All-electric micro-hydraulic intelligent control iron roughneck

Abstract

The invention discloses an all-electric micro-hydraulic intelligent control iron roughneck, and relates to the technical field of automatic machines and tools in the petroleum industry, and the iron roughneck comprises a guide mechanism, a mechanical arm mechanism, a positioning mechanism, a driving mechanism and a make-up evaluation system. The screwing-on evaluation system constructs a torque-displacement-turn number adaptation model by collecting torque, displacement, turn number, vibration and temperature data, outputs the adaptation degree and adjusts operation parameters in real time, and the screwing-on quality is ensured. Electro-hydraulic fusion control and an intelligent algorithm are adopted, high-precision and self-adaptive operation is achieved, the thread damage rate is effectively reduced, the reliability and efficiency in an extreme environment are improved, meanwhile, flexible switching of a full-hydraulic mode and a full-electric-control-hydraulic mode is supported, and the advantages of being high in power, saving energy and protecting the environment are achieved.

Description

Technical Field

[0001] This invention relates to the field of automated machinery technology in the petroleum industry, and more specifically, to a fully electric micro-hydraulic intelligent control iron drill. Background Technology

[0002] With the continuous improvement of automation in oil drilling, the iron drill is a key wellhead tool, and its control accuracy and reliability directly affect drilling efficiency and safety. In recent years, the all-electric micro-hydraulic intelligent control iron drill has gradually become a research hotspot in the industry, aiming to achieve more efficient and precise tubing string tightening and loosening operations through electro-hydraulic fusion and intelligent algorithms.

[0003] Currently, most steel drills used in oil drilling sites employ a fully hydraulic drive system, relying on hydraulic pump stations for power. These drills are characterized by high output torque and strong adaptability. Traditional control methods primarily rely on worker experience or simple program settings, using hydraulic actuators to perform clamping, turning, and punching actions. Some equipment has incorporated encoders and sensors for basic parameter monitoring.

[0004] However, existing fully hydraulic iron drills still have significant drawbacks: sluggish control response and insufficient precision easily lead to over- or under-tightening of the threads, resulting in a high damage rate. In extreme environments such as the deep sea and polar regions, traditional systems struggle to adapt and adjust, severely impacting operational safety and economy. Furthermore, the lack of a multi-dimensional real-time evaluation and feedback mechanism for the threading process further restricts the development of intelligent equipment. Summary of the Invention

[0005] The purpose of this invention is to provide a fully electric micro-hydraulic intelligent control iron drill to solve the technical problems of the current mainstream iron drill's fully hydraulic drive mode in oil drilling, which leads to cumbersome well site layout, high energy consumption and pollution, insufficient hydraulic system efficiency, slow response and low precision of traditional control methods, resulting in high thread damage rate, seriously threatening the safety and economic benefits of operation in complex environments such as deep sea and polar regions.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a fully electric micro-hydraulic intelligent control iron drill, including a guiding mechanism, a robotic arm mechanism, a positioning mechanism and a driving mechanism; The guiding mechanism includes a column, a lifting cylinder located inside the column, a lifting frame slidably connected to the outside of the column, a slewing support located at the bottom of the column for adjusting the angle of the column, a No. 1 motor for driving the slewing support, and a pin located at the bottom of the slewing support. The positioning mechanism includes a positioning housing, three sets of gripper assemblies connected to the positioning housing, a punching cylinder, a positioning platform set above the positioning housing, and an encoder integrated into the No. 1 motor and the two drive cylinders of the punching cylinder; The drive mechanism includes a connecting housing, two clamp housings connected to the connecting housing, a rotary chain assembly disposed within the two clamp housings, a clamping cylinder for driving the two clamp housings, a second motor, a planetary reducer, and a tension handwheel for adjusting the tension of the rotary chain assembly.

[0007] During use, this invention allows for rapid adjustment of the operating mode via a human-machine interface according to different operating environments. The full hydraulic control mode is characterized by strong power and adaptability to harsh working conditions, demonstrating its advantages in scenarios with high power requirements and harsh environments. The full electro-hydraulic control mode, on the other hand, offers advantages such as high control precision, fast response speed, and energy saving and environmental protection, making it more suitable for operating environments requiring precise control and high environmental protection standards. This switchable control method allows the driller to flexibly select the appropriate control mode according to different operating environments, improving the equipment's versatility and adaptability. At the same time, the combination of the two control modes optimizes both the driller's power and control performance, ensuring sufficient power output while improving control accuracy and flexibility.

[0008] Preferably, the robotic arm mechanism includes two drive cylinders, one of which is connected to telescopic arm A and telescopic arm B. Telescopic arm A and telescopic arm B are connected to telescopic arm C and telescopic arm D via a connecting platform. A hydraulic module is provided above the connecting platform. The drive cylinder is used to adjust the angles of telescopic arms A and B, and another drive cylinder is used to adjust the angles of telescopic arms C and D. Three sets of gripper assemblies are used to clamp the drill pipe for positioning, and a punching cylinder is used to provide power for the punching.

[0009] Preferably, the clamping cylinder and the second motor are both integrated with encoders, the connecting housing is connected to the positioning shell through the positioning platform, one end of the telescopic arm C and telescopic arm D is hinged to the positioning shell, one end of the telescopic arm A and telescopic arm B are both hinged to the lifting frame, and the driving cylinder is hinged to the lifting frame.

[0010] Preferably, the gripper assembly includes a positioning gripper, a movable gripper hinged to one side of the positioning gripper, an elastic protrusion fixedly connected to the inner wall of the movable gripper, a clamping cylinder fixedly connected to the outer side of the movable gripper, and anti-slip plates fixedly connected to both the inner wall of the positioning gripper and the outer wall of the elastic protrusion. The positioning gripper is fixedly connected to the positioning shell, and the other end of the clamping cylinder is hinged to the positioning shell.

[0011] Preferably, the swivel chain assembly includes a drive sprocket, around which a chain is wound. The chain has four sets, and the drive sprocket is connected to two first sprockets and two second sprockets respectively through the four sets of chains.

[0012] Preferably, the drive sprocket is connected to the planetary reducer, and the tension handwheel is used to adjust the tension of the four sets of chains wound around the drive sprocket, the two No. 1 sprockets and the two No. 2 sprockets. The two No. 1 sprockets and the two No. 2 sprockets are respectively locked in the two clamp housings, and a clamp sensor is provided at one end of each of the two clamp housings.

[0013] Preferably, the clamp sensor and several encoders are electrically connected to an external human-machine interface, which receives operation commands, clamp sensor signals and encoder signals.

[0014] Preferably, the lifting cylinder is used to adjust the height of the lifting frame, and the telescopic arms A, B, C, and D are driven by the driving cylinder to adjust the overall position of the positioning mechanism and the driving mechanism.

[0015] Preferably, it also includes a buckle evaluation system for evaluating the quality of the buckle, including: The data acquisition module is used to acquire the torque, displacement distance, number of rotations, vibration amplitude, and ambient temperature of the upper fastener during the fastening process. The data processing module performs maximum-minimum normalization on the vibration amplitude to obtain the vibration index, which is obtained by performing... express; Import ambient temperature into the formula The temperature deviation index is obtained from the data. Indicates ambient temperature. Indicates the optimal ambient temperature. This indicates that deviations from the optimal ambient temperature value are permissible. Indicates the temperature deviation index; After processing the absolute difference between the torque, displacement distance, and number of rotations and their corresponding optimal values, these values ​​are compared with the corresponding allowable deviations from the optimal values ​​to obtain the torque deviation index, displacement deviation index, and number of rotations deviation index. Then, these are used... , , Perform corresponding representation; The data analysis module constructs a torque-displacement-rotation number adaptation model based on the torque deviation index, displacement deviation index, and rotation number deviation index under the vibration index and temperature deviation index, and outputs the torque-displacement-rotation number adaptation degree. The execution module compares the torque-displacement-rotation number of rotations fit with the torque-displacement-rotation number of rotations fit threshold. If the torque-displacement-rotation number of rotations fit is not within the torque-displacement-rotation number of rotations fit threshold, the torque, displacement, or rotation number of rotations is adjusted until the torque-displacement-rotation number of rotations fit is within the torque-displacement-rotation number of rotations fit threshold.

[0016] Preferably, the steps for constructing the torque-displacement-rotation number adaptation model and outputting the torque-displacement-rotation number adaptation degree based on the vibration index, temperature deviation index, torque deviation index, and rotation number deviation index are as follows: An environmental state model is constructed based on the vibration index and temperature deviation index, and the environmental state coefficients are output. The environmental state model is expressed as follows: ; in, Represents the environmental state coefficient. Indicates the vibration index. This indicates the temperature deviation index. Represents the weight coefficient and The Furthermore, the larger the value, the worse the environmental conditions; Based on the torque deviation index, displacement deviation index, and rotational revolution deviation index under environmental state coefficients, a torque-displacement-revolutional revolution adaptation model is constructed to output the torque-displacement-revolutional revolution adaptation degree. The torque-displacement-revolutional revolution adaptation model is expressed as follows: ; in, Indicates torque-displacement-revolution fit. Represents the sensitivity coefficient. Represents the environmental state coefficient. This indicates the torque deviation index. This indicates the displacement deviation index. This indicates that the number of rotations deviates from the exponent. Represents the weight coefficient and The Furthermore, the higher the value, the better the quality of the product.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention uses multi-sensor fusion and mathematical models to quantify the thread quality into a fit value between 0 and 1, enabling accurate assessment and real-time feedback of the operation process. This avoids the subjective judgment that relies on human experience in the past. At the same time, the environmental condition model comprehensively considers vibration and temperature factors, enabling the system to automatically adjust control parameters in harsh environments. This improves the adaptability and reliability of the equipment in extreme working conditions such as deep sea and high-altitude cold. Furthermore, through multi-dimensional coordinated control of torque, displacement, and number of turns, it avoids phenomena such as over-twist, under-twist, or misalignment, thereby reducing the risk of thread damage from the source.

[0018] 2. This invention also designs a positioning gripper and a movable gripper, with the inner concave surface of the positioning gripper and the arc-shaped protruding surface of the movable gripper forming a "concave-convex fitting" structure. When the tubing (such as drill pipe or drill collar) is clamped, its outer cylindrical surface will simultaneously contact the concave bottom surface of the positioning gripper and the arc-shaped apex of the movable gripper, forming a two-point positioning. The concave-convex fitting structure increases the contact area between the tubing and the gripper assembly. Under the action of unscrewing torque, the tubing thread is less likely to slip relative to each other, avoiding slippage. Compared with the traditional planar symmetrical gripper that only constrains the tubing through surface contact, and whose positioning accuracy depends on hydraulic pressure, the concave-convex structure achieves passive positioning through geometric shape without the need for additional pressure compensation.

[0019] 3. This invention also adjusts the punching link so that when the drill biter faces special situations such as excessively tight thread engagement, the punching cylinder can effectively handle the situation through rapid retraction, thereby enhancing the equipment's adaptability to different working conditions and drill rod conditions, and ensuring smooth operation under various complex conditions.

[0020] 4. During use, this invention allows for rapid adjustment of the operating mode via a human-machine interface according to different operating environments. The full hydraulic control mode features strong power and adaptability to harsh working conditions, demonstrating its advantages in scenarios with high power requirements and harsh environments. The full electro-hydraulic control mode offers advantages such as high control precision, fast response speed, energy saving, and environmental protection, making it more suitable for operating environments requiring precise control and high environmental protection standards. This switchable control method allows the driller to flexibly select the appropriate control mode according to different operating environments, improving the equipment's versatility and adaptability. At the same time, the combination of the two control modes optimizes both the driller's power and control performance, ensuring sufficient power output while improving control accuracy and flexibility. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the guiding mechanism structure of the present invention; Figure 3 This is a schematic diagram of the robotic arm mechanism of the present invention; Figure 4 This is a schematic diagram of the positioning mechanism structure of the present invention; Figure 5 This is a schematic diagram of the rear view structure of the present invention; Figure 6 This is a side view of the structure of the present invention; Figure 7 This is a top view of the structure of the present invention; Figure 8 This is a schematic diagram of the drive mechanism structure of the present invention; Figure 9 This is a schematic diagram of the screw fastener assembly structure of the present invention.

[0022] Explanation of the labels in the diagram: 1. Guiding mechanism; 2. Robotic arm mechanism; 3. Positioning mechanism; 4. Drive mechanism; 11. Column; 12. Lifting cylinder; 13. Lifting frame; 14. Slewing bearing; 15. Motor No. 1; 16. Pin; 21. Drive cylinder; 22. Telescopic boom A; 23. Telescopic boom B; 24. Connecting platform; 25. Hydraulic module; 26. Telescopic boom C; 27. Telescopic boom D; 31. Positioning housing; 32. Gripper assembly; 33. Punch cylinder; 34. Positioning stage; 35. Encoder; 41. Connecting housing; 42. Clamp housing; 43. Turnbuckle chain assembly; 44. Clamping cylinder; 45. No. 2 motor; 46. Planetary reducer; 47. Tensioning handwheel; 321. Positioning gripper; 322. Anti-slip plate; 323. Movable gripper; 324. Elastic protrusion; 325. Clamping cylinder; 431. Drive sprocket; 432. Chain; 433. Sprocket No. 1; 434. Sprocket No. 2; 435. Clamping head sensor. Detailed Implementation

[0023] like Figures 1 to 9 As shown, the present invention relates to a fully electric micro-hydraulic intelligent control iron drill, which includes a guide mechanism 1, a robotic arm mechanism 2, a positioning mechanism 3 and a drive mechanism 4. Guide mechanism 1 includes a column 11, a lifting cylinder 12 located inside the column 11, a lifting frame 13 slidably connected to the outside of the column 11, a slewing support 14 located at the bottom of the column 11 for adjusting the angle of the column 11, a primary motor 15 driving the slewing support 14, and a pin 16 located at the bottom of the slewing support 14; robotic arm mechanism 2 includes two drive cylinders 21, one of which is connected to telescopic arms A22 and B23, and the drive cylinder 21 is used to adjust the angle of telescopic arms A22 and B23. 3. Telescopic arms C26 and D27 are connected via a connecting platform 24. Another drive cylinder 21 is used to adjust the angle of telescopic arms C26 and D27. A hydraulic module 25 and a positioning mechanism 3 are installed above the connecting platform 24. The positioning mechanism 3 includes a positioning shell 31, three sets of gripper assemblies 32 connected to the positioning shell 31, the three sets of gripper assemblies 32 for clamping the drill rod for positioning, a punching cylinder 33 for providing power to the punching cylinder, a positioning platform 34 installed above the positioning shell 31, and an encoder 35 integrated into the first motor 15 and the two drive cylinders 21 of the punching cylinder 33. The drive mechanism 4 includes a connecting housing 41, two clamp housings 42 connected to the connecting housing 41, a rotary chain assembly 43 disposed within the two clamp housings 42, a clamping cylinder 44 for driving the two clamp housings 42, a second motor 45, a planetary reducer 46, and a tension handwheel 47 for adjusting the tension of the rotary chain assembly 43. During use, the operating mode can be quickly adjusted through a human-machine interface according to different operating environments. The full hydraulic control mode is characterized by strong power and adaptability to harsh working conditions, and can play an advantage in some scenarios with high power requirements and harsh environments. The full electro-hydraulic control mode has the advantages of high control accuracy, fast response speed, energy saving and environmental protection, and is more suitable for working environments that require precise control and have high environmental protection requirements. This switchable control method allows the driller to flexibly select the appropriate control mode according to different working environments, improving the versatility and adaptability of the equipment. At the same time, the combination of the two control modes optimizes the driller's power performance and control performance, ensuring sufficient power output while improving control accuracy and flexibility.

[0024] In an embodiment of the invention, encoders 35 are integrated into both the clamping cylinder 44 and the second motor 45. The connecting housing 41 is connected to the positioning shell 31 via the positioning platform 34. One end of the telescopic arm C26 and telescopic arm D27 is hinged to the positioning shell 31, and one end of the telescopic arm A22 and telescopic arm B23 is hinged to the lifting frame 13. The drive cylinder 21 is hinged to the lifting frame 13. By designing the positioning gripper 321 and the movable gripper 323, the inner concave surface of the positioning gripper 321 and the arc-shaped protruding surface of the movable gripper 323 form a "concave-convex" shape. The "interlocking" structure allows the outer cylindrical surface of the tubing, such as drill pipe or drill collar, to simultaneously contact the concave bottom surface of the positioning jaw 321 and the arc-shaped apex of the movable jaw 323 when the tubing is clamped, forming a two-point positioning. The concave-convex interlocking structure increases the contact area between the tubing and the jaw assembly 32. Under the action of tightening torque, the tubing threads are less likely to slip relative to each other, avoiding slippage. Compared with the traditional planar symmetrical jaws that only constrain the tubing through surface contact, and whose positioning accuracy depends on hydraulic pressure, the concave-convex structure achieves passive positioning through geometry, without the need for additional pressure compensation.

[0025] In an embodiment of the present invention, the gripper assembly 32 includes a positioning gripper 321, a movable gripper 323 hinged to one side of the positioning gripper 321, an elastic protrusion 324 fixedly connected to the inner wall of the movable gripper 323, and a clamping cylinder 325 fixedly connected to the outer side of the movable gripper 323. Anti-slip plates 322 are fixedly connected to both the inner wall of the positioning gripper 321 and the outer wall of the elastic protrusion 324. The positioning gripper 321 is fixedly connected to the positioning shell 31, and the other end of the clamping cylinder 325 is hinged to the positioning shell 31. By adjusting the punching link, when facing special situations such as excessively tight thread engagement, the driller can effectively handle the situation through the rapid retraction action of the punching cylinder 33, thereby enhancing the adaptability of the equipment to different working conditions and drill rod states, and ensuring that the operation can be completed smoothly under various complex conditions.

[0026] In another embodiment of the present invention, the rotary chain assembly 43 includes a drive sprocket 431, around which a chain 432 is wound. Four sets of chains 432 are arranged. The drive sprocket 431 is connected to two first sprockets 433 and two second sprockets 434 respectively via the four sets of chains 432. The drive sprocket 431 is also connected to a planetary reducer 46. A tension handwheel 47 is used to adjust the tension of the four sets of chains 432 wound around the drive sprocket 431, the two first sprockets 433, and the two second sprockets 434. The two first sprockets 433 and the two second sprockets 434 are respectively engaged with two clamp housings 42. Inside, each of the two clamp housings 42 is equipped with a clamping head sensor 435 at one end. Because there are multiple sets of movable jaws 323 and positioning jaws 321, and they are arranged in a symmetrical manner in three sets, the arc surface of each set of movable jaws 323 and positioning jaws 321 will independently adapt to the local contour of the tube column, forming a "multi-point positioning" network. Even if the tube column has a slight bend or uneven surface, the contact points of the multiple sets of movable jaws 323 and positioning jaws 321 will be automatically adjusted to the optimal position through force balance, avoiding the tube column tilting or sliding during clamping, thereby improving the positioning accuracy of the device and the effect of multi-level engagement to eliminate cumulative errors.

[0027] In another embodiment of the present invention, the jaw sensor 435 and several encoders 35 are electrically connected to an external human-machine interface. The human-machine interface receives operation commands, signals from the jaw sensor 435 and encoders 35, and sends commands to the drive cylinder 21, motor 15, motor 45, clamping cylinder 44 and planetary reducer 46 to precisely control the lifting, running and clamping actions. The lifting cylinder 12 is used to adjust the height of the lifting frame 13. The telescopic arms A22, B23, C26 and D27 are driven by the drive cylinder 21 to adjust the overall position of the positioning mechanism 3 and the drive mechanism 4. The application of the planetary reducer 46 enables the device to output high torque at low speed, improving drilling efficiency and work quality. At the same time, the stable operation of the device is crucial to ensuring drilling accuracy and extending the service life of the equipment. The planetary reducer 46 makes the operation of the iron drill more stable and reduces failure and downtime.

[0028] Working Principle: This embodiment provides a fully electro-hydraulic intelligent control iron drill: During the positioning stage, the equipment can flexibly select the control mode through the human-machine interface. If full hydraulic control is adopted, the lifting cylinder 12 operates stably under hydraulic drive to adjust the overall height of the equipment; the No. 1 motor 15, in conjunction with the hydraulic system, adjusts the slewing support 14 and the overall angle of the equipment. After adjustment, the drive cylinder 21 adjusts the telescopic arms A22, B23, C26, and D27 under hydraulic action, and precisely aligns the positioning jaws 321 and the movable jaws 323 with the drill rod joint to be operated. If full electro-hydraulic control is selected, the actions of each cylinder and motor are precisely controlled by electrical signals. In the clamping process, when switching to hydraulic mode, the hydraulic module 25 pressurizes and drives the three sets of clamping cylinders 325 to operate. The three movable jaws 323 gradually approach the positioning jaws 321 and clamp the drill rod to be operated. At the same time, the clamping cylinder 44 drives the two clamp housings 42 and the swivel chain assembly 43 to fasten to the outside of the drill rod. In the fully electro-hydraulic control mode, the electrical system precisely controls the hydraulic module 25 and can adjust the clamping force and fastening force in real time according to the specifications and materials of the drill rod. During the threading / unthreading stage, under full electro-hydraulic control, the starting, speed and direction of the No. 2 motor 45 are precisely controlled by the electrical system to drive the planetary reducer 46 to run and drive the drive sprocket 431 to rotate. The No. 1 sprocket 433 and the No. 2 sprocket 434 on both sides rotate synchronously with the chain 432. Through the friction between the chain 432 and the drill pipe, the drill pipe is driven to rotate at high speed, completing the initial threading or unthreading. When the torque is tightened / untightened, the fully electro-hydraulic control system uses the human-machine interface to provide real-time feedback on the operating status of the No. 2 motor 45 and the planetary reducer 46 based on the preset torque value. It accurately outputs and monitors the torque in real time to complete the final tightening or untightening operation, ensuring the accuracy and consistency of the torque. In the snapping process, regardless of the control mode used, the snapping cylinder 33 can perform a rapid retraction action, driving the positioning gripper 321 and the movable gripper 323 to perform one or more short impacts in the unscrewing direction to loosen the threads. However, in the fully electro-hydraulic control mode, the impact force and frequency can be adjusted in real time according to the thread engagement degree to improve the snapping effect. In the reset phase, the clamping cylinder 44 and the clamping cylinder 325 retract, and the drive cylinder 21 drives the telescopic arm to reset. The fully electro-hydraulic control can achieve a faster and smoother reset action, reducing equipment vibration and wear; while the fully hydraulic control can provide greater reset power, ensuring that the equipment can reset smoothly even under heavy load.

[0029] As one embodiment of the present invention, it also includes a buckle evaluation system for evaluating the quality of buckles, including: The data acquisition module is used to acquire the torque, displacement distance, number of rotations, vibration amplitude, and ambient temperature of the upper fastener during the fastening process. The data processing module performs maximum-minimum normalization on the vibration amplitude to obtain the vibration index, which is adopted using... To represent; Import ambient temperature into the formula The temperature deviation index is obtained from the data. Indicates ambient temperature. Indicates the optimal ambient temperature. This indicates that deviations from the optimal ambient temperature value are permissible. Indicates the temperature deviation index; After processing the absolute difference between the torque, displacement distance, and number of rotations and their corresponding optimal values, these values ​​are compared with the corresponding allowable deviations from the optimal values ​​to obtain the torque deviation index, displacement deviation index, and number of rotations deviation index. Then, these are used... , , Perform corresponding representation; The data analysis module constructs a torque-displacement-rotation number adaptation model based on the torque deviation index, displacement deviation index, and rotation number deviation index under the vibration index and temperature deviation index, and outputs the torque-displacement-rotation number adaptation degree. The execution module compares the torque-displacement-rotation number of rotations fit with the torque-displacement-rotation number of rotations fit threshold. If the torque-displacement-rotation number of rotations fit is not within the torque-displacement-rotation number of rotations fit threshold, the torque, displacement, or rotation number of rotations is adjusted until the torque-displacement-rotation number of rotations fit is within the torque-displacement-rotation number of rotations fit threshold.

[0030] The steps for constructing a torque-displacement-rotation number adaptation model and outputting the torque-displacement-rotation number adaptation degree based on the torque deviation index, displacement deviation index, and rotation number deviation index under the vibration index and temperature deviation index are as follows: An environmental state model is constructed based on the vibration index and temperature deviation index, and the environmental state coefficients are output. The environmental state model is expressed as follows: ; in, Represents the environmental state coefficient. Indicates the vibration index. This indicates the temperature deviation index. Represents the weight coefficient and The Furthermore, the larger the value, the worse the environmental conditions; Based on the torque deviation index, displacement deviation index, and rotational revolution deviation index under environmental state coefficients, a torque-displacement-revolutional revolution adaptation model is constructed to output the torque-displacement-revolutional revolution adaptation degree. The torque-displacement-revolutional revolution adaptation model is expressed as follows: ; in, Indicates torque-displacement-revolution fit. Represents the sensitivity coefficient. Represents the environmental state coefficient. This indicates the torque deviation index. This indicates the displacement deviation index. This indicates that the number of rotations deviates from the exponent. Represents the weight coefficient and The Furthermore, the higher the value, the better the quality of the product.

[0031] In this embodiment of the invention, by using multi-sensor fusion and mathematical models, the thread quality is quantified into a fit value between 0 and 1, enabling accurate evaluation and real-time feedback of the operation process. This avoids the subjective judgment that relies on human experience in the past. At the same time, the environmental condition model comprehensively considers vibration and temperature factors, enabling the system to automatically adjust control parameters in harsh environments, improving the adaptability and reliability of the equipment in extreme working conditions such as deep sea and high-altitude cold. Furthermore, by controlling torque, displacement, and number of turns in a multi-dimensional coordinated manner, phenomena such as over-twist, under-twist, or misalignment are avoided, reducing the risk of thread damage from the source. By introducing a thread evaluation system, this invention achieves a leap from "experience-driven" to "data-driven" in the iron drilling operation process, providing reliable technical support for the automation and intelligence of oil drilling.

[0032] The embodiments disclosed in this invention are preferred embodiments, but are not limited thereto. Those skilled in the art can easily understand the spirit of this invention based on the above embodiments and make different extensions and variations, but as long as they do not depart from the spirit of this invention, they are all within the protection scope of this invention.

Claims

1. A fully electro-hydraulic intelligent control iron drill, comprising a guiding mechanism (1), a robotic arm mechanism (2), a positioning mechanism (3), and a driving mechanism (4), characterized in that, Also includes: The quality evaluation system for top-down products includes: The data acquisition module is used to acquire the torque, displacement distance, number of rotations, vibration amplitude, and ambient temperature of the upper fastener during the fastening process. The data processing module processes torque, displacement distance, number of rotations, vibration amplitude, and ambient temperature to obtain torque deviation index, displacement deviation index, number of rotations deviation index, vibration index, and temperature deviation index. The data analysis module constructs a torque-displacement-rotation number adaptation model based on the torque deviation index, displacement deviation index, and rotation number deviation index under the vibration index and temperature deviation index, and outputs the torque-displacement-rotation number adaptation degree. The execution module compares the torque-displacement-rotation number of rotations fit with the torque-displacement-rotation number of rotations fit threshold. If the torque-displacement-rotation number of rotations fit is not within the torque-displacement-rotation number of rotations fit threshold, the torque, displacement, or rotation number of rotations is adjusted until the torque-displacement-rotation number of rotations fit is within the torque-displacement-rotation number of rotations fit threshold.

2. The all-electric micro-hydraulic intelligent control iron drill as described in claim 1, characterized in that, The working steps of the data processing module are as follows: The vibration amplitude is normalized to its maximum and minimum values ​​to obtain the vibration index, which is then calculated using... To represent; Import ambient temperature into the formula The temperature deviation index is obtained from the data. Indicates ambient temperature. Indicates the optimal ambient temperature. This indicates that deviations from the optimal ambient temperature value are permissible. Indicates the temperature deviation index; After processing the absolute difference between the torque, displacement distance, and number of rotations and their corresponding optimal values, these values ​​are compared with the corresponding allowable deviations from the optimal values ​​to obtain the torque deviation index, displacement deviation index, and number of rotations deviation index. Then, these are used... , , Perform corresponding representation.

3. The all-electric micro-hydraulic intelligent control iron drill as described in claim 2, characterized in that, The steps for constructing a torque-displacement-rotation number adaptation model and outputting the torque-displacement-rotation number adaptation degree based on the torque deviation index, displacement deviation index, and rotation number deviation index under the vibration index and temperature deviation index are as follows: An environmental state model is constructed based on the vibration index and temperature deviation index, and the environmental state coefficients are output. The environmental state model is expressed as follows: ； in, Represents the environmental state coefficient. Indicates the vibration index. This indicates the temperature deviation index. Represents the weight coefficient and The Furthermore, the larger the value, the worse the environmental conditions; Based on the torque deviation index, displacement deviation index, and rotational revolution deviation index under environmental state coefficients, a torque-displacement-revolutional revolution adaptation model is constructed to output the torque-displacement-revolutional revolution adaptation degree. The torque-displacement-revolutional revolution adaptation model is expressed as follows: ； in, Indicates torque-displacement-revolution fit. Represents the sensitivity coefficient. Represents the environmental state coefficient. This indicates the torque deviation index. This indicates the displacement deviation index. This indicates that the number of rotations deviates from the exponent. Represents the weight coefficient and The Furthermore, the higher the value, the better the quality of the product.

4. The all-electric micro-hydraulic intelligent control iron drill as described in claim 1, characterized in that, The guide mechanism (1) includes a column (11), a lifting cylinder (12) located inside the column (11), a lifting frame (13) slidably connected to the outside of the column (11), a slewing support (14) located at the bottom of the column (11) for adjusting the angle of the column (11), a No. 1 motor (15) for driving the slewing support (14), and a pin (16) located at the bottom of the slewing support (14). The positioning mechanism (3) includes a positioning shell (31), three sets of gripper assemblies (32) connected to the positioning shell (31), a punching cylinder (33), a positioning platform (34) set above the positioning shell (31), and an encoder (35) integrated into the No. 1 motor (15) and the two drive cylinders (21) of the punching cylinder (33). The drive mechanism (4) includes a connecting housing (41), two clamp housings (42) connected to the connecting housing (41), a rotary chain assembly (43) disposed in the two clamp housings (42), a clamping cylinder (44) for driving the two clamp housings (42), a second motor (45), a planetary reducer (46), and a tension handwheel (47) for adjusting the tension of the rotary chain assembly (43).

5. The all-electric micro-hydraulic intelligent control iron drill as described in claim 4, characterized in that, The robotic arm mechanism (2) includes two drive cylinders (21), one of which is connected to a telescopic arm A (22) and a telescopic arm B (23). The telescopic arms A (22) and B (23) are connected to a telescopic arm C (26) and a telescopic arm D (27) via a connecting platform (24). A hydraulic module (25) is provided above the connecting platform (24). The drive cylinder (21) is used to adjust the angles of telescopic arm A (22) and telescopic arm B (23), and another drive cylinder (21) is used to adjust the angles of telescopic arm C (26) and telescopic arm D (27); Three sets of gripper assemblies (32) are used to clamp the drill pipe for positioning and to provide power to the punching cylinder (33).

6. The all-electric micro-hydraulic intelligent control iron drill as described in claim 5, characterized in that, The clamping cylinder (44) and the second motor (45) are both equipped with encoders (35). The connecting shell (41) is connected to the positioning shell (31) through the positioning platform (34). The other end of the telescopic arm C (26) and the telescopic arm D (27) is hinged to the positioning shell (31). One end of the telescopic arm A (22) and the telescopic arm B (23) is hinged to the lifting frame (13). The driving cylinder (21) is hinged to the lifting frame (13).

7. The all-electric micro-hydraulic intelligent control iron drill as described in claim 6, characterized in that, The gripper assembly (32) includes a positioning gripper (321), a movable gripper (323) is hinged to one side of the positioning gripper (321), an elastic protrusion (324) is fixedly connected to the inner wall of the movable gripper (323), a clamping cylinder (325) is fixedly connected to the outer side of the movable gripper (323), and anti-slip plates (322) are fixedly connected to both the inner wall of the positioning gripper (321) and the outer wall of the elastic protrusion (324). The positioning gripper (321) is fixedly connected to the positioning shell (31), and the other end of the clamping cylinder (325) is hinged to the positioning shell (31).

8. The all-electric micro-hydraulic intelligent control iron drill as described in claim 4, characterized in that, The swivel chain assembly (43) includes a drive sprocket (431), around which a chain (432) is wound. The chain (432) is provided in four sets. The drive sprocket (431) is connected to two first sprockets (433) and two second sprockets (434) respectively through the four sets of chains (432).

9. The all-electric micro-hydraulic intelligent control iron drill as described in claim 8, characterized in that, The drive sprocket (431) is connected to the planetary reducer (46) for transmission. The tension handwheel (47) is used to adjust the tension of the four chains (432) wound around the drive sprocket (431), the two first sprockets (433) and the two second sprockets (434). The two first sprockets (433) and the two second sprockets (434) are respectively locked in the two clamp housings (42). One end of each of the two clamp housings (42) is provided with a clamp head sensor (435). The clamp head sensor (435) and several encoders (35) are electrically connected to the external human-machine interface.

10. The all-electric micro-hydraulic intelligent control iron drill as described in claim 6, characterized in that, The lifting cylinder (12) is used to adjust the height of the lifting frame (13). The telescopic arms A (22), B (23), C (26), and D (27) are driven by the driving cylinder (21) to adjust the overall position of the positioning mechanism (3) and the driving mechanism (4).

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