An all-electric micro-hydraulic intelligent control iron roughneck

Abstract

The application discloses a full-electric micro-hydraulic intelligent control iron driller, and relates to the technical field of automatic machine tools in the petroleum industry. The iron driller comprises a guide mechanism, a mechanical arm mechanism, a positioning mechanism, a driving mechanism and a make-up evaluation system. The make-up evaluation system collects torque, displacement, number of turns, vibration and temperature data, constructs a torque-displacement-number of turns adaptation model, outputs an adaptation degree and adjusts operation parameters in real time, and ensures make-up quality. The application adopts electro-hydraulic fusion control and intelligent algorithms, realizes high-precision and self-adaptive operation, effectively reduces thread damage rate, improves reliability and efficiency in extreme environments, and supports flexible switching between full-hydraulic and full-electric hydraulic modes, and has the advantages of powerful power and energy saving and environmental protection.

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;

[0007] 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.

[0008] 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;

[0009] The driving mechanism comprises a connecting shell, two clamp shells connected with the connecting shell, a screw chain assembly arranged in the two clamp shells, a clamp cylinder driving the operation of the two clamp shells, a second motor, a planetary reducer, and a tensioning hand wheel for adjusting the tension of the screw chain assembly.

[0010] In use, the application can quickly adjust the use mode through the man-machine interaction interface according to different use environments, and the full-hydraulic control mode has the characteristics of strong power and adaptability to harsh working conditions, and can play an advantage in some scenes with higher power requirements and more harsh environments; and the full-electric 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 accurate control and have high environmental protection requirements. This switchable control mode enables the iron 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 power performance and control performance of the iron driller, ensuring sufficient power output and improving the accuracy and flexibility of control.

[0011] Preferably, the mechanical arm mechanism comprises two drive oil cylinders, one of which is connected with the telescopic arms A and B, and the telescopic arms A and B are connected with telescopic arms C and D through a connecting table, and a hydraulic module is arranged above the connecting table;

[0012] The drive oil cylinder is used to adjust the angle of the telescopic arms A and B, and the other drive oil cylinder is used to adjust the angle of the telescopic arms C and D;

[0013] The three sets of clamp jaw assemblies are used for clamping and positioning the drill rod and providing power for the impact cylinder.

[0014] Preferably, the clamp cylinder and the second motor are integrated with encoders, the connecting shell is connected with a positioning shell through a positioning table, one end of the telescopic arms C and D is hinged to the positioning shell, one end of the telescopic arms A and B is hinged to a lifting frame, and the drive oil cylinder is hinged to the lifting frame.

[0015] Preferably, the clamp jaw assembly comprises a positioning clamp jaw, one side of the positioning clamp jaw is hinged with a movable clamp jaw, the inner wall of the movable clamp jaw is fixedly connected with an elastic lug, the outer side of the movable clamp jaw is fixedly connected with a clamping cylinder, and the inner wall of the positioning clamp jaw and the outer wall of the elastic lug are fixedly connected with an anti-skid plate.

[0016] The positioning clamp jaw is fixedly connected with the positioning shell, and the other end of the clamping cylinder is hinged to the positioning shell.

[0017] Preferably, the spin buckle chain assembly comprises a driving sprocket, the chain is wound outside the driving sprocket, the chain is provided with four groups, and the driving sprocket is drivingly connected with two No. 1 sprockets and two No. 2 sprockets through the four groups of chains respectively.

[0018] Preferably, the driving sprocket is drivingly connected with a planetary reducer, the tensioning hand wheel is used for adjusting the tension of the four groups of chains wound on the driving sprocket, the two No. 1 sprockets and the two No. 2 sprockets, the two No. 1 sprockets and the two No. 2 sprockets are clamped in two clamp housings respectively, and one end of the two clamp housings is provided with a jaw sensor.

[0019] Preferably, the jaw sensor and the plurality of encoders are electrically connected with an external man-machine interaction interface, and the man-machine interaction interface receives an operation instruction, a jaw sensor signal and an encoder signal.

[0020] Preferably, the lifting oil cylinder is used for adjusting the height of the lifting frame, and the telescopic arms A and B and the telescopic arms C and D are driven by the driving oil cylinder to adjust the overall position of the positioning mechanism and the driving mechanism.

[0021] Preferably, it further comprises a make-up evaluation system for evaluating the make-up quality, comprising:

[0022] A data acquisition module is used for acquiring the torque, displacement distance, rotation number, vibration amplitude and environmental temperature of the make-up part during make-up;

[0023] A data processing module is used for maximum-minimum normalization processing of the vibration amplitude to obtain a vibration index, and the vibration index is represented by ;

[0024] The environmental temperature is introduced into a formula to obtain a temperature deviation index, wherein represents the environmental temperature, represents the optimal environmental temperature, represents the allowed deviation from the optimal environmental temperature value, and represents the temperature deviation index.

[0025] The torque, displacement distance and rotation number are subjected to absolute difference processing and ratio processing with the corresponding allowed deviation from the optimal value to obtain a torque deviation index, a displacement deviation index and a rotation number deviation index, and the torque deviation index, the displacement deviation index and the rotation number deviation index are represented by , , respectively.

[0026] The data analysis module constructs a torque-displacement-number of revolutions adaptation model based on the vibration index and the torque deviation index, the displacement deviation index and the number of revolutions deviation index under the temperature deviation index to output a torque-displacement-number of revolutions adaptation degree.

[0027] The execution module compares the torque-displacement-number of revolutions adaptation degree with a torque-displacement-number of revolutions adaptation degree threshold value, and if the torque-displacement-number of revolutions adaptation degree is not within the torque-displacement-number of revolutions adaptation degree threshold value, the torque, the displacement or the number of revolutions is adjusted until the torque-displacement-number of revolutions adaptation degree is within the torque-displacement-number of revolutions adaptation degree threshold value.

[0028] Preferably, the step of constructing a torque-displacement-number of revolutions adaptation model based on the vibration index and the torque deviation index, the displacement deviation index and the number of revolutions deviation index under the temperature deviation index to output a torque-displacement-number of revolutions adaptation degree is:

[0029] An environment state model is constructed based on the vibration index and the temperature deviation index to output an environment state coefficient, and the environment state model is represented as:

[0030] ;

[0031] Wherein, represents the environment state coefficient, represents the vibration index, represents the temperature deviation index, represents the weight coefficient and , the and the greater the value, the worse the environment state;

[0032] A torque-displacement-number of revolutions adaptation model is constructed based on the torque deviation index, the displacement deviation index and the number of revolutions deviation index under the environment state coefficient to output a torque-displacement-number of revolutions adaptation degree, and the torque-displacement-number of revolutions adaptation model is represented as:

[0033] ;

[0034] Wherein, represents the torque-displacement-number of revolutions adaptation degree, represents the sensitivity coefficient, represents the environment state coefficient, represents the torque deviation index, represents the displacement deviation index, represents the number of revolutions deviation index, represents the weight coefficient and , the and the greater the value, the better the quality.

[0035] Compared with the prior art, the present application has the following beneficial effects:

[0036] 1、The present application quantifies the make-up quality as an adaptation value between 0 and 1 through multi-sensor fusion and mathematical model, realizes accurate evaluation and real-time feedback of the operation process, avoids traditional subjective judgment relying on manual experience, and simultaneously, the environmental state model comprehensively considers vibration and temperature factors, so that the system can automatically adjust control parameters in harsh environments, improves the adaptability and reliability of the equipment in extreme working conditions such as deep sea and high cold, and through multi-dimensional collaborative control of torque, displacement and turns, avoids over-tightening, under-tightening or partial tightening and other phenomena, and reduces the risk of thread damage from the source.

[0037] 2、The present application also designs positioning clamping jaws and movable clamping jaws, and the inner recessed surface of the positioning clamping jaw and the arc protruding surface of the movable clamping jaw form a "concave-convex fitting" structure, when the pipe string (such as drill pipe, drill collar) is clamped, its outer cylindrical surface will simultaneously contact the recessed bottom surface of the positioning clamping jaw and the arc vertex of the movable clamping jaw, forming two-point-one-line positioning, the concave-convex fitting structure increases the contact area of the pipe string and the clamping jaw assembly, under the action of the screwing and unscrewing torque, the pipe string thread is not easy to slide relatively, avoiding the phenomenon of slipping, compared with the traditional plane symmetrical clamping jaw which only restrains the pipe string through surface contact, the positioning accuracy depends on hydraulic pressure, while the concave-convex structure realizes passive positioning through geometric shape, without additional pressure compensation.

[0038] 3、The present application also adjusts the impact make-up link, so that the iron roughneck can effectively handle the situation of over-tight thread engagement and other special situations through the rapid retraction action of the impact make-up cylinder, enhancing the adaptability of the equipment to different working conditions and drill pipe states, ensuring smooth completion of the operation under various complex conditions.

[0039] 4、The present application can quickly adjust the use mode through the man-machine interaction interface according to different use environments during use, the full-hydraulic control mode has the characteristics of strong power and adaptability to harsh working conditions, and can play an advantage in some scenes with high power requirements and harsh environments; the full-electric control mode has the advantages of high control accuracy, fast response speed, energy saving and environmental protection, and is more suitable for operation environments that require accurate control and have high environmental protection requirements, this switchable control mode enables the iron roughneck to flexibly select the appropriate control mode according to different operation environments, improving the versatility and adaptability of the equipment, and the combination of the two control modes optimizes the power performance and control performance of the iron roughneck, ensuring sufficient power output and improving the accuracy and flexibility of control. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0041] Figure 2 It is a schematic diagram of the guide mechanism structure of the present application;

[0042] Figure 3 This is a schematic diagram of the robotic arm mechanism of the present invention;

[0043] Figure 4 This is a schematic diagram of the positioning mechanism structure of the present invention;

[0044] Figure 5 This is a schematic diagram of the rear view structure of the present invention;

[0045] Figure 6 This is a side view of the structure of the present invention;

[0046] Figure 7 This is a top view of the structure of the present invention;

[0047] Figure 8 This is a schematic diagram of the drive mechanism structure of the present invention;

[0048] Figure 9 This is a schematic diagram of the screw fastener assembly structure of the present invention.

[0049] Explanation of the labels in the diagram:

[0050] 1. Guiding mechanism; 2. Robotic arm mechanism; 3. Positioning mechanism; 4. Drive mechanism;

[0051] 11. Column; 12. Lifting cylinder; 13. Lifting frame; 14. Slewing bearing; 15. Motor No. 1; 16. Pin;

[0052] 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;

[0053] 31. Positioning housing; 32. Gripper assembly; 33. Punch cylinder; 34. Positioning stage; 35. Encoder;

[0054] 41. Connecting housing; 42. Clamp housing; 43. Turnbuckle chain assembly; 44. Clamping cylinder; 45. No. 2 motor; 46. Planetary reducer; 47. Tensioning handwheel;

[0055] 321. Positioning gripper; 322. Anti-slip plate; 323. Movable gripper; 324. Elastic protrusion; 325. Clamping cylinder;

[0056] 431. Drive sprocket; 432. Chain; 433. Sprocket No. 1; 434. Sprocket No. 2; 435. Clamping head sensor. Detailed Implementation

[0057] 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.

[0058] The guide mechanism 1 comprises a column 11, a lifting oil cylinder 12 located in the column 11, a lifting frame 13 slidingly connected outside the column 11, a rotary support 14 located at the bottom of the column 11 for adjusting the angle of the column 11, a No. 1 motor 15 driving the rotary support 14, and a latch 16 located at the bottom of the rotary support 14; the mechanical arm mechanism 2 comprises two drive oil cylinders 21, one of which is connected with telescopic arms A 22 and B 23, and is used for adjusting the angle of the telescopic arms A 22 and B 23; the telescopic arms A 22 and B 23 are connected with telescopic arms C 26 and D 27 through a connecting table 24, and the other drive oil cylinder 21 is used for adjusting the angle of the telescopic arms C 26 and D 27; a hydraulic module 25 is arranged above the connecting table 24; the positioning mechanism 3 comprises a positioning shell 31, three sets of jaw assemblies 32 connected with the positioning shell 31, the three sets of jaw assemblies 32 being used for clamping and positioning the drill pipe, a knock-off cylinder 33 for providing power for knock-off, a positioning table 34 arranged above the positioning shell 31, and an encoder 35 integrated in the No. 1 motor 15, the knock-off cylinder 33 and the two drive oil cylinders 21; the driving mechanism 4 comprises a connecting shell 41, two clamp shells 42 connected with the connecting shell 41, a spin chain assembly 43 arranged in the two clamp shells 42, a clamping air cylinder 44 driving the two clamp shells 42 to operate, a No. 2 motor 45, a planetary reducer 46, and a tensioning hand wheel 47 for adjusting the tension of the spin chain assembly 43; in the use process, the use mode can be quickly adjusted through a man-machine interaction interface according to different use environments, and the full-hydraulic control mode has the characteristics of powerful power and adaptability to harsh working conditions, and can play an advantage in some scenes with high power requirements and harsh environments; the full-electric 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 requiring accurate control and high environmental protection requirements; this switchable control mode enables the iron roughneck 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 enables the iron roughneck to be optimized in power performance and control performance, ensuring sufficient power output and improving control accuracy and flexibility.

[0059] In the embodiment of the present application, the clamp cylinder 44 and the second motor 45 are integrated with the encoder 35, the connecting shell 41 is connected with the positioning shell 31 through the positioning table 34, one end of the telescopic arm C26 and the telescopic arm D27 is hinged with the positioning shell 31, one end of the telescopic arm A22 and the telescopic arm B23 is hinged with the lifting frame 13, the driving oil cylinder 21 is hinged with the lifting frame 13, the positioning jaw 321 and the movable jaw 323 are designed, and the inner recessed surface of the positioning jaw 321 and the arc protruding surface of the movable jaw 323 form a "concave-convex fitting" structure, when the pipe column such as the drill rod and the drill collar is clamped, the outer cylindrical surface thereof will simultaneously contact the recessed bottom surface of the positioning jaw 321 and the arc top point of the movable jaw 323, forming two-point-one-line positioning, the concave-convex fitting structure increases the contact area of the pipe column and the jaw assembly 32, under the action of the screwing and unscrewing torque, the pipe column thread is not easy to slide relatively, and the slip phenomenon is avoided, compared with the traditional plane symmetric jaw which only restrains the pipe column through surface contact and the positioning precision depends on the hydraulic pressure, the concave-convex structure realizes passive positioning through the geometric shape, and no additional pressure compensation is needed.

[0060] In the embodiment of the present application, the jaw assembly 32 comprises the positioning jaw 321, one side of the positioning jaw 321 is hinged with the movable jaw 323, the inner wall of the movable jaw 323 is fixedly connected with the elastic lug 324, the outer side of the movable jaw 323 is fixedly connected with the clamping cylinder 325, the inner wall of the positioning jaw 321 and the outer wall of the elastic lug 324 are fixedly connected with the anti-skid plate 322, the positioning jaw 321 is fixedly connected with the positioning shell 31, the other end of the clamping cylinder 325 is hinged with the positioning shell 31, through adjusting the punching buckle part, when the iron roughneck faces special conditions such as too tight thread engagement, the quick retraction action of the punching cylinder 33 can be used for effective treatment, the adaptability of the equipment to different working conditions and drill rod states is enhanced, and it is ensured that the work can be smoothly completed under various complex conditions.

[0061] As another embodiment of the present application, the spin buckle chain assembly 43 comprises a driving sprocket 431, the driving sprocket 431 is externally wound with a chain 432, the chain 432 is provided with four groups, the driving sprocket 431 is in driving connection with two No. 1 sprockets 433 and two No. 2 sprockets 434 through the four groups of chains 432 respectively, the driving sprocket 431 is in driving connection with the planetary reducer 46, the tensioning handle 47 is used for adjusting the tensioning degree of the four groups of chains 432 wound on the driving sprocket 431, the two No. 1 sprockets 433 and the two No. 2 sprockets 434, the two No. 1 sprockets 433 and the two No. 2 sprockets 434 are clamped in the two clamp housings 42 respectively, one end of the two clamp housings 42 is provided with a tongs sensor 435, due to the fact that the multiple groups of movable clamping jaws 323 and the positioning clamping jaws 321 are arranged in a 3-group symmetrical distribution mode, the arc surfaces of each group of movable clamping jaws 323 and the positioning clamping jaws 321 can independently adapt to the local profile of the tubular column, forming a “multi-point positioning” network, even if the tubular column is slightly curved or the surface is uneven, the contact points of the multiple groups of movable clamping jaws 323 and the positioning clamping jaws 321 can also be automatically adjusted to the optimal position through force balance, avoiding the inclination or sliding of the tubular column during clamping, thereby improving the positioning accuracy of the device and the effect of multi-stage embedding to eliminate cumulative error.

[0062] As another embodiment of the present application, the tongs sensor 435 and the plurality of encoders 35 are electrically connected with an external man-machine interaction interface, the man-machine interaction interface receives operation instructions, tongs sensor 435 signals and encoder 35 signals, and issues instructions to the driving oil cylinder 21, the No. 1 motor 15, the No. 2 motor 45, the clamping cylinder 44 and the planetary reducer 46, accurately controls the actions of lifting, running and clamping, the lifting oil cylinder 12 is used for adjusting the height of the lifting frame 13, the telescopic arms A22 and B23 and the telescopic arms C26 and D27 are adjusted in position by the driving oil cylinder 21 to drive the positioning mechanism 3 and the driving mechanism 4 as a whole, the application of the planetary reducer 46 enables the device to output high torque at low speed, improves the drilling efficiency and operation quality, at the same time, the stable operation of the device is crucial to ensure the drilling accuracy and prolong the service life of the equipment, the planetary reducer 46 makes the iron driller more stable during operation, reduces the failure and downtime.

[0063] Working principle: the embodiment provides a full-electric micro-hydraulic intelligent control iron roughneck: in the positioning link, the device can flexibly select the control mode through the man-machine interaction interface, if full-hydraulic control is adopted, the lifting oil cylinder 12 stably operates under the hydraulic drive to adjust the overall height of the device; the first motor 15 cooperates with the hydraulic system to adjust the overall angle of the rotary support 14 and the device, after adjustment, the driving oil cylinder 21 adjusts the telescopic arm A 22 and the telescopic arm B 23 and the telescopic arm C 26 and the telescopic arm D 27 under the action of the hydraulic pressure, and accurately aligns the positioning clamp jaw 321 and the movable clamp jaw 323 with the to-be-operated drill pipe joint, if full-electric hydraulic control is selected, the action of each oil cylinder and motor is accurately controlled through the electrical signal;

[0064] The clamping link, when switched to the hydraulic mode, the hydraulic module 25 pressurizes and drives three groups of clamping cylinders 325 to operate, the three movable clamp jaws 323 gradually approach the positioning clamp jaw 321, and tightly hold the to-be-operated drill pipe, while the clamping cylinder 44 drives the two clamping housings 42 and the screwing chain assembly 43 to be buckled on the drill pipe, and under the full-electric hydraulic control mode, the electrical system accurately regulates and controls the hydraulic module 25, and can adjust the clamping force and buckling force in real time according to the specifications and materials of the drill pipe.

[0065] The screwing / unscrewing stage, the second motor 45 is accurately controlled by the electrical system in the full-electric hydraulic control, the starting, rotating speed and rotating direction of the second motor 45 are accurately controlled by the electrical system, the planetary reducer 46 is driven to operate, and the driven sprocket 431 is rotated, the two side sprockets 433 and the second sprocket 434 are synchronously rotated with the chain 432, the drill pipe is rotated at high speed through the friction between the chain 432 and the drill pipe, and the preliminary screwing or loosening of the thread is completed.

[0066] The torque tightening / unscrewing, the full-electric hydraulic control uses the encoder 35 to accurately output and monitor the torque in real time according to the preset torque value through the man-machine interaction interface, and accurately controls the running state of the second motor 45 and the planetary reducer 46, and finally completes the tightening or unscrewing operation, so that the accuracy and consistency of the torque are ensured.

[0067] The impact buckling link, no matter which control mode is adopted, the impact buckling cylinder 33 can perform a rapid retraction action, and drives the positioning clamp jaw 321 and the movable clamp jaw 323 to impact in the unscrewing direction once or multiple times, so as to loosen the thread, but under the full-electric hydraulic control mode, the impact force and frequency can be adjusted in real time according to the engagement degree of the thread, and the impact buckling effect is improved.

[0068] The reset link, the clamping cylinder 44 and the clamping cylinder 325 are retracted, the driving oil cylinder 21 drives the telescopic arms to reset, the full-electric hydraulic control can realize faster and more stable reset action, and reduces the vibration and wear of the device; the full-hydraulic control can provide greater reset power, and ensures that the device can be reset smoothly under heavy load.

[0069] As an embodiment of the present application, a tightening evaluation system is further included for evaluating the tightening quality, comprising:

[0070] A data acquisition module is configured to acquire the torque, displacement distance, rotation number, vibration amplitude of the tightening component during tightening, and the ambient temperature of the environment;

[0071] A data processing module is configured to perform maximum-minimum normalization processing on the vibration amplitude to obtain a vibration index, wherein the vibration index is represented by ;

[0072] The ambient temperature is introduced into the formula to obtain a temperature deviation index, wherein represents the ambient temperature, represents the optimal ambient temperature, represents the allowable deviation from the optimal ambient temperature value, and represents the temperature deviation index.

[0073] The torque, displacement distance, and rotation number are subjected to absolute difference processing and ratio processing with the corresponding allowable deviation from the optimal value to obtain a torque deviation index, a displacement deviation index, and a rotation number deviation index, which are represented by , , respectively.

[0074] A data analysis module is configured to construct a torque-displacement-number adaptation model based on the vibration index and the torque deviation index, displacement deviation index, and rotation number deviation index under the temperature deviation index, and output a torque-displacement-number adaptation degree.

[0075] An execution module is configured to compare the torque-displacement-number adaptation degree with a torque-displacement-number adaptation degree threshold value, and if the torque-displacement-number adaptation degree is not within the torque-displacement-number adaptation degree threshold value, adjust the torque, displacement, or rotation number until the torque-displacement-number adaptation degree is within the torque-displacement-number adaptation degree threshold value.

[0076] The step of constructing a torque-displacement-number adaptation model based on the vibration index and the torque deviation index, displacement deviation index, and rotation number deviation index under the temperature deviation index, and outputting a torque-displacement-number adaptation degree, comprises:

[0077] An environmental state model is constructed based on the vibration index and the temperature deviation index to output an environmental state coefficient, wherein the environmental state model is represented by:

[0078] ;

[0079] wherein represents the environmental state coefficient, represents a vibration index, represents a temperature deviation index, represents a weight coefficient and , the and the greater the value, the worse the environmental state;

[0080] A torque-displacement-turns adaptation model is constructed based on the torque deviation index, the displacement deviation index and the rotation turns deviation index under the environmental state coefficient, and the torque-displacement-turns adaptation degree is output, and the torque-displacement-turns adaptation model is represented as:

[0081] ;

[0082] wherein, represents a torque-displacement-turns adaptation degree, represents a sensitivity coefficient, represents an environmental state coefficient, represents a torque deviation index, represents a displacement deviation index, represents a rotation turns deviation index, represents a weight coefficient and , the and the greater the value, the better the makeup quality.

[0083] In the embodiment of the present application, the makeup quality is quantified as an adaptation degree value between 0 and 1 by multi-sensor fusion and mathematical model, precise evaluation and real-time feedback of the operation process are realized, subjective judgment of traditional dependence on artificial experience is avoided, and the environmental state model comprehensively considers vibration and temperature factors, so that the system can automatically adjust the control parameters in harsh environments, improve the adaptability and reliability of the equipment in extreme working conditions such as deep sea and high cold, and through multi-dimensional collaborative control of torque, displacement and turns, over-tightening, under-tightening or partial tightening and other phenomena are avoided, and the risk of thread damage is reduced from the source. The present application realizes the leap of iron drill operation process from "experience-driven" to "data-driven" by introducing the makeup evaluation system, and provides reliable technical support for oil drilling automation and intelligentization.

[0084] The present application discloses a preferred embodiment, but is not limited thereto, and those skilled in the art can easily understand the spirit of the present application and make different inferences and changes based on the above-mentioned embodiments, as long as they do not deviate from the spirit of the present application, and are within the protection scope of the present application.

Claims

1. An all-electric micro-hydraulic intelligent control iron roughneck, comprising a guide mechanism (1), a mechanical arm mechanism (2), a positioning mechanism (3) and a driving mechanism (4), characterized in that, Also include: The make-up evaluation system is used for evaluating the make-up quality, comprising: The data acquisition module is used for acquiring the torque, displacement distance, rotation number, vibration amplitude of the make-up part during make-up, and the environmental temperature of the environment; The data processing module processes the torque, displacement distance, rotation number, vibration amplitude and environmental temperature to obtain torque deviation index, displacement deviation index, rotation number deviation index, vibration index and temperature deviation index; The data analysis module constructs a torque-displacement-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 torque-displacement-number adaptation degree; The execution module compares the torque-displacement-number adaptation degree with the torque-displacement-number adaptation degree threshold value, and if the torque-displacement-number adaptation degree is not within the torque-displacement-number adaptation degree threshold value, the torque, displacement or rotation number is adjusted until the torque-displacement-number adaptation degree is within the torque-displacement-number adaptation degree threshold value; The step of constructing a torque-displacement-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 to output torque-displacement-number adaptation degree is: An environmental state model is constructed based on the vibration index and temperature deviation index to output an environmental state coefficient, and the environmental state model is represented as: ； wherein, represents an environmental condition coefficient, represents a vibration index, represents a temperature deviation index, represents a weight coefficient and , the and the greater the value the worse the environmental condition; A torque-displacement-number adaptation model is constructed based on the torque deviation index, displacement deviation index and rotation number deviation index under the environmental state coefficient to output torque-displacement-number adaptation degree, and the torque-displacement-number adaptation model is represented as: ； wherein, represents a torque-displacement-turns fitness, represents a sensitivity coefficient, represents an environmental state coefficient, represents a torque deviation index, represents a displacement deviation index, represents a rotational turns deviation index, represents a weight coefficient and , said and the greater the value the better the quality of the down.

2. An all-electric micro-hydraulic smart controlled iron roughneck as defined in claim 1, wherein, The working steps of the data processing module are: The vibration amplitude is maximum-minimum normalized to obtain a vibration index, which is expressed as is performed. The ambient temperature is introduced into the formula to obtain the temperature deviation index, wherein, represents the ambient temperature, represents the optimal ambient temperature, represents the value of the allowed deviation from the optimal ambient temperature, represents the temperature deviation index; The absolute difference value of the torque, the displacement distance and the rotation number and the corresponding optimal value is processed, and the ratio of the absolute difference value and the corresponding allowed deviation from the optimal value is processed to obtain the torque deviation index, the displacement deviation index and the rotation number deviation index, and the following formula is used 、 、 to perform corresponding representation.

3. The all-electric micro-hydraulic smart controlled iron roughneck of claim 1, wherein, The guide mechanism (1) comprises a stand column (11), a lifting oil cylinder (12) located in the stand column (11), a lifting frame (13) slidingly connected outside the stand column (11), a rotary support (14) located at the bottom of the stand column (11) for adjusting the angle of the stand column (11), a first motor (15) driving the rotary support (14), and a latch (16) located at the bottom of the rotary support (14); The positioning mechanism (3) comprises a positioning shell (31), three groups of clamping jaw assemblies (32) connected with the positioning shell (31), a make-up cylinder (33), a positioning table (34) arranged above the positioning shell (31), and an encoder (35) integrated in the first motor (15) and the two driving oil cylinders (21) of the make-up cylinder (33); The driving mechanism (4) comprises a connecting shell (41), two clamp housings (42) connected with the connecting shell (41), a screwing chain assembly (43) arranged in the two clamp housings (42), a clamping air cylinder (44) driving the operation of the two clamp housings (42), a second motor (45), a planetary reducer (46), and a tensioning hand wheel (47) for adjusting the tension of the screwing chain assembly (43).

4. An all-electric micro-hydraulic smart controlled iron roughneck as defined in claim 3, wherein, The mechanical arm mechanism (2) comprises two drive oil cylinders (21), one of which is connected with telescopic arm A (22) and telescopic arm B (23), and the telescopic arm A (22) and the telescopic arm B (23) are connected with telescopic arm C (26) and telescopic arm D (27) through a connecting table (24), and a hydraulic module (25) is arranged above the connecting table (24); The drive oil cylinder (21) is used for adjusting the angle of the telescopic arm A (22) and the telescopic arm B (23), and the other drive oil cylinder (21) is used for adjusting the angle of the telescopic arm C (26) and the telescopic arm D (27); Three sets of clamping jaw assemblies (32) are used for clamping and positioning drill rods and providing power for the knock-off cylinder (33).

5. An all-electric micro-hydraulic smart controlled iron roughneck as defined in claim 4, wherein, The clamping cylinder (44) and the No. 2 motor (45) are both integrated with encoders (35), the connecting shell (41) is connected with the positioning shell (31) through a positioning table (34), the other ends of the telescopic arm C (26) and the telescopic arm D (27) are hinged with the positioning shell (31), one end of the telescopic arm A (22) and the telescopic arm B (23) is hinged with the lifting frame (13), and the drive oil cylinder (21) is hinged with the lifting frame (13).

6. An all-electric micro-hydraulic smart controlled iron roughneck as defined in claim 5, wherein, The clamping jaw assembly (32) comprises a positioning clamping jaw (321), one side of the positioning clamping jaw (321) is hinged with a movable clamping jaw (323), the inner wall of the movable clamping jaw (323) is fixedly connected with an elastic lug (324), the outer side of the movable clamping jaw (323) is fixedly connected with a clamping cylinder (325), and the inner wall of the positioning clamping jaw (321) and the outer wall of the elastic lug (324) are both fixedly connected with an anti-skid plate (322). The positioning clamping jaw (321) is fixedly connected with the positioning shell (31), and the other end of the clamping cylinder (325) is hinged with the positioning shell (31).

7. An all-electric micro-hydraulic smart controlled iron roughneck as defined in claim 3, wherein, The spin-off chain assembly (43) comprises a driving sprocket (431), the driving sprocket (431) is wound with chains (432), the chains (432) are provided in four groups, and the driving sprocket (431) is in transmission connection with two No. 1 sprockets (433) and two No. 2 sprockets (434) through the four groups of chains (432) respectively.

8. The all-electric micro-hydraulic smart controlled iron roughneck of claim 7, wherein, The driving sprocket (431) is in transmission connection with a planetary reducer (46), the tensioning hand wheel (47) is used for adjusting the tensioning degree of the four groups of chains (432) wound on the driving sprocket (431), the two No. 1 sprockets (433) and the two No. 2 sprockets (434), the two No. 1 sprockets (433) and the two No. 2 sprockets (434) are clamped in two clamp housings (42) respectively, one end of each of the two clamp housings (42) is provided with a tongs head sensor (435), and the tongs head sensor (435) and the plurality of encoders (35) are in electrical connection with an external man-machine interaction interface.

9. An all-electric micro-hydraulic smart controlled iron roughneck as defined in claim 5, wherein, The lifting oil cylinder (12) is used for adjusting the height of the lifting frame (13), and the telescopic arm A (22) and the telescopic arm B (23) and the telescopic arm C (26) and the telescopic arm D (27) are driven by the driving oil cylinder (21) to adjust the overall position of the positioning mechanism (3) and the driving mechanism (4).

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