Hydraulic servo system based on automatic quick connection check valve device

Abstract

The invention provides a hydraulic servo system based on an automatic quick connection check valve device, which comprises a motor, a hydraulic pump and an oil cylinder, a horizontal rotating device hydraulic circuit, a mechanical arm telescopic moving device hydraulic circuit, a back-up tong clamping device hydraulic circuit, a main tong head descending device hydraulic circuit, a spinning device hydraulic circuit and a well shut-in device hydraulic circuit are arranged in a hydraulic oil way between the hydraulic pump and the oil cylinder in parallel. According to the system, a signal receiver of a post-sequence loop is triggered through a sensor detection signal of a pre-sequence loop, so that the six loops can be executed strictly according to the sequence of horizontal rotation, mechanical arm stretching and retracting, back-up tong clamping, main tong descending, spinning and well closing; the full-automatic operation process of the automatic quick-connection check valve device is achieved, the quick-connection efficiency and reliability are remarkably improved, and the automatic quick-connection drilling tool check valve device can quickly, accurately and stably complete the quick-spraying task.

Description

Technical Field

[0001] The present application belongs to the technical field of oil and gas well control equipment, and more specifically, relates to a hydraulic servo system based on an automatic check valve device. Background Art

[0002] Blowouts are common during oilfield drilling operations. A blowout is the uncontrolled, continuous outflow of formation fluids (oil, gas, and water), either gushing out of the surface or invading other low-pressure layers. Immediate emergency measures must be taken to control the blowout. Otherwise, a loss of control can result in damage to drilling equipment, the abandonment of the well, and other property losses, potentially even casualties.

[0003] To ensure efficient and reliable installation of drill tool check valves, avoid manual errors during check valve installation, improve the efficiency and reliability of drill tool check valve installation, and prevent casualties during the process, automatic check valve installation devices have emerged. The most representative example is the structure disclosed in Chinese patent application (CN114622849A). However, existing automatic check valve installation devices require independent driving of each component, and the components cannot work together to automatically complete the required sequence. Summary of the Invention

[0004] In order to solve the technical problems existing in the prior art, the technical solution adopted in this application is: to provide a hydraulic servo system based on an automatic grab check valve device, including a motor, a hydraulic pump and a cylinder, the motor is connected to the hydraulic pump, and a horizontal rotation device hydraulic circuit, a mechanical arm telescopic movement device hydraulic circuit, a back-up tong clamping device hydraulic circuit, a main tong clamp head lowering device hydraulic circuit, a spin-lock device hydraulic circuit and a well shut-in device hydraulic circuit are arranged in parallel in the hydraulic oil circuit between the hydraulic pump and the cylinder; the horizontal rotation device hydraulic circuit is used to drive the mechanical arm of the automatic grab check valve device to rotate to a target angle, the mechanical arm telescopic movement device hydraulic circuit is used to drive the mechanical arm of the automatic grab check valve device to extend and retract to a specified position, the back-up tong clamping device hydraulic circuit is used to drive the back-up tong of the automatic grab check valve device to clamp the lower drill string, the main tong clamp head lowering device hydraulic circuit is used to drive the main tong of the automatic grab check valve device to descend to a target position, the spin-lock device hydraulic circuit is used to drive the turbine and check valve of the automatic grab check valve device to rotate to a target angle, and the well shut-in device hydraulic circuit is used to close the check valve.

[0005] Optionally, the hydraulic circuit of the horizontal rotation device includes a first three-position four-way solenoid reversing valve, a first signal receiver, a first hydraulic motor, a first angle sensor and a first one-way valve. The oil outlet of the hydraulic pump is connected to the oil inlet P of the first three-position four-way solenoid reversing valve through a first oil outlet pipeline. The oil return port T of the first three-position four-way solenoid reversing valve is connected to the oil return port of the cylinder through a first return oil pipeline. The first one-way valve is located in the first return oil pipeline. The two working oil ports of the first three-position four-way solenoid reversing valve are respectively connected to the oil inlet and oil outlet of the first hydraulic motor. The first hydraulic motor is connected to the first angle sensor. The first signal receiver is electrically connected to the first angle sensor and the first three-position four-way solenoid reversing valve respectively. The first angle sensor is connected to a first rotating load.

[0006] Optionally, the hydraulic circuit of the robotic arm telescopic moving device includes a second one-way valve, a second three-position four-way solenoid reversing valve, a second signal receiver, a first hydraulic cylinder, a first mass load, and a first displacement sensor. The oil outlet of the hydraulic pump is connected to the oil inlet P of the second three-position four-way solenoid reversing valve through a second oil outlet pipeline, and the oil return port T of the second three-position four-way solenoid reversing valve is connected to the oil return port of the cylinder through a second oil return pipeline. The second one-way valve is located in the second oil return pipeline, and the two working oil ports of the second three-position four-way solenoid reversing valve are respectively connected to the oil inlet and oil outlet of the first hydraulic cylinder. The first hydraulic cylinder is connected to the first mass load, and the first mass load is connected to the first displacement sensor. The second signal receiver is electrically connected to the first displacement sensor and the second three-position four-way solenoid reversing valve, respectively, and the second signal receiver is electrically connected to the first angle sensor.

[0007] Optionally, the hydraulic circuit of the back clamp clamping device includes a third one-way valve, a third three-position four-way solenoid reversing valve, a third signal receiver, a second hydraulic cylinder, a second mass load, and a pressure sensor. The oil outlet of the hydraulic pump is connected to the oil inlet P of the third three-position four-way solenoid reversing valve through a third oil outlet pipeline, and the oil return port T of the third three-position four-way solenoid reversing valve is connected to the oil return port of the cylinder through a third oil return pipeline. The third one-way valve is located in the third oil return pipeline. The two working oil ports of the third three-position four-way solenoid reversing valve are respectively connected to the oil inlet and oil outlet of the second hydraulic cylinder. The second hydraulic cylinder is connected to the second mass load, and the second mass load is connected to the pressure sensor. The third signal receiver is electrically connected to the pressure sensor and the third three-position four-way solenoid reversing valve, respectively, and the third signal receiver is electrically connected to the first displacement sensor.

[0008] Optionally, the hydraulic circuit of the main clamp head lowering device includes a fourth overflow valve, a fourth one-way valve, a fourth three-position four-way solenoid reversing valve, a fourth signal receiver, a third hydraulic cylinder, a third mass load, and a second displacement sensor. The oil outlet of the hydraulic pump is connected to the oil inlet P of the fourth three-position four-way solenoid reversing valve through a fourth oil outlet pipeline, and the oil return port T of the fourth three-position four-way solenoid reversing valve is connected to the oil return port of the cylinder through a fourth return oil pipeline, and a fourth one-way valve is provided in the fourth return oil pipeline. The two working oil ports of the fourth three-position four-way solenoid reversing valve are respectively connected to the oil inlet and oil outlet of the third hydraulic cylinder, the third hydraulic cylinder is connected to the third mass load, the third mass load is connected to the second displacement sensor, the fourth signal receiver is respectively electrically connected to the second displacement sensor and the fourth three-position four-way solenoid reversing valve, and the fourth signal receiver is electrically connected to the pressure sensor.

[0009] Optionally, the hydraulic circuit of the rotary buckle device includes a fifth one-way valve, a fifth three-position four-way solenoid reversing valve, a fifth signal receiver, a second hydraulic motor, a second angle sensor, and a second rotating load. The oil outlet of the hydraulic pump is connected to the oil inlet P of the fifth three-position four-way solenoid reversing valve through a fifth oil outlet pipeline, and the oil return port T of the fifth three-position four-way solenoid reversing valve is connected to the oil return port of the cylinder through a fifth return oil pipeline. The fifth one-way valve is located in the fifth return oil pipeline. The two working oil ports of the fifth three-position four-way solenoid reversing valve are respectively connected to the oil inlet and oil outlet of the second hydraulic motor. The second hydraulic motor is connected to the second angle sensor, and the second angle sensor is connected to the second rotating load. The fifth signal receiver is electrically connected to the second angle sensor and the fifth three-position four-way solenoid reversing valve, respectively, and the fifth signal receiver is electrically connected to the second displacement sensor.

[0010] Optionally, the hydraulic circuit of the well shut-in device includes a sixth one-way valve, a sixth three-position four-way solenoid reversing valve, a sixth signal receiver, a fourth hydraulic cylinder, a fourth mass load, and a third displacement sensor. The oil outlet of the hydraulic pump is connected to the oil inlet P of the sixth three-position four-way solenoid reversing valve through a sixth oil outlet pipeline, and the oil return port T of the sixth three-position four-way solenoid reversing valve is connected to the oil return port of the cylinder through a sixth return oil pipeline. The sixth one-way valve is located in the sixth return oil pipeline. The two working oil ports of the sixth three-position four-way solenoid reversing valve are respectively connected to the oil inlet and oil outlet of the fourth hydraulic cylinder. The fourth hydraulic cylinder is connected to the fourth mass load, and the fourth mass load is connected to the third displacement sensor. The sixth signal receiver is electrically connected to the third displacement sensor and the sixth three-position four-way solenoid reversing valve, respectively, and the sixth signal receiver is electrically connected to the second angle sensor.

[0011] Optionally, an accumulator is further included, and the accumulator is connected to the first oil outlet pipeline, the second oil outlet pipeline, the third oil outlet pipeline, the fourth oil outlet pipeline, the fifth oil outlet pipeline, and the sixth oil outlet pipeline respectively.

[0012] Optionally, the hydraulic circuit of the horizontal rotation device further includes a first overflow valve, one end of the first overflow valve is connected to the first return oil pipeline, and the other end of the first overflow valve is connected to the first oil outlet pipeline; the hydraulic circuit of the mechanical arm telescopic movement device further includes a second overflow valve, one end of the second overflow valve is connected to the second return oil pipeline, and the other end of the second overflow valve is connected to the second oil outlet pipeline; the hydraulic circuit of the back clamp clamping device further includes a third overflow valve, one end of the third overflow valve is connected to the third return oil pipeline, and the other end of the third overflow valve is connected to the third oil outlet The pipelines are connected; the hydraulic circuit of the main clamp head lowering device also includes a fourth overflow valve, one end of the fourth overflow valve is connected to the fourth return oil pipeline, and the other end of the fourth overflow valve is connected to the fourth oil outlet pipeline; the hydraulic circuit of the rotary buckle device also includes a fifth overflow valve, one end of the fifth overflow valve is connected to the fifth return oil pipeline, and the other end of the fifth overflow valve is connected to the fifth oil outlet pipeline; the hydraulic circuit of the well shut-in device also includes a sixth overflow valve, one end of the sixth overflow valve is connected to the sixth return oil pipeline, and the other end of the sixth overflow valve is connected to the sixth oil outlet pipeline.

[0013] The beneficial effect of the hydraulic servo system based on the automatic grabbing check valve device provided by the present application is that: compared with the existing technology, the present system triggers the signal receiver of the subsequent circuit through the sensor detection signal of the preceding circuit, so that the six circuits can be executed strictly in the order of "horizontal rotation → mechanical arm extension and retraction → back clamp clamping → main clamp lowering → rotation → well closing". Through the coordinated work of the above six circuits, the fully automatic operation process of the automatic grabbing check valve device is realized, which significantly improves the grabbing efficiency and reliability, and enables the automatic grabbing drill tool check valve device to complete the grabbing task quickly, accurately and stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0015] Figure 1 A schematic structural diagram of a hydraulic servo system based on an automatic check valve device provided in an embodiment of the present application;

[0016] Among them, the reference numerals in the figures are:

[0017] 100. Hydraulic circuit of the horizontal rotation device; 101. Hydraulic circuit of the mechanical arm telescopic movement device; 102. Hydraulic circuit of the backup clamping device; 103. Hydraulic circuit of the main clamp head lowering device; 104. Hydraulic circuit of the spindle device; 105. Hydraulic circuit of the well shut-in device; 1. Motor; 2. Hydraulic pump; 3. Accumulator; 4. Target rotation angle signal of the horizontal rotation device; 5. First signal receiver; 6. First three-position four-way solenoid reversing valve; 7. First hydraulic motor; 8. First angle sensor; 9. First rotation load; 10. Target displacement signal of the mechanical arm; 11. Second signal receiver; 12. First hydraulic cylinder; 13. First mass load; 14. First displacement sensor; 15. Second three-position four-way solenoid reversing valve; 16. Target pressure signal; 17. Third signal receiver; 18. Second hydraulic cylinder; 19. Second mass load; 20. Pressure sensor; 21. Third three-position four-way solenoid reversing valve; 22. Third relief valve ; 23. Third one-way valve; 24. Second one-way valve; 25. Second relief valve; 26. First relief valve; 27. First one-way valve; 28. Main clamp head target displacement signal; 29. ​​Third hydraulic cylinder; 30. Third mass load; 31. Fourth signal receiver; 32. Second displacement sensor; 33. Fourth relief valve; 34. Fourth one-way valve; 35. Fourth three-position four-way electromagnetic reversing valve; 36. Target rotation angle signal of the spindle device; 37. Fifth signal receiver device; 38. fifth relief valve; 39. fifth non-return valve; 40. fifth three-position four-way solenoid reversing valve; 41. target displacement signal of the well shut-in device; 42. sixth signal receiver; 43. sixth three-position four-way solenoid reversing valve; 44. sixth non-return valve; 45. sixth relief valve; 46. third displacement sensor; 47. fourth mass load; 48. fourth hydraulic cylinder; 49. second rotary load; 50. second angle sensor; 51. second hydraulic motor; 52. oil cylinder. DETAILED DESCRIPTION

[0018] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0019] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0020] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0022] See also Figure 1 , the hydraulic servo system based on the automatic check valve device provided in the embodiment of the present application is now described.

[0023] A hydraulic servo system based on an automatic check valve device, see Figure 1 The system comprises a motor 1, a hydraulic pump 2, and a cylinder 52. The motor 1 is connected to the hydraulic pump 2. The oil outlet of the cylinder 52 is connected to the oil inlet of the hydraulic pump 2. The oil outlet of the hydraulic pump 2 is connected via oil outlet pipelines to the hydraulic circuit 100 of the horizontal rotation device, the hydraulic circuit 101 of the mechanical arm telescopic movement device, the hydraulic circuit 102 of the backup tong clamping device, the hydraulic circuit 103 of the main tong head lowering device, the hydraulic circuit 104 of the spindle device, and the hydraulic circuit 105 of the well shut-in device, which are arranged in parallel. The oil return port of the cylinder 52 is connected to the above-mentioned hydraulic pipelines to form a circuit. The horizontal rotation device hydraulic circuit 100 drives the automatic check valve system's mechanical arm to rotate to the target angle. The mechanical arm telescopic movement device hydraulic circuit 101 drives the automatic check valve system's mechanical arm to extend and retract to the designated position. The backup tong clamping device hydraulic circuit 102 drives the backup tongs of the automatic check valve system to clamp the lower drill string. The main tong head lowering device hydraulic circuit 103 drives the main tongs of the automatic check valve system to descend to the target position. The spindle device hydraulic circuit 104 drives the turbine and check valve of the automatic check valve system to rotate to the target angle. The well shut-in device hydraulic circuit 105 closes the check valve. These six hydraulic circuits share a common motor 1, driving a hydraulic pump 2 and a cylinder 52.

[0024] In some embodiments of this application, see Figure 1The hydraulic circuit 100 of the horizontal rotation device includes a first three-position four-way solenoid reversing valve 6, a first signal receiver 5, a first hydraulic motor 7, a first angle sensor 8 and a first one-way valve 27. The oil outlet of the hydraulic pump 2 is connected to the oil inlet P of the first three-position four-way solenoid reversing valve 6 through a first oil outlet pipeline. The oil return port T of the first three-position four-way solenoid reversing valve 6 is connected to the oil return port of the cylinder 52 through a first oil return pipeline. The first one-way valve 27 is located in the first oil return pipeline. The two working oil ports of the first three-position four-way solenoid reversing valve 6 are respectively connected to the oil inlet and oil outlet of the first hydraulic motor 7. The first hydraulic motor 7 is connected to the first angle sensor 8. The first signal receiver 5 is electrically connected to the first angle sensor 8 and the first three-position four-way solenoid reversing valve 6 respectively. The first angle sensor 8 is connected to a first rotating load 9, which is simplified by a robotic arm.

[0025] In some embodiments of this application, see Figure 1 The hydraulic circuit 101 of the robotic arm telescopic moving device includes a second one-way valve 24, a second three-position four-way solenoid reversing valve 15, a second signal receiver 11, a first hydraulic cylinder 12, a first mass load 13, and a first displacement sensor 14. The oil outlet of the hydraulic pump 2 is connected to the oil inlet P of the second three-position four-way solenoid reversing valve 15 through a second oil outlet pipeline, and the oil return port T of the second three-position four-way solenoid reversing valve 15 is connected to the oil return port of the cylinder 52 through a second oil return pipeline. The second one-way valve 24 is located in the second oil return pipeline. The two working oil ports of the second three-position four-way solenoid reversing valve 15 are respectively connected to the oil inlet and oil outlet of the first hydraulic cylinder 12. The first hydraulic cylinder 12 is connected to the robotic arm simplified as the first mass load 13. The first mass load 13 is connected to the first displacement sensor 14. The second signal receiver 11 is electrically connected to the first displacement sensor 14 and the second three-position four-way solenoid reversing valve 15 respectively. The second signal receiver 11 is electrically connected to the first angle sensor 8.

[0026] In some embodiments of this application, see Figure 1The hydraulic circuit 102 of the backup clamp clamping device includes a third one-way valve 23, a third three-position four-way solenoid reversing valve 21, a third signal receiver 17, a second hydraulic cylinder 18, a second mass load 19, and a pressure sensor 20. The oil outlet of the hydraulic pump 2 is connected to the oil inlet P of the third three-position four-way solenoid reversing valve 21 through a third oil outlet pipeline. The oil return port T of the third three-position four-way solenoid reversing valve 21 is connected to the oil return port of the cylinder 52 through a third oil return pipeline. The third one-way valve 23 is located in the third oil return pipeline. The two working oil ports of the third three-position four-way solenoid reversing valve 21 are respectively connected to the oil inlet and oil outlet of the second hydraulic cylinder 18. The second hydraulic cylinder 18 is connected to the backup clamp simplified as the second mass load 19 for clamping the lower drill string. The second mass load 19 is connected to the pressure sensor 20. The third signal receiver 17 is electrically connected to the pressure sensor 20 and the third three-position four-way solenoid reversing valve 21 respectively. The third signal receiver 17 is electrically connected to the first displacement sensor 14.

[0027] In some embodiments of this application, see Figure 1 The hydraulic circuit 103 of the master tongs head lowering device includes a fourth relief valve 33, a fourth check valve 34, a fourth three-position four-way solenoid reversing valve 35, a fourth signal receiver 31, a third hydraulic cylinder 29, a third mass load 30, and a second displacement sensor 32. The oil outlet of the hydraulic pump 2 is connected to the oil inlet P of the fourth three-position four-way solenoid reversing valve 35 through a fourth oil outlet pipeline. The oil return port T of the fourth three-position four-way solenoid reversing valve 35 is connected to the oil return port of the oil cylinder 52 through a fourth oil return pipeline. A fourth check valve 34 is provided in the fourth oil return pipeline. The two working oil ports of the fourth three-position four-way solenoid reversing valve 35 are respectively connected to the oil inlet and oil outlet of the third hydraulic cylinder 29. The third hydraulic cylinder 29 is connected to the master tongs, which is simplified to the third mass load 30. The third mass load 30 is connected to the second displacement sensor 32. The fourth signal receiver 31 is electrically connected to the second displacement sensor 32 and the fourth three-position four-way solenoid reversing valve 35, respectively. The fourth signal receiver 31 is electrically connected to the pressure sensor 20.

[0028] In some embodiments of this application, see Figure 1The hydraulic circuit 104 of the rotary buckle device includes a fifth one-way valve 39, a fifth three-position four-way solenoid reversing valve 40, a fifth signal receiver 37, a second hydraulic motor 51, a second angle sensor 50, and a second rotating load 49. The oil outlet of the hydraulic pump 2 is connected to the oil inlet P of the fifth three-position four-way solenoid reversing valve 40 through a fifth oil outlet pipeline. The oil return port T of the fifth three-position four-way solenoid reversing valve 40 is connected to the oil return port of the cylinder 52 through a fifth oil return pipeline. The fifth one-way valve 39 is located in the fifth oil return pipeline. The two working oil ports of the fifth three-position four-way solenoid reversing valve 40 are respectively connected to the oil inlet and oil outlet of the second hydraulic motor 51. The second hydraulic motor 51 is connected to the second angle sensor 50. The second angle sensor 50 is connected to the turbine and check valve simplified as the second rotating load 49. The fifth signal receiver 37 is electrically connected to the second angle sensor 50 and the fifth three-position four-way solenoid reversing valve 40 respectively. The fifth signal receiver 37 is electrically connected to the second displacement sensor 32.

[0029] In some embodiments of this application, see Figure 1 The hydraulic circuit 105 of the well shut-in device includes a sixth one-way valve 44, a sixth three-position four-way solenoid reversing valve 43, a sixth signal receiver 42, a fourth hydraulic cylinder 48, a fourth mass load 47, and a third displacement sensor 46. The oil outlet of the hydraulic pump 2 is connected to the oil inlet P of the sixth three-position four-way solenoid reversing valve 43 through a sixth oil outlet pipeline. The oil return port T of the sixth three-position four-way solenoid reversing valve 43 is connected to the oil return port of the oil cylinder 52 through a sixth oil return pipeline. The sixth one-way valve 44 is located in the sixth oil return pipeline. The two working oil ports of the sixth three-position four-way solenoid reversing valve 43 are respectively connected to the oil inlet and oil outlet of the fourth hydraulic cylinder 48. The fourth hydraulic cylinder 48 is connected to a check valve simplified as the fourth mass load 47. The fourth mass load 47 is connected to the third displacement sensor 46. The sixth signal receiver 42 is electrically connected to the third displacement sensor 46 and the sixth three-position four-way solenoid reversing valve 43 respectively. The sixth signal receiver 42 is electrically connected to the second angle sensor 50.

[0030] In some embodiments of this application, see Figure 1 The system further includes an accumulator 3, which is connected to the first, second, third, fourth, fifth, and sixth oil outlet pipelines, respectively. The accumulator 3 can recover braking energy when switching between the various circuits.

[0031] In some embodiments of this application, see Figure 1The hydraulic circuit 100 of the horizontal rotation device further includes a first relief valve 26, one end of which is connected to the first return oil pipeline, and the other end of which is connected to the first oil outlet pipeline; the hydraulic circuit 101 of the mechanical arm telescopic movement device further includes a second relief valve 25, one end of which is connected to the second return oil pipeline, and the other end of which is connected to the second oil outlet pipeline; the hydraulic circuit 102 of the back clamp clamping device further includes a third relief valve 22, one end of which is connected to the third return oil pipeline, and the other end of which is connected to the third oil outlet pipeline. connected; the hydraulic circuit 103 of the main clamp head lowering device also includes a fourth overflow valve 33, one end of the fourth overflow valve 33 is connected to the fourth return oil pipeline, and the other end of the fourth overflow valve 33 is connected to the fourth oil outlet pipeline; the hydraulic circuit 104 of the spindle device also includes a fifth overflow valve 38, one end of the fifth overflow valve 38 is connected to the fifth return oil pipeline, and the other end of the fifth overflow valve 38 is connected to the fifth oil outlet pipeline; the hydraulic circuit 105 of the well shut-in device also includes a sixth overflow valve 45, one end of the sixth overflow valve 45 is connected to the sixth return oil pipeline, and the other end of the sixth overflow valve 45 is connected to the sixth oil outlet pipeline.

[0032] By independently setting a relief valve in each circuit, the maximum working pressure of the device's hydraulic circuit can be limited to prevent system overload.

[0033] The working principle of this system is as follows:

[0034] (1) Horizontal rotation control

[0035] When the device begins to engage the check valve, the operator inputs the target rotation angle signal 4 (e.g., 90°) for the horizontal rotation device into the first signal receiver 5. The first signal receiver 5 transmits the signal to the first three-position, four-way solenoid directional valve 6, energizing it and shifting the valve core to the left position. At this point, the internal oil circuits in the valve are connected: port P connects to port B, and port A connects to port T. Hydraulic oil output by the hydraulic pump 2 enters the lower end of the first hydraulic motor 7 through port PB of the first three-position, four-way solenoid directional valve 6, driving the first hydraulic motor 7 to rotate. Return oil from the upper end of the first hydraulic motor 7 flows back to the oil cylinder 52 through port AT. The first hydraulic motor 7 rotates the robotic arm, simplified as the first rotating load 9, to the target angle. During this process, the accumulator 3 recovers some energy for reuse, and the first relief valve 26 limits the maximum operating pressure of the circuit. When the first angle sensor 8 detects that the rotation angle has reached the target value, it sends a trigger signal to the second signal receiver 11.

[0036] (2) Robotic arm extension and retraction control

[0037] The second signal receiver 11 receives a signal from the first angle sensor 8 in the horizontal rotation device's hydraulic circuit 100. Simultaneously, it receives the target displacement signal 10, energizing the second three-position, four-way solenoid directional valve 15 and shifting the valve core to the right position. The oil circuit connections within the second three-position, four-way solenoid directional valve 15 are now: port A connects to port P, and port B connects to port T. Hydraulic oil enters the rodless chamber at the left end of the first hydraulic cylinder 12 through port PA, pushing the piston rod to the right. Hydraulic oil in the rodless chamber at the right end of the first hydraulic cylinder 12 flows back to the cylinder 52 through port BT. The piston rod drives the robotic arm, simplified as the first mass load 13, to the desired position. During this process, the accumulator 3 recovers energy and maintains a stable pressure, while the second relief valve 25 limits the maximum circuit pressure. When the first displacement sensor 14 detects that the robotic arm has extended to the target length, it sends a trigger signal to the third signal receiver 17.

[0038] (3) Clamping control of back clamp

[0039] The third signal receiver 17 receives a signal from the first displacement sensor 14 in the hydraulic circuit 101 of the manipulator arm extension and retraction mechanism. Simultaneously, it receives the target pressure signal 16, energizing the third, three-position, four-way solenoid directional valve 21 and shifting the valve core to the right position. The hydraulic connections within the third, three-position, four-way solenoid directional valve 21 are now: port A connects to port P, and port B connects to port T. Hydraulic oil enters the rodless chamber at the left end of the second hydraulic cylinder 18 through port PA, pushing the piston rod to the right. Hydraulic oil in the rodless chamber at the right end of the second hydraulic cylinder 18 flows back to the cylinder 52 through port BT. The piston rod drives the backup clamp, simplified as the second mass load 19, to clamp the lower drill string. The accumulator 3 recovers energy and maintains stable pressure, while the third relief valve 22 limits the maximum circuit pressure. When the pressure sensor 20 detects that the clamping force reaches the target value, for example, 15 MPa, it sends a trigger signal to the fourth signal receiver 31.

[0040] (4) Main clamp lowering control

[0041] The fourth signal receiver 31 receives a signal from the pressure sensor 20 in the hydraulic circuit 102 of the backup tong clamping device. Simultaneously, it receives the target displacement signal 28, energizing the fourth three-position, four-way solenoid directional control valve 35 and shifting the valve spool to the left position. The hydraulic connections within the fourth three-position, four-way solenoid directional control valve 35 are now: port A connects to port T, and port B connects to port P. Hydraulic oil enters the right-end rod chamber of the third hydraulic cylinder 29 through port PB, pushing the piston rod to the left. Hydraulic oil in the left-end rodless chamber of the third hydraulic cylinder 29 flows back to the cylinder 52 through port AT. The piston rod drives the master tong, simplified as the third mass load 30, to descend to the target position. The accumulator 3 recovers energy and maintains stable pressure, while the fourth relief valve 33 limits the maximum circuit pressure. When the second displacement sensor 32 detects that the master tong has descended to the target position, it sends a trigger signal to the fifth signal receiver 37.

[0042] (5) Turning operation control

[0043] The fifth signal receiver 37 receives a signal from the second displacement sensor 32 in the hydraulic circuit 103 of the master tongs assembly. Simultaneously, it receives the target rotation angle signal, energizing the fifth three-position, four-way solenoid directional valve 40 and shifting the valve spool to the left position. The oil connections within the fifth three-position, four-way solenoid directional valve 40 are now: port P connects to port B, and port A connects to port T. Hydraulic oil enters the lower end of the second hydraulic motor 51 through port PB, driving the second hydraulic motor 51. Return oil from the upper end of the second hydraulic motor 51 flows back to the cylinder 52 through port AT. The second hydraulic motor 51 drives the turbine (reduced to a rotating load 49) and the check valve to rotate to the target angle. The accumulator 3 recovers energy for reuse, and the fifth relief valve 38 limits the maximum circuit pressure. When the second angle sensor 50 detects that the rotation angle reaches the target value, for example, 720°, it sends a trigger signal to the sixth signal receiver 42.

[0044] (6) Well shut-in operation control

[0045] The sixth signal receiver 42 receives a signal from the second angle sensor 50 in the hydraulic circuit 104 of the screw-on device. At this time, the sixth signal receiver 42 also receives the target displacement signal, controlling the sixth three-position four-way solenoid reversing valve 43 to be energized and move the valve core to the left position. At this time, the oil circuit connection relationship within the sixth three-position four-way solenoid reversing valve 43 is: port P is connected to port B, and port A is connected to port T. Hydraulic oil enters the rod chamber at the right end of the fourth hydraulic cylinder 48 through port PB, pushing the piston rod to retract to the left. The fourth hydraulic cylinder 48 drives the pressure rod, which is simplified to the fourth mass load 47, to close the check valve. The accumulator 3 recovers energy for reuse, and the sixth relief valve 45 limits the maximum pressure of the circuit. When the third displacement sensor 46 detects that the pressure rod has retracted to the target position, a feedback signal is sent to the sixth three-position four-way solenoid reversing valve 43 to maintain the system pressure state.

[0046] This system triggers the signal receiver of the subsequent circuit through the sensor detection signal of the preceding circuit, so that the six circuits can be strictly executed in the order of "horizontal rotation → mechanical arm extension and extension → backup tong clamping → main tong lowering → screwing → well shut-in". Through the coordinated operation of these six circuits, a fully automatic operation process for the automatic connection of the check valve device is realized, significantly improving the connection efficiency and reliability.

[0047] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A hydraulic servo system based on an automatic check valve device, characterized in that:

14. The hydraulic system of claim 13, wherein the hydraulic circuit of the hydraulic pump is connected to the hydraulic pump, and the hydraulic circuit of the main clamp head lowering device is connected to the main clamp head lowering device. The hydraulic circuit of the main clamp head lowering device is connected to the hydraulic circuit of the main clamp head lowering device. The hydraulic circuit of the main clamp head lowering device is connected to the hydraulic circuit of the main clamp head lowering device. The hydraulic circuit of the main clamp head lowering device is connected to the hydraulic circuit of the main clamp head lowering device. The hydraulic circuit of the main clamp head lowering device is connected to the hydraulic circuit of the main clamp head lowering device. The hydraulic circuit of the main clamp head lowering device is connected to the hydraulic circuit of the main clamp head lowering device. The hydraulic circuit of the main clamp head lowering device is connected to the hydraulic circuit of the main clamp head lowering device. The hydraulic circuit of the main clamp head lowering device is connected to the hydraulic circuit of the main clamp head lowering device. The hydraulic circuit of the main clamp head lowering device is connected to the hydraulic circuit of the main clamp head lowering device. The hydraulic circuit of the main clamp head lowering device is connected to the hydraulic circuit of the main clamp head lowering device. The hydraulic circuit of the main clamp head lowering device is connected to the hydraulic circuit of the main clamp head lowering device. The hydraulic circuit of the main clamp head lowering device is connected to the hydraulic circuit of the main clamp head lowering device.

2. The hydraulic servo system based on the automatic check valve device according to claim 1 is characterized in that: The hydraulic circuit of the horizontal rotation device includes a first three-position four-way solenoid reversing valve, a first signal receiver, a first hydraulic motor, a first angle sensor and a first one-way valve. The oil outlet of the hydraulic pump is connected to the oil inlet P of the first three-position four-way solenoid reversing valve through a first oil outlet pipeline. The oil return port T of the first three-position four-way solenoid reversing valve is connected to the oil return port of the cylinder through a first oil return pipeline. The first one-way valve is located in the first oil return pipeline. The two working oil ports of the first three-position four-way solenoid reversing valve are respectively connected to the oil inlet and oil outlet of the first hydraulic motor. The first hydraulic motor is connected to the first angle sensor. The first signal receiver is electrically connected to the first angle sensor and the first three-position four-way solenoid reversing valve respectively. The first angle sensor is connected to a first rotating load.

3. The hydraulic servo system based on the automatic check valve device according to claim 2 is characterized in that: The hydraulic circuit of the robotic arm telescopic moving device includes a second one-way valve, a second three-position four-way solenoid reversing valve, a second signal receiver, a first hydraulic cylinder, a first mass load, and a first displacement sensor. The oil outlet of the hydraulic pump is connected to the oil inlet P of the second three-position four-way solenoid reversing valve through a second oil outlet pipeline, and the oil return port T of the second three-position four-way solenoid reversing valve is connected to the oil return port of the cylinder through a second oil return pipeline. The second one-way valve is located in the second oil return pipeline. The two working oil ports of the second three-position four-way solenoid reversing valve are respectively connected to the oil inlet and oil outlet of the first hydraulic cylinder. The first hydraulic cylinder is connected to the first mass load, and the first mass load is connected to the first displacement sensor. The second signal receiver is electrically connected to the first displacement sensor and the second three-position four-way solenoid reversing valve, respectively, and the second signal receiver is electrically connected to the first angle sensor.

4. The hydraulic servo system based on the automatic check valve device according to claim 3 is characterized in that: The hydraulic circuit of the back-up clamp clamping device includes a third one-way valve, a third three-position four-way solenoid reversing valve, a third signal receiver, a second hydraulic cylinder, a second mass load, and a pressure sensor. The oil outlet of the hydraulic pump is connected to the oil inlet P of the third three-position four-way solenoid reversing valve through a third oil outlet pipeline, and the oil return port T of the third three-position four-way solenoid reversing valve is connected to the oil return port of the cylinder through a third oil return pipeline. The third one-way valve is located in the third oil return pipeline. The two working oil ports of the third three-position four-way solenoid reversing valve are respectively connected to the oil inlet and oil outlet of the second hydraulic cylinder. The second hydraulic cylinder is connected to the second mass load, and the second mass load is connected to the pressure sensor. The third signal receiver is electrically connected to the pressure sensor and the third three-position four-way solenoid reversing valve, respectively, and the third signal receiver is electrically connected to the first displacement sensor.

5. The hydraulic servo system based on the automatic check valve device according to claim 4 is characterized in that: The hydraulic circuit of the main clamp head lowering device includes a fourth overflow valve, a fourth one-way valve, a fourth three-position four-way solenoid reversing valve, a fourth signal receiver, a third hydraulic cylinder, a third mass load, and a second displacement sensor. The oil outlet of the hydraulic pump is connected to the oil inlet P of the fourth three-position four-way solenoid reversing valve through a fourth oil outlet pipeline. The oil return port T of the fourth three-position four-way solenoid reversing valve is connected to the oil return port of the cylinder through a fourth return oil pipeline, and a fourth one-way valve is provided in the fourth return oil pipeline. The two working oil ports of the fourth three-position four-way solenoid reversing valve are respectively connected to the oil inlet and oil outlet of the third hydraulic cylinder. The third hydraulic cylinder is connected to the third mass load, and the third mass load is connected to the second displacement sensor. The fourth signal receiver is electrically connected to the second displacement sensor and the fourth three-position four-way solenoid reversing valve, respectively, and the fourth signal receiver is electrically connected to the pressure sensor.

6. The hydraulic servo system based on the automatic check valve device according to claim 5 is characterized in that: The hydraulic circuit of the spin button device includes a fifth one-way valve, a fifth three-position four-way solenoid reversing valve, a fifth signal receiver, a second hydraulic motor, a second angle sensor, and a second rotating load. The oil outlet of the hydraulic pump is connected to the oil inlet P of the fifth three-position four-way solenoid reversing valve through a fifth oil outlet pipeline. The oil return port T of the fifth three-position four-way solenoid reversing valve is connected to the oil return port of the cylinder through a fifth oil return pipeline. The fifth one-way valve is located in the fifth oil return pipeline. The two working oil ports of the fifth three-position four-way solenoid reversing valve are respectively connected to the oil inlet and oil outlet of the second hydraulic motor. The second hydraulic motor is connected to the second angle sensor, and the second angle sensor is connected to the second rotating load. The fifth signal receiver is electrically connected to the second angle sensor and the fifth three-position four-way solenoid reversing valve, respectively, and the fifth signal receiver is electrically connected to the second displacement sensor.

7. The hydraulic servo system based on the automatic check valve device according to claim 6 is characterized in that: The hydraulic circuit of the well shut-in device includes a sixth one-way valve, a sixth three-position four-way solenoid reversing valve, a sixth signal receiver, a fourth hydraulic cylinder, a fourth mass load, and a third displacement sensor. The oil outlet of the hydraulic pump is connected to the oil inlet P of the sixth three-position four-way solenoid reversing valve through a sixth oil outlet pipeline. The oil return port T of the sixth three-position four-way solenoid reversing valve is connected to the oil return port of the oil cylinder through a sixth oil return pipeline. The sixth one-way valve is located in the sixth oil return pipeline. The two working oil ports of the sixth three-position four-way solenoid reversing valve are respectively connected to the oil inlet and oil outlet of the fourth hydraulic cylinder. The fourth hydraulic cylinder is connected to the fourth mass load, and the fourth mass load is connected to the third displacement sensor. The sixth signal receiver is electrically connected to the third displacement sensor and the sixth three-position four-way solenoid reversing valve, respectively. The sixth signal receiver is electrically connected to the second angle sensor.

8. The hydraulic servo system based on the automatic check valve device according to claim 7 is characterized in that: It also includes an accumulator, which is connected to the first oil outlet pipeline, the second oil outlet pipeline, the third oil outlet pipeline, the fourth oil outlet pipeline, the fifth oil outlet pipeline, and the sixth oil outlet pipeline respectively.

9. The hydraulic servo system based on the automatic check valve device according to claim 8, characterized in that: The hydraulic circuit of the horizontal rotation device also includes a first relief valve, one end of which is connected to the first return oil pipeline, and the other end of which is connected to the first oil outlet pipeline; the hydraulic circuit of the mechanical arm telescopic movement device also includes a second relief valve, one end of which is connected to the second return oil pipeline, and the other end of which is connected to the second oil outlet pipeline; the hydraulic circuit of the back-up clamping device also includes a third relief valve, one end of which is connected to the third return oil pipeline, and the other end of which is connected to the third oil outlet pipeline. connected; the hydraulic circuit of the main clamp head lowering device also includes a fourth overflow valve, one end of the fourth overflow valve is connected to the fourth return oil pipeline, and the other end of the fourth overflow valve is connected to the fourth oil outlet pipeline; the hydraulic circuit of the rotary buckle device also includes a fifth overflow valve, one end of the fifth overflow valve is connected to the fifth return oil pipeline, and the other end of the fifth overflow valve is connected to the fifth oil outlet pipeline; the hydraulic circuit of the well shut-in device also includes a sixth overflow valve, one end of the sixth overflow valve is connected to the sixth return oil pipeline, and the other end of the sixth overflow valve is connected to the sixth oil outlet pipeline.

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