Full-automatic blowout preventer turnover device and control method

Abstract

The invention discloses a full-automatic blowout preventer turnover device and a control method, and relates to the technical field of blowout preventer turnover control, and the device comprises a base, a turnover beam, a turnover base, a hydraulic cylinder group, an arc-shaped supporting plate, a pulley vehicle, a hydraulic locking pin and a control system. The base is arranged below the overturning base, the overturning beam is rotationally connected with the overturning base, the arc-shaped supporting plate abuts against the blowout preventer, the hydraulic locking pin limits relative rotation of the overturning beam and the overturning base, and the control system is electrically connected with all execution components. According to the control method, overturning of the blowout preventer is achieved through mode switching, staged linkage overturning and automatic control of the locking pin, an overturning load threshold value is dynamically calculated through the weight sensor and the pressure sensor, the gravity center of the blowout preventer is inversely calculated in combination with pressure-angle data in the initial overturning stage so as to calibrate parameters, and the overload protection and state monitoring functions are achieved. The automatic degree, safety and adaptability of blowout preventer overturning operation are improved, and the blowout preventer overturning device is suitable for blowout preventer overhauling in the field of petroleum drilling.

Description

Technical Field

[0001] This invention relates to the field of blowout preventer (BOP) tilting control technology, and in particular to a fully automatic BOP tilting device and control method. Background Technology

[0002] In the oil drilling industry, blowout preventers (BOPs) are critical equipment, and their inspection and maintenance require frequent tilting operations. Traditional BOP tilting operations mostly rely on manual labor in conjunction with cranes. During manual tilting, the BOP's center of gravity shifts, which can easily lead to unstable hoisting, posing a risk of equipment falling or colliding. Furthermore, operators must work at close range, resulting in significant safety hazards. Manual operation requires multiple adjustments to the hoisting position, making the tilting process cumbersome, time-consuming, and difficult to meet the needs of batch maintenance. Summary of the Invention

[0003] To address the technical problem of low automation in existing tipping devices, this invention provides a fully automatic blowout preventer tipping device and control method.

[0004] The technical solution adopted in this invention is:

[0005] The first aspect of this application provides a fully automatic blowout preventer tilting device, including a base, a tilting beam, a tilting base, a tilting beam hydraulic cylinder, a tilting seat hydraulic cylinder, an arc-shaped support plate, an arc-shaped support plate hydraulic cylinder, a control system, a pulley trolley, a pulley trolley hydraulic cylinder, a connecting plate, and a hydraulic locking pin.

[0006] The base is disposed below the tilting base; the tilting beam is rotatably connected to the tilting base; one end of the arc-shaped support plate is connected to the tilting beam; the arc-shaped support plate is used to abut against one end of the blowout preventer.

[0007] The output end of the tilting beam hydraulic cylinder is connected to the tilting beam, and the output end of the tilting seat hydraulic cylinder is connected to the tilting base; the arc-shaped support plate hydraulic cylinder is connected to the arc-shaped support plate, the pulley trolley is slidably connected to the tilting beam, the pulley trolley hydraulic cylinder is connected to the pulley trolley, and the connecting plate is connected to the pulley trolley;

[0008] The hydraulic locking pins are connected to the flip base and the flip beam respectively; when the hydraulic locking pins are in the locked state, they are used to restrict the relative rotation of the flip base and the flip beam.

[0009] The control system is electrically connected to the hydraulic cylinders of the tilting beam, tilting seat, arc support plate, pulley, and hydraulic locking pin.

[0010] The second aspect of this application provides a fully automatic blowout preventer tilt control method, applied to the aforementioned control system, comprising the following steps:

[0011] Step 1: Initialize the control system; the tilting beam and tilting seat are in a horizontal position.

[0012] Step 2: The control system responds to the instruction of the manual / automatic switch knob to switch to manual mode, controls the hydraulic cylinder of the tilting beam to move, so that the tilting beam is raised to a vertical position, and stops moving when the vertical position indicator light is on;

[0013] Step 3: The control system controls the hydraulic locking pin to perform the locking action, and confirms that the locking is complete when the locking pin locking indicator light is on;

[0014] Step 4: The control system controls the hydraulic cylinder of the pulley cart to adjust the pulley cart to a suitable height, and controls the hydraulic cylinder of the arc support plate to make the arc support plate fit against the outside of the lower flange of the blowout preventer, thus completing the fixation of the blowout preventer;

[0015] Step 5: The control system responds to the instruction of switching the manual / automatic switch knob to automatic mode, and after confirming that the hydraulic locking pin is in the locked state, it activates the flip start button;

[0016] Step 6: The control system controls the hydraulic cylinders of the tilting beam and the tilting seat to perform the first tilting action in a coordinated manner, so that the tilting beam and the tilting seat perform a coordinated tilting action until the tilting beam is lowered to a horizontal state and the tilting seat is raised to a vertical state and stops.

[0017] Step 7: After the control system receives the flip start command for the second time, it first controls the hydraulic locking pin to unlock, and then controls the hydraulic cylinder of the flip seat to move so that the flip seat is lowered to a horizontal state.

[0018] Step 8: After the control system receives the flip start command for the third time, it controls the hydraulic cylinder of the flip seat to raise the flip seat to a vertical position, and then controls the hydraulic locking pin to automatically lock.

[0019] Step 9: After the control system receives the flipping start command for the fourth time, it controls the hydraulic cylinders of the flipping beam and the flipping seat to work together, so that the flipping beam and the flipping seat can perform a linked flipping until the flipping seat is lowered to a horizontal state and the flipping beam is raised to a vertical state and stops.

[0020] Step 10: In response to the manual mode switching command, the control system first controls the hydraulic locking pin to unlock, and then controls the hydraulic cylinder of the tilting beam to lower the tilting beam to a horizontal state, so that the equipment returns to its initial state.

[0021] Preferably, in steps 5 to 9, the control system activates the action stage indicator corresponding to the number of starts after each time it receives a flip start command, specifically as follows:

[0022] Upon receiving the flip start command for the first time, the first action indicator light is lit to indicate that the first flip action of step 6 is currently being performed;

[0023] After receiving the flip start command for the second time, the second action indicator light is turned on and the first action indicator light is turned off, which is used to indicate that the flip seat descent action of step 7 is currently being performed;

[0024] After receiving the flip start command for the third time, the third action indicator light is turned on and the second action indicator light is turned off, which is used to indicate that the flip seat is currently performing the lifting and locking action of step 8.

[0025] After receiving the flip start command for the fourth time, the fourth action indicator light is turned on and the third action indicator light is turned off, which is used to indicate that the second flip action of step 9 is currently being performed.

[0026] Preferably, the linkage logic between the action stage indicator and the number of starts is implemented through a counter of the control system. When the number of starts recorded by the counter matches the preset action stage, the corresponding indicator remains constantly lit until the next start command triggers the state switch.

[0027] Preferably, in steps 5 to 9, the control system performs a forced sequence check before receiving the flip-start command:

[0028] Before performing the first flipping action in step 6, the position sensor detects whether the flipping beam is in a vertical state, and the pressure sensor detects whether the hydraulic locking pin is in a locked state.

[0029] Before performing the descent action of the tilting seat in step 7, check whether the tilting seat is in a vertical state and whether the hydraulic locking pin is in a locked state.

[0030] Before performing the flipping seat lifting and locking action in step 8, check whether the flipping seat is in a horizontal state;

[0031] Before performing the second flipping action in step 9, check whether the flipping seat is in a vertical state and whether the hydraulic locking pin is in a locked state.

[0032] If the state corresponding to the previous action is not met, the current action will be prohibited from being started and the audible and visual alarm on the control cabinet panel will be triggered.

[0033] Preferably, the audible and visual alarm device and the action stage indicator light are integrated into the control panel of the electrical control cabinet. When it is detected that the previous action has not been completed, the corresponding action stage indicator light flashes and is accompanied by a buzzer alarm until the previous action is completed.

[0034] Preferably, during the flipping action in steps 6 and 9, the control system obtains the blowout preventer weight parameters through the blowout preventer weight sensor, calculates the theoretical flipping load by combining the preset center of gravity position data, and then sets the displacement monitoring threshold to a first preset multiple of the displacement corresponding to the theoretical load and the pressure monitoring threshold to a second preset multiple of the pressure corresponding to the theoretical load. When the real-time displacement or pressure exceeds the corresponding threshold, the system automatically triggers the shutdown protection and illuminates the flipping fault indicator light.

[0035] Preferably, when the flipping angle is within a preset angle range, the control system collects pressure data in real time through the pressure sensor of the flipping beam hydraulic cylinder, and establishes a pressure-angle relationship curve by combining the flipping angle fed back by the displacement sensor; based on this curve, the actual center of gravity position of the blowout preventer is derived through mechanical calculations, and the preset center of gravity position data is updated.

[0036] The beneficial effects of the present invention are at least one of the following: by limiting the relative rotation between the flipping base and the flipping beam by hydraulic locking pin, the component shaking or accidental displacement can be effectively prevented during the flipping process, reducing the risk of equipment collision or falling due to mechanical instability; the arc-shaped support plate and the blowout preventer are fixed by pulley cart in contact, forming a multi-point support structure, which further ensures the reliability of the blowout preventer fixation.

[0037] The control system is electrically connected to each hydraulic cylinder, enabling automated control of actions such as lifting and lowering of the tilting beam and linkage tilting of the tilting seat, reducing manual intervention and avoiding safety hazards caused by human fatigue or misjudgment. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the device structure of the present invention.

[0039] Figure 2 This is a schematic diagram of the method flow of the present invention.

[0040] Reference numerals: 1. Base; 2. Tilting beam; 3. Tilting base; 4. Tilting beam hydraulic cylinder; 5. Tilting seat hydraulic cylinder; 6. Arc-shaped support plate; 7. Arc-shaped support plate hydraulic cylinder; 8. Control system; 9. Pulley cart; 10. Pulley cart hydraulic cylinder; 11. Connecting plate; 12. Hydraulic locking pin. Detailed Implementation

[0041] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0042] Example 1 provides a fully automatic blowout preventer tilting device, such as Figure 1As shown, the system includes a base 1, a tilting beam 2, a tilting base 3, a tilting beam hydraulic cylinder 4, a tilting seat hydraulic cylinder 5, an arc-shaped support plate 6, an arc-shaped support plate hydraulic cylinder 7, and a control system 8. The base 1 is located below the tilting base 3. The tilting beam 2 and the tilting base 3 are hinged together by a pin. One end of the arc-shaped support plate 6 is connected to the tilting base 3. The arc-shaped support plate 6 is used to abut against one end of the blowout preventer, providing auxiliary support and fixation. The output end of the tilting beam hydraulic cylinder 4 is connected to the tilting beam 2, and the output end of the tilting seat hydraulic cylinder 5 is connected to the tilting base 3. The arc-shaped support plate hydraulic cylinder 7 is connected to the arc-shaped support plate 6. The control system 8 is electrically connected to the tilting beam hydraulic cylinder 4, the tilting seat hydraulic cylinder 5, and the arc-shaped support plate hydraulic cylinder 7.

[0043] Furthermore, such as Figure 2 As shown, it also includes a pulley cart 9, a pulley cart hydraulic cylinder 10, and a connecting plate 11. The pulley cart 9 is slidably connected to the tilting beam 2, the pulley cart hydraulic cylinder 10 is connected to the pulley cart 9, and the connecting plate 11 is connected to the pulley cart 9. The connecting plate 11 is used to connect to the other end of the blowout preventer.

[0044] Furthermore, such as Figure 2 As shown, it also includes a hydraulic locking pin 12, one end of which is fixed to the bottom connecting shaft support of the tilting beam; the other end corresponds to the pin hole on the top of the tilting seat, and locking is achieved through mechanical cooperation.

[0045] In one possible implementation, the control system 8 includes an electrical control cabinet, a solenoid directional valve, and indicator lights.

[0046] In the standard flipping operation, the initial state is as follows: both the flipping beam and the flipping seat are in a horizontal position, the hydraulic and electrical control systems are not activated, turn on the main power supply of the electrical control cabinet and the power source of the hydraulic control system, turn the "manual / automatic switch knob" on the operation panel to the left (manual mode), and start the "flipping beam lift" button.

[0047] The tilting beam is raised clockwise by the hydraulic cylinder. During the process, the inching control can stop at any angle until it reaches the vertical position, at which point the "vertical position indicator light" will illuminate.

[0048] Activate the "hydraulic locking pin locking button". The hydraulic locking pin will be inserted into the locking hole between the flip beam and the base. The "hydraulic locking pin locking indicator light" will illuminate, confirming that the flip beam is in a rigid fixed state.

[0049] On the ground, bolt the lifting plate to the flange of the blowout preventer, and use a crane to vertically lift the blowout preventer to the marked center position on the tilting base.

[0050] Press the "Pulley Cart Raise / Lower" button to vertically adjust the height of the pulley cart so that the lifting plate is aligned with the pulley cart connecting plate. Activate the "Pulley Cart Hydraulic Cylinder Raise / Lower" button to horizontally move the connecting plate to the lifting plate connection point and secure it with the connecting pin. Activate the "Arc Support Hydraulic Cylinder Raise" button to make the arc support plate fit against the outside of the lower flange of the blowout preventer, ensuring no displacement.

[0051] Example 2 provides a fully automatic blowout preventer tilt control method, applied to the above-mentioned control system, including the following steps:

[0052] Step 1: Initialize the control system; the tilting beam and tilting seat are in a horizontal state.

[0053] For example, when the control system is powered on, it performs a self-check on the status of each sensor and actuator, reads the initial value of the position sensor, and if it detects that the tilting beam or tilting seat deviates from the horizontal position by more than a threshold, it automatically drives the corresponding hydraulic cylinder to the horizontal zero position.

[0054] For example, if the tilting beam's tilt angle is +8° when the machine is started, the system automatically controls the tilting beam's hydraulic cylinder to retract until the tilt angle sensor reports 0°. This initialization eliminates uncertainty in the equipment's position, providing a reliable reference for subsequent automated operations.

[0055] Step 2: The control system responds to the instruction of switching the manual / automatic switch knob to manual mode, controls the hydraulic cylinder of the tilting beam to move, so that the tilting beam is raised to a vertical position, and stops moving when the vertical position indicator light is on.

[0056] For example, the manual / automatic switching knob refers to a mechanical or electronic switching device used to select the operating mode of the control system. The vertical position indicator light is an optical indicator triggered by a position sensor, indicating that the tilting beam has reached the vertical position.

[0057] The manual mode provides emergency operation or debugging functions, and the vertical positioning detection prevents overtravel from damaging the equipment. The operator turns the switch knob to the "manual" position, triggering the mode switch signal; the control system drives the tilting beam hydraulic cylinder to extend, simultaneously monitoring the tilt angle sensor data; when the tilting beam reaches the vertical position, the output signal illuminates the vertical positioning indicator and cuts off the power to the hydraulic cylinder.

[0058] Step 3: The control system controls the hydraulic locking pin to perform the locking action, and confirms that the locking is complete when the locking pin locking indicator light is on.

[0059] For example, the hydraulic locking pin is a hydraulically driven mechanical locking device that is inserted into the pin hole of the tilting beam and the tilting seat to achieve a rigid connection. The locking pin locking indicator light is triggered by a pressure sensor or position switch to indicate that the locking pin is in place and the rated pressure has been established.

[0060] The control system sends a locking command to the hydraulic pump station, driving the locking pin to insert into the pin hole; the pressure sensor monitors the oil pressure in real time, and when the pressure reaches the set threshold and does not drop for 5 seconds, it determines that locking is complete and illuminates the indicator light.

[0061] Step 4: The control system controls the hydraulic cylinder of the pulley cart to adjust the pulley cart to a suitable height, and controls the hydraulic cylinder of the arc support plate to make the arc support plate fit against the outside of the lower flange of the blowout preventer, thus completing the fixation of the blowout preventer.

[0062] For example, the control system calculates the target position of the pulley cart based on the specifications of the blowout preventer (such as diameter and height), drives the hydraulic cylinder of the pulley cart to move to the specified height, and simultaneously controls the hydraulic cylinder of the arc support plate to extend until the feedback value of the contact pressure sensor reaches the preset range.

[0063] Step 5: The control system responds to the instruction of switching the manual / automatic switch knob to automatic mode, and after confirming that the hydraulic locking pin is in the locked state, it activates the flip start button.

[0064] For example, when the operator turns the switch knob to automatic mode, the system first verifies the hydraulic locking pin pressure (≥15MPa) and the position sensor signal (locked in place). Once the conditions are met, the flip start button is activated.

[0065] Step 6: The control system controls the hydraulic cylinders of the tilting beam and the tilting seat to perform the first tilting action in conjunction, so that the tilting beam and the tilting seat perform a linkage tilting until the tilting beam is lowered to a horizontal state and the tilting seat is raised to a vertical state and stops.

[0066] For example, the control system synchronously drives the hydraulic cylinders of the tilting beam and the tilting seat according to a preset speed curve. During the tilting process, the system collects data from the weight sensor in real time and dynamically adjusts the thrust ratio of the two cylinders. When the tilting beam is lowered to a horizontal state and the tilting seat is raised to a vertical state, the operation stops.

[0067] Step 7: After the control system receives the flip start command for the second time, it first controls the hydraulic locking pin to unlock, and then controls the hydraulic cylinder of the flip seat to move so that the flip seat is lowered to a horizontal state.

[0068] For example, the system sends an unlocking command, the hydraulic pump station reverses to retract the locking pin; after the pressure sensor detects that the oil pressure is <2MPa, it drives the tilting seat hydraulic cylinder to retract to the horizontal position.

[0069] Step 8: After the control system receives the flip start command for the third time, it controls the hydraulic cylinder of the flip seat to raise the flip seat to a vertical position, and then controls the hydraulic locking pin to automatically lock.

[0070] Step 9: After the control system receives the flipping start command for the fourth time, it controls the hydraulic cylinders of the flipping beam and the flipping seat to work together, so that the flipping beam and the flipping seat can perform a linked flipping until the flipping seat is lowered to a horizontal state and the flipping beam is raised to a vertical state and stops.

[0071] Step 10: In response to the manual mode switching command, the control system first controls the hydraulic locking pin to unlock, and then controls the hydraulic cylinder of the tilting beam to lower the tilting beam to a horizontal state, so that the equipment returns to its initial state.

[0072] In one possible implementation, in steps 5 to 9, the control system activates the action stage indicator corresponding to the number of starts after each time it receives a flip start command, specifically:

[0073] Upon receiving the flip start command for the first time, the first action indicator light is lit to indicate that the first flip action of step 6 is currently being performed;

[0074] After receiving the flip start command for the second time, the second action indicator light is turned on and the first action indicator light is turned off, which is used to indicate that the flip seat descent action of step 7 is currently being performed;

[0075] After receiving the flip start command for the third time, the third action indicator light is turned on and the second action indicator light is turned off, which is used to indicate that the flip seat is currently performing the lifting and locking action of step 8.

[0076] After receiving the flip start command for the fourth time, the fourth action indicator light is turned on and the third action indicator light is turned off, which is used to indicate that the second flip action of step 9 is currently being performed.

[0077] In one possible implementation, the linkage logic between the action stage indicator and the number of starts is implemented through a counter of the control system. When the number of starts recorded by the counter matches the preset action stage, the corresponding indicator remains constantly lit until the next start command triggers a state switch.

[0078] In one possible implementation, during steps 5 to 9, the control system performs a forced sequence check before receiving the flip-start command:

[0079] Before performing the first flipping action in step 6, the position sensor detects whether the flipping beam is in a vertical state, and the pressure sensor detects whether the hydraulic locking pin is in a locked state.

[0080] Before performing the descent action of the tilting seat in step 7, check whether the tilting seat is in a vertical state and whether the hydraulic locking pin is in a locked state.

[0081] Before performing the flipping seat lifting and locking action in step 8, check whether the flipping seat is in a horizontal state;

[0082] Before performing the second flipping action in step 9, check whether the flipping seat is in a vertical state and whether the hydraulic locking pin is in a locked state.

[0083] If the state corresponding to the previous action is not met, the current action will be prohibited from being started and the audible and visual alarm on the control cabinet panel will be triggered.

[0084] In one possible implementation, the audible and visual alarm device and the action stage indicator light are integrated into the control panel of the electrical control cabinet. When it is detected that the previous action has not been completed, the corresponding action stage indicator light flashes and is accompanied by a buzzer alarm until the previous action is completed.

[0085] In one possible implementation, during the flipping action of steps 6 and 9, the control system obtains the weight parameters of the blowout preventer through the blowout preventer weight sensor, calculates the theoretical flipping load by combining the preset center of gravity position data, and then sets the displacement monitoring threshold to a first preset multiple of the displacement corresponding to the theoretical load and the pressure monitoring threshold to a second preset multiple of the pressure corresponding to the theoretical load. When the real-time displacement or pressure exceeds the corresponding threshold, the shutdown protection is automatically triggered and the flipping fault indicator light is illuminated.

[0086] For example, the control system reads the real-time value of the weight sensor (e.g., 200kN), calls the preset center of gravity position parameters (e.g., 0.8m from the flipping center), and calculates the theoretical flipping load based on the flipping angle (e.g., θ=45°).

[0087] The formula for calculating the theoretical overturning load is: F 理论 =mg·L·sinθ+Jα. (Where J is the moment of inertia and α is the angular acceleration).

[0088] The displacement threshold is set to 1.3 times the displacement corresponding to the theoretical load, and the pressure threshold is set to 1.2 times the pressure corresponding to the theoretical load. The system compares displacement / pressure sensor data with the thresholds in real time; if limits are exceeded, a shutdown is triggered and a fault indicator light illuminates. This avoids "false shutdown under light load" or "missed protection under heavy load" caused by fixed thresholds, improving the adaptability of overload protection.

[0089] In one possible implementation, when the flipping angle is within a preset angle range, the control system collects pressure data in real time through the pressure sensor of the flipping beam hydraulic cylinder, and establishes a pressure-angle relationship curve by combining the flipping angle fed back by the displacement sensor; based on this curve, the actual center of gravity position of the blowout preventer is derived through mechanical calculations, and the preset center of gravity position data is updated.

[0090] For example, the preset angle range can be a small angle range (such as 0°-10°) at the initial stage of the flip start. At this time, the influence of inertial force is small, and the pressure data can better reflect the center of gravity position.

[0091] The pressure-angle relationship curve records the correspondence between hydraulic cylinder pressure and the tilting angle during the tilting process, and is used to infer the position of the center of gravity. The mechanical inverse calculation model is a mathematical model based on the principle of torque balance, which derives the position of the center of gravity through hydraulic cylinder pressure and tilting angle.

[0092] Within the initial 0°-10° range of the flipping beam, hydraulic cylinder pressure data is collected in 1° increments (e.g., P1=50MPa@0=2°, P2=60MPa@0=5°). "P1=50MPa" indicates a pressure parameter of 50 MPa; "θ=2°" indicates a flipping angle of 2 degrees; "@" connects the two, meaning "when the flipping angle is 2 degrees, the corresponding hydraulic cylinder pressure is 50 MPa".

[0093] Establish a pressure-angle curve and fit a polynomial (e.g., P=aθ²+b0+c) using the least squares method.

[0094] Substituting into the torque balance equation: P·L 缸 =mg·L 重心 sinθ (where L) 缸 (For the hydraulic cylinder lever arm), the actual center of gravity position L is obtained by inverse kinematics. 重心 Update the preset parameters.

[0095] The embodiments described above are merely illustrative of specific implementations of the present invention, and while the descriptions are detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A fully automatic blowout preventer tilting device, characterized in that, It includes a base (1), a tilting beam (2), a tilting base (3), a tilting beam hydraulic cylinder (4), a tilting seat hydraulic cylinder (5), an arc-shaped support plate (6), an arc-shaped support plate hydraulic cylinder (7), a control system (8), a pulley cart (9), a pulley cart hydraulic cylinder (10), a connecting plate (11), and a hydraulic locking pin (12). The base (1) is located below the flip base (3); the flip beam (2) is rotatably connected to the flip base (3); one end of the arc-shaped support plate (6) is connected to the flip beam (2); the arc-shaped support plate (6) is used to abut against one end of the blowout preventer. The output end of the tilting beam hydraulic cylinder (4) is connected to the tilting beam (2), and the output end of the tilting seat hydraulic cylinder (5) is connected to the tilting base (3); the arc-shaped support plate hydraulic cylinder (7) is connected to the arc-shaped support plate (6), the pulley cart (9) is slidably connected to the tilting beam 2, the pulley cart hydraulic cylinder (10) is connected to the pulley cart (9), and the connecting plate (11) is connected to the pulley cart (9); The hydraulic locking pin (12) is connected to the flip base (3) and the flip beam (2) respectively; when the hydraulic locking pin (12) is in the locked state, it is used to restrict the relative rotation of the flip base (3) and the flip beam (2); The control system (8) is electrically connected to the tilting beam hydraulic cylinder (4), the tilting seat hydraulic cylinder (5), the arc support plate hydraulic cylinder (7), the pulley car hydraulic cylinder (10), and the hydraulic locking pin (12).

2. A fully automatic blowout preventer tilting control method, characterized in that, The control system applied to claim 1 includes the following steps: Step 1: Initialize the control system; the tilting beam and tilting seat are in a horizontal position. Step 2: The control system responds to the instruction of the manual / automatic switch knob to switch to manual mode, controls the hydraulic cylinder of the tilting beam to move, so that the tilting beam is raised to a vertical position, and stops moving when the vertical position indicator light is on; Step 3: The control system controls the hydraulic locking pin to perform the locking action, and confirms that the locking is complete when the locking pin locking indicator light is on; Step 4: The control system controls the hydraulic cylinder of the pulley cart to adjust the pulley cart to a suitable height, and controls the hydraulic cylinder of the arc support plate to make the arc support plate fit against the outside of the lower flange of the blowout preventer, thus completing the fixation of the blowout preventer; Step 5: The control system responds to the instruction of switching the manual / automatic switch knob to automatic mode, and after confirming that the hydraulic locking pin is in the locked state, it activates the flip start button; Step 6: The control system controls the hydraulic cylinders of the tilting beam and the tilting seat to perform the first tilting action in a coordinated manner, so that the tilting beam and the tilting seat perform a coordinated tilting action until the tilting beam is lowered to a horizontal state and the tilting seat is raised to a vertical state and stops. Step 7: After the control system receives the flip start command for the second time, it first controls the hydraulic locking pin to unlock, and then controls the hydraulic cylinder of the flip seat to move so that the flip seat is lowered to a horizontal state. Step 8: After the control system receives the flipping start command for the third time, it controls the hydraulic cylinder of the flipping seat to raise the flipping seat to a vertical position, and then controls the hydraulic locking pin to automatically lock. Step 9: After the control system receives the flipping start command for the fourth time, it controls the hydraulic cylinders of the flipping beam and the flipping seat to work together, so that the flipping beam and the flipping seat can perform a linked flipping until the flipping seat is lowered to a horizontal state and the flipping beam is raised to a vertical state and stops. Step 10: In response to the manual mode switching command, the control system first controls the hydraulic locking pin to unlock, and then controls the hydraulic cylinder of the tilting beam to lower the tilting beam to a horizontal state, so that the equipment returns to its initial state.

3. The fully automatic blowout preventer tilt control method according to claim 2, characterized in that, In steps 5 to 9, after receiving a flip start command each time, the control system activates the action stage indicator corresponding to the number of starts, specifically as follows: Upon receiving the flip start command for the first time, the first action indicator light is lit to indicate that the first flip action of step 6 is currently being performed; After receiving the flip start command for the second time, the second action indicator light is turned on and the first action indicator light is turned off, which is used to indicate that the flip seat descent action of step 7 is currently being performed; After receiving the flip start command for the third time, the third action indicator light is turned on and the second action indicator light is turned off, which is used to indicate that the flip seat is currently performing the lifting and locking action of step 8. After receiving the flip start command for the fourth time, the fourth action indicator light is turned on and the third action indicator light is turned off, which is used to indicate that the second flip action of step 9 is currently being performed.

4. The fully automatic blowout preventer tilting control method according to claim 3, characterized in that, The linkage logic between the action stage indicator and the number of starts is implemented through the counter of the control system. When the number of starts recorded by the counter matches the preset action stage, the corresponding indicator remains on until the next start command triggers the state switch.

5. The fully automatic blowout preventer tilting control method according to claim 4, characterized in that, In steps 5 to 9, the control system performs a forced sequence check before receiving the flip-start command: Before performing the first flipping action in step 6, the position sensor detects whether the flipping beam is in a vertical state, and the pressure sensor detects whether the hydraulic locking pin is in a locked state. Before performing the descent action of the tilting seat in step 7, check whether the tilting seat is in a vertical state and whether the hydraulic locking pin is in a locked state. Before performing the flipping seat lifting and locking action in step 8, check whether the flipping seat is in a horizontal state; Before performing the second flipping action in step 9, check whether the flipping seat is in a vertical state and whether the hydraulic locking pin is in a locked state. If the state corresponding to the previous action is not met, the current action will be prohibited from being started and the audible and visual alarm on the control cabinet panel will be triggered.

6. The fully automatic blowout preventer tilting control method according to claim 5, characterized in that, The audible and visual alarm device and the action stage indicator light are integrated into the control panel of the electrical control cabinet. When it is detected that the previous action has not been completed, the corresponding action stage indicator light flashes and is accompanied by a buzzer alarm until the previous action is completed.

7. The fully automatic blowout preventer tilting control method according to claim 6, characterized in that, During the flipping action in steps 6 and 9, the control system obtains the weight parameters of the blowout preventer through the blowout preventer weight sensor, calculates the theoretical flipping load by combining the preset center of gravity position data, and then sets the displacement monitoring threshold to the first preset multiple of the displacement corresponding to the theoretical load and the pressure monitoring threshold to the second preset multiple of the pressure corresponding to the theoretical load. When the real-time displacement or pressure exceeds the corresponding threshold, the system automatically triggers the shutdown protection and illuminates the flipping fault indicator light.

8. The fully automatic blowout preventer tilting control method according to claim 7, characterized in that, When the flipping angle is within the preset angle range, the control system collects pressure data in real time through the pressure sensor of the flipping beam hydraulic cylinder, and establishes a pressure-angle relationship curve by combining the flipping angle fed back by the displacement sensor; based on this curve, the actual center of gravity position of the blowout preventer is derived through mechanical calculations, and the preset center of gravity position data is updated.

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