active tong 100 starts to execute the operation of making up the connection. The operator sets the corresponding torque parameters according to the specifications of the drill pipe and the operation requirements. Under the guidance of the torque control method, the two punching and buckling oil cylinders of the active tong 100 accurately apply pressure, and through the action of the oil cylinder base 4, transfer the torque to the drill pipe. During the operation, parameters such as the pressure of different chambers of the oil cylinder and the force arm are monitored in real time, and adjustments are made according to the torque calculation formula to ensure that the make-up torque always remains within the set range. When the connection between one drill pipe and another drill pipe is completed, the active tong 100 stops working, completing an accurate and stable operation of making up the connection.

[0097] At the same time, it should be noted that the mirror-image arrangement of the first punching and buckling oil cylinder 1 and the second punching and buckling oil cylinder 2 can achieve the same make-up and breakout torques, meet the working conditions where the make-up torque of the thread is greater than the breakout torque, and is suitable for performing yield tests and failure tests on drill tool threads.

[0098] In a possible implementation manner, it further includes a plurality of clamping oil cylinders 5, and the plurality of clamping oil cylinders 5 are evenly distributed on the circumference of the oil cylinder base 4.

[0099] The plurality of clamping oil cylinders 5 are evenly distributed on the circumference of the oil cylinder base 4. This evenly distributed design has high symmetry and balance, and can ensure that during the clamping process, the clamping forces in all directions are evenly distributed. Exemplarily, during the operation of making up the connection of drill pipes or instruments, when it is necessary to connect a drill pipe to another drill pipe, the operator first starts the clamping oil cylinders 5, and the clamping heads evenly distributed on the circumference of the oil cylinder base 4 simultaneously apply clamping forces to the drill pipe, firmly fixing the drill pipe on the oil cylinder base 4. Then, the first punching and buckling oil cylinder 1 and the second punching and buckling oil cylinder 2 start to execute the operation of making up the connection according to the above-mentioned torque control method. During the operation, the system monitors the pressure of the clamping oil cylinders 5 and the pressure and force arm of the punching and buckling oil cylinders in real time, and makes adjustments according to the torque calculation formula to ensure that the make-up torque is accurate. After the make-up is completed, the clamping oil cylinders are loosened, and the drill pipe is firmly connected to the drill string, preparing for the next drilling operation.

[0100] In a possible implementation, a first displacement sensor 102 is provided inside the first impact and buckle oil cylinder 1, and a second displacement sensor 202 is provided inside the second impact and buckle oil cylinder 2. Among them, the first displacement sensor 102 is used to obtain the extended length of the first piston rod 101 of the first impact and buckle oil cylinder 1, and the second displacement sensor 202 is used to obtain the extended length of the second piston rod 201 of the second impact and buckle oil cylinder 2.

[0101] During oil drilling operations, when it is necessary to connect a drill pipe to another drill pipe, the first impact and buckle oil cylinder 1 and the second impact and buckle oil cylinder 2 start to perform the threading operation. The first displacement sensor 102 and the second displacement sensor 202 continuously monitor the extended lengths of the piston rods of the two oil cylinders. The operator can view the movement of the piston rods in real time through the monitoring system to ensure that the threading operation proceeds at a predetermined speed and process.

[0102] After calculating the real-time moment arm based on the extended length of the piston rod and combining with the pressure parameters of the oil cylinder, the system can accurately calculate the current threading torque. If there is a deviation between the torque value and the set target value, the system will automatically adjust the pressure and flow rate of the oil cylinder to make the torque gradually approach the target value.

[0103] In a possible implementation, it further includes a first rocker arm 6 and a second rocker arm 7 fixedly connected to the oil cylinder seat 4. The first piston rod 101 of the first impact and buckle oil cylinder 1 is hinged to the first rocker arm 6, and the second piston rod 201 of the second impact and buckle oil cylinder 2 is hinged to the second rocker arm 7. During oil drilling operations, when it is necessary to connect a drill pipe to the drill string, the first impact and buckle oil cylinder 1 and the second impact and buckle oil cylinder 2 start to work. The piston rods extend, and through the hinges with the first rocker arm 6 and the second rocker arm 7, they push the rocker arms to rotate around the oil cylinder seat 4. The rotational movement of the rocker arms transmits the force to the drill tool, generating torque and gradually tightening the drill pipe and the drill string.

[0104] Please refer to Figure 5 , the hydraulic schematic diagram for realizing the impact and buckle function in this application mainly consists of a hydraulic pump 10, an electromagnetic unloading valve 11, a relief valve 12, a manual proportional reversing valve 13, an electric proportional reversing valve 14, a travel motor 15, a back-up tong oil cylinder 16, an accumulator 17, an electric proportional pressure valve 18, a first pressure sensor 103, and a second pressure sensor 203. Specifically, the working process of the hydraulic system is as follows: In the preparation stage, the hydraulic pump 10 is started to provide power for the system. At this time, the electromagnetic unloading valve 11 is in the closed state, and the relief valve 12 adjusts the system pressure to the set value. Operate the manual proportional reversing valve 13 to make the clamping cylinders of the master tong 100 and the back-up tong (not shown in the drawing) extend, move the master tong 100 and the back-up tong to the appropriate positions, and clamp the drill tool. During the clamping process, the accumulator 17 plays a role in maintaining pressure to ensure the stability of the clamping force.

[0105] During the make-up and break-out operation stage, the control system sends electrical signals to the electro-hydraulic proportional directional valve 14 and the electro-hydraulic proportional pressure valve 18 according to a preset program to control the make-up or break-out actions of the make-up and break-out cylinders.

[0106] During the make-up and break-out process, the first pressure sensor 103 and the second pressure sensor 203 detect the system pressure in real time and feed the pressure signals back to the control system. The control system calculates the make-up and break-out torques based on the pressure values.

[0107] When the make-up torque reaches different set values of the preset target torque, the control system automatically adjusts the opening degrees of the electro-hydraulic proportional directional valve 14 and the electro-hydraulic proportional pressure valve 18 to reduce the flow rates of the first make-up and break-out cylinder 1 and the second make-up and break-out cylinder 2 to prevent overshoot of the torque.

[0108] During the system unloading stage, when the break-out reaches the set torque, the control system sends a signal and the electromagnetic unloading valve 11 acts to directly return the hydraulic oil output by the hydraulic pump to the oil tank to unload the system.

[0109] At this time, the hydraulic pump stops supplying oil to the system, the system pressure decreases, and all the actuators stop operating.

[0110] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For the parts not described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0111] In the description of the present application, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, 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, and thus should not be construed as a limitation to the present application.

[0112] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality" means two or more unless otherwise specifically defined.

[0113] In this application, unless otherwise clearly defined or limited, terms such as "installed", "connected", "linked", "fixed", etc. shall be understood in a broad sense. For example, it can be a connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0114] In this application, unless otherwise clearly defined or limited, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0115] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic expressions of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

[0116] Obviously, those skilled in the art can make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, provided that these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this application also intends to include these changes and modifications.

[0117] As described above, this is the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed in this application can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered by the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

Claims

1. A torque control method for a punching cylinder applied to an active clamp. The active clamp includes a first punching cylinder and a second punching cylinder which are mirror - set. It is characterized in that, It includes the following steps: Obtain the first extended length L1 of the first piston rod of the first impact button oil cylinder in real time through a first displacement sensor, and obtain the second extended length L2 of the second piston rod of the second impact button oil cylinder in real time through a second displacement sensor; According to the first extended length L1, the pre-stored first lever arm radius R1 and first fixed radius r1 of the first impact button oil cylinder, calculate the first included angle α1 between the first lever arm radius R1 and the first fixed radius r1 and the first real-time lever arm H1 of the first impact button oil cylinder according to a first preset rule; According to the second extended length L2, the pre-stored second lever arm radius R2 and second fixed radius r2 of the second impact button oil cylinder, calculate the second included angle α2 between the second lever arm radius R2 and the second fixed radius r2 and the second real-time lever arm H2 of the second impact button oil cylinder by using the first preset rule; Obtain the first rodless cavity pressure P of the first punching and buckling oil cylinder in real time through the first pressure sensor 11 and the second rod chamber pressure P of the second punching and buckling oil cylinder 22 ; Obtain the first rod chamber pressure P of the first punching and buckling oil cylinder in real time through the second pressure sensor 12 and the second rodless chamber pressure P of the second punching and buckling oil cylinder 21 ; According to the first real-time lever arm H1, the second real-time lever arm H2, the first rodless cavity pressure P 11 , the first rod cavity pressure P 12 , the second rodless cavity pressure P 21 , the second rod cavity pressure P 22 , as well as the pre-stored first rodless cavity cross-sectional area A of the first make-and-break oil cylinder 11 and the first rod cavity cross-sectional area A 12 , and the second rodless cavity cross-sectional area A of the second make-and-break oil cylinder 21 and the second rod cavity cross-sectional area A 22 , calculate the current torque M according to the second preset rule, and the current torque M can be the current make-up torque M 上扣 or the current breakout torque M 卸扣 ; Control the output torques of the first impact button oil cylinder and the second impact button oil cylinder respectively according to the relationship between the current torque M and the preset target torque.

2. The torque control method of the punching buckle oil cylinder applied to the active clamp according to claim 1, wherein The step of calculating the first included angle α1 between the first lever arm radius R1 and the first fixed radius r1 and the first real-time lever arm H1 of the first impact button oil cylinder according to the first extended length L1, the pre-stored first lever arm radius R1 and first fixed radius r1 of the first impact button oil cylinder, and according to a first preset rule includes: According to the first extended length L1, the pre-stored first lever arm radius R1 and first fixed radius r1 of the first impact button oil cylinder, calculate the first included angle α1 and the first real-time lever arm H1 according to the following formula: L1 2 = R1 2 + r1 2 - 2R1r1cosα1; S1 = R1r1sinα1 / 2 = L1H1 / 2.

3. The torque control method of the punching and buckling oil cylinder applied to the active clamp according to claim 1, wherein The step of calculating the second included angle α2 between the second lever arm radius R2 and the second fixed radius r2 and the second real-time lever arm H2 of the second impact button oil cylinder according to the second extended length L2, the pre-stored second lever arm radius R2 and second fixed radius r2 of the second impact button oil cylinder, and by using the first preset rule includes: According to the second extended length L2, the pre-stored second lever arm radius R2 and second fixed radius r2 of the second impact button oil cylinder, calculate the second included angle α2 and the second real-time lever arm H2 according to the following formula: L2 2 =R2 2 +r2 2 - 2R2r2 cos α2; S2 = R2r2sinα2 / 2 = L2H2 / 2.

4. The torque control method of the punching and buckling oil cylinder applied to the active clamp according to claim 1, characterized in that, According to the first real moment arm H1, the second real moment arm H2, the first rodless cavity pressure P 11 , the first rod cavity pressure P 12 , the second rodless cavity pressure P 21 , the second rod cavity pressure P 22 , and the pre-stored first rodless cavity cross-sectional area A of the first make-and-break oil cylinder 11 and the first rod cavity cross-sectional area A 12 , and the second rodless cavity cross-sectional area A of the second make-and-break oil cylinder 21 and the second rod cavity cross-sectional area A 22 , calculate the current torque M according to the second preset rule, and the current torque M can be the current make-up torque M 上扣 or the current break-out torque M 卸扣 including: According to the first real moment arm H1, the second real moment arm H2, the first rodless cavity pressure P 11 , the first rod cavity pressure P 12 , the second rodless cavity pressure P 21 , the second rod cavity pressure P 22 , as well as the pre-stored first rodless cavity cross-sectional area A 11 of the first make-up and break-out cylinder and the first rod cavity cross-sectional area A 12 , and the second rodless cavity cross-sectional area A 21 of the second make-up and break-out cylinder and the second rod cavity cross-sectional area A 22 , the current make-up torque M 上扣 and the current break-out torque M 卸扣 are calculated according to the following formula: M 上扣 = (P 11 A 11 H1 + P 22 A 22 H2) - (P 12 A 12 H1 + P 21 A 21 H2); M 卸扣 = (P 21 A 21 H2 + P 12 A 12 H1) - (P 22 A 22 H2 + P 11 A 11 )。 5. The torque control method of the punching and buckling oil cylinder applied to the active clamp according to claim 1, characterized in that, The step of controlling the output torques of the first impact button oil cylinder and the second impact button oil cylinder respectively according to the relationship between the current torque M and the preset target torque includes: Divide the preset target torque into multiple intervals in proportion. When the current torque M reaches the corresponding interval, automatically adjust the opening degree of the corresponding electro-hydraulic proportional directional valve to control the flow rates of the first impact button oil cylinder and the second impact button oil cylinder, and correspondingly adjust the opening degree of the electro-hydraulic proportional pressure valve to control the pressures of the first impact button oil cylinder and the second impact button oil cylinder.

6. The torque control method of the punching and buckling oil cylinder applied to the active clamp according to claim 1, characterized in that, During the entire threading process, every time the second displacement sensor retracts, record the displacement change amount. The rotation angle can be calculated according to the displacement change amount, and the accumulated rotation angle is converted into the number of turns of threading for yield tests and destructive tests on the threaded joint.

7. An active clamp, characterized in that, It includes a support base, an oil cylinder base, a first punching and buckling oil cylinder, and a second punching and buckling oil cylinder. The oil cylinder base is rotatably arranged on the support base. The first punching and buckling oil cylinder and the second punching and buckling oil cylinder are mirror-symmetrical with respect to the central axis of the oil cylinder base. When making a connection, the first punching and buckling oil cylinder and the second punching and buckling oil cylinder execute the punching and buckling oil cylinder torque control method for the active clamp described in any one of claims 1 to 6.

8. The active clamp according to claim 7, wherein It further includes a plurality of clamping oil cylinders, and the plurality of clamping oil cylinders are evenly distributed on the circumference of the oil cylinder base.

9. The active clamp according to claim 7, wherein A first displacement sensor is arranged in the first punching and buckling oil cylinder, and a second displacement sensor is arranged in the second punching and buckling oil cylinder. Wherein, the first displacement sensor is used to obtain the extending length of the piston rod of the first punching and buckling oil cylinder, and the second displacement sensor is used to obtain the extending length of the piston rod of the second punching and buckling oil cylinder.

10. The active clamp according to claim 9, characterized in that, It further includes a first rocker arm and a second rocker arm fixedly connected to the oil cylinder base. The piston rod of the first punching and buckling oil cylinder is hinged to the first rocker arm, and the piston rod of the second punching and buckling oil cylinder is hinged to the second rocker arm.

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