Automatic leveling control system and device for clamp head of righting arm of drilling machine
By integrating PLC controllers and sensors into the drilling rig's straightening arm, an automatic leveling control system was developed, which solved the drilling problem caused by tong tip tilting, achieved parallelism between the tong tip and the drilling platform, and improved drilling efficiency and the degree of automation.
Patent Information
- Application Number
- CN202422975457.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-04
- Publication Date
- 2025-11-07
- Estimated Expiration
- 2034-12-04
AI Technical Summary
In existing technology, the tongs of the drilling rig straightening arm tilt severely during the luffing process, which prevents the drill string from entering the rat hole normally. It also prevents the drill pipe from being properly straightened for coupling when drilling down and connecting single sections, affecting drilling efficiency and increasing the need for manual intervention.
An automatic leveling control system, consisting of a PLC controller, a jaw encoder, a luffing cylinder and displacement sensor, and a leveling cylinder proportional valve, automatically adjusts the jaw to keep it parallel to the drilling platform by detecting the luffing angle of the boom. Automatic leveling of the jaw is achieved through closed-loop control.
This achieves parallel alignment between the tongs and the drill platform, improving drilling efficiency, reducing manual intervention, and ensuring smooth entry of the riser into the rat hole and successful drill pipe coupling.
Smart Images
Figure CN223523711U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the technical field of drilling, in particular to a drilling rig centralizer arm tong head automatic leveling control system and device. BACKGROUND
[0002] The centralizer arm is an important tool of the automatic drilling rig equipment, and the centralizer arm and other equipment cooperate to complete the drilling rig tripping in, tripping out, single pipe connecting and single pipe throwing. The functions of the centralizer arm on the drilling rig are as follows: when tripping out, the centralizer arm pushes the lower end of the stand above the mouse hole, and cooperates with other equipment to put the stand into the mouse hole; when tripping in, the centralizer arm supports the lower end of the stand, and cooperates with other equipment to move the stand from the mouse hole to the well mouth and cooperate with the drill pipe to make up; when connecting the single pipe, the centralizer arm supports the lower end of the single pipe at the ramp opening, and cooperates with other equipment to move the single pipe from the ramp opening to the well mouth and cooperate with the drill pipe to make up; when throwing the single pipe, the centralizer arm pushes the lower end of the single pipe to the ramp opening, and cooperates with other equipment to put the single pipe to the ramp.
[0003] In the prior art, if the tong head of the centralizer arm is to be relatively parallel in the movement, the centralizer arm with the amplitude changed from the standby position upward is usually adopted, and the tong head of the centralizer arm is made into a mechanical structure synchronous device, but the mechanical synchronous device of the tong head occupies a large space and is too heavy, and the working stroke of the centralizer arm with the amplitude changed upward is short. If the centralizer arm with the amplitude changed from the standby position downward, the tong head needs to be adjusted accordingly in the process of changing the amplitude to different positions, and therefore the angle detection of the tong head is very critical. Since the actuator responsible for leveling the tong head is mainly the oil cylinder, but the position for installing the oil cylinder is limited, the oil cylinder cannot be internally provided with a displacement sensor, and therefore the inclination angle of the tong head cannot be calculated through the stroke of the oil cylinder.
[0004] If the angle of the tong head does not follow the corresponding adjustment of the angle of the amplitude in the process of changing the amplitude to different positions, the tong head of the centralizer arm will not be kept relatively parallel to the drilling rig floor, and if the tong head is severely inclined, the following problems will be caused:
[0005] 1. The stand cannot normally enter the mouse hole when tripping out.
[0006] 2. The drill pipe cannot be normally supported for make-up when tripping in and connecting the single pipe. INVENTION CONTENTS
[0007] The utility model aims at the problems in the prior art that the tong head is severely inclined, the stand cannot normally enter the mouse hole when tripping out, and the drill pipe cannot be normally supported for make-up when tripping in and connecting the single pipe. A drilling rig centralizer arm tong head automatic leveling control method and system are provided, the tong head of the centralizer arm can be automatically leveled according to the angle of the amplitude change of the centralizer arm big arm, and the tong head is kept relatively parallel to the drilling rig floor. The working efficiency of drilling is increased, and the intervention of manual control of drilling is reduced.
[0008] In order to achieve the above object, the technical scheme adopted by the utility model is:
[0009] The automatic leveling control structure of the drilling rig centralizer arm tong head is characterized in that it comprises:
[0010] The PLC controller is connected with the tong encoder, the luffing oil cylinder and the displacement sensor, the luffing oil cylinder proportional valve, the leveling oil cylinder proportional valve and the driller operation screen.
[0011] The hydraulic interface of the luffing oil cylinder proportional valve is connected to the luffing oil cylinder and the hydraulic station through the hydraulic pipeline respectively;
[0012] The hydraulic interface of the leveling oil cylinder proportional valve is connected to the leveling oil cylinder and the hydraulic station through the hydraulic pipeline respectively.
[0013] In a preferred technical scheme, the driller operation screen installed in the driller house is connected to the PLC controller installed in the centralizer arm body through the Ethernet cable.
[0014] In a preferred technical scheme, the tong encoder is a single-turn absolute value encoder, the encoder shaft is fixed to the glass of the tong rotating shaft, the encoder body is fixed to the mounting plate of the leveling oil cylinder through the mounting bracket, and the encoder body is driven to rotate through the expansion of the leveling oil cylinder, so as to detect the rotation angle of the tong.
[0015] In a preferred technical scheme, the PLC controller is configured to collect and analyze sensor state signals, analyze the operation commands sent by the driller operation screen, and simultaneously send signals for driving the hydraulic valve as a logic control.
[0016] In a preferred technical scheme, the driller operation screen is configured to send the operation commands given by the driller to the PLC controller, and simultaneously receive and display the real-time state parameters of the equipment sent by the PLC controller.
[0017] In a preferred technical scheme, the luffing oil cylinder displacement sensor is installed in the luffing oil cylinder, and the luffing oil cylinder displacement sensor is connected with the PLC controller through the signal line, so as to detect the stroke of the luffing oil cylinder, convert the stroke into the inclination angle of the centralizer arm large arm through a mathematical formula, and thus generate the angle at which the tong needs to be automatically leveled.
[0018] The utility model discloses a kind of automatic leveling control systems of drilling rig centralizer arm tong head, it is characterized in that, including driller operation screen, PLC controller.
[0019] Driller operation screen is connected to PLC controller, and PLC controller is connected with tong encoder, luffing oil cylinder and displacement sensor, luffing oil cylinder proportional valve, leveling oil cylinder proportional valve respectively.
[0020] The utility model has the advantages that:
[0021] 1. The head of the centralizing arm can automatically adjust the level according to the angle of the large arm of the centralizing arm, and keep the head parallel to the drilling platform.
[0022] 2. The stand can normally enter the mouse hole when tripping out, and can normally centralize the drill pipe to make up when tripping in and connecting the single pipe, which increases the working efficiency of drilling and reduces the intervention of manual control. BRIEF DESCRIPTION OF DRAWINGS
[0023] Figure 1 is the control system composition diagram of the utility model;
[0024] Figure 2 is the sensor installation position schematic view of the utility model;
[0025] Figure 3 is the mathematical model diagram of the large arm inclination angle conversion of the utility model;
[0026] Figure 4 is the closed loop control logic diagram of the utility model;
[0027] Figure 5 is the standby position state schematic view of the centralizing arm of the utility model;
[0028] Figure 6 is the wellhead position state schematic view of the centralizing arm of the utility model,
[0029] Figure 7 is the mouse hole position state schematic view of the centralizing arm of the utility model;
[0030] Figure 8 is the slope position state schematic view of the centralizing arm of the utility model.
[0031] In the drawing: 1, head encoder; 2, leveling oil cylinder; 3, amplitude oil cylinder and displacement sensor. DETAILED DESCRIPTION
[0032] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model, obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.
[0033] As Figure 1As shown, the embodiment discloses a drilling rig centralizer arm tong head automatic leveling control system, which comprises a driller operation screen and a PLC controller, the driller operation screen is connected to the PLC controller, and the PLC controller is connected with a tong encoder, a luffing cylinder displacement sensor, a luffing cylinder proportional valve and a leveling cylinder proportional valve respectively.
[0034] The hydraulic interface of the luffing cylinder proportional valve is connected to the luffing cylinder and a hydraulic station through a hydraulic pipeline respectively; and the hydraulic interface of the leveling cylinder proportional valve is connected to the leveling cylinder 2 and the hydraulic station through a hydraulic pipeline respectively.
[0035] Preferably, the driller operation screen installed in the driller house is connected to the PLC controller installed in the centralizer arm body through an Ethernet cable.
[0036] Preferably, the tong encoder 1 is a single-turn absolute value encoder, the encoder shaft is fixed to the glass of the tong rotating shaft, the encoder body is fixed to the mounting plate of the leveling cylinder 2 through a mounting bracket, and the encoder body is driven to rotate through the expansion and contraction of the leveling cylinder 2, so as to detect the rotation angle of the tong. The driller operation screen is connected to the PLC controller, and the PLC controller is connected with the tong encoder 1, the luffing cylinder and the displacement sensor 3, the luffing cylinder proportional valve and the leveling cylinder proportional valve respectively. The leveling cylinder proportional valve is installed on the hydraulic valve block, the leveling cylinder proportional valve is connected with the PLC controller through a signal line, and is controlled by the PLC controller to make the centralizer arm tong rotate. The luffing cylinder proportional valve is installed on the hydraulic valve block, the luffing cylinder proportional valve is connected with the PLC controller through a signal line, and is controlled by the PLC controller to make the luffing cylinder expand and contract
[0037] Preferably, the PLC controller is configured to collect and analyze sensor state signals, analyze the operation commands sent by the driller operation screen, and send signals to drive the hydraulic valve as a logic control, which can be obtained from the prior art. Preferably, the driller operation screen is configured to send the operation commands given by the driller to the PLC controller, and receive and display the real-time state parameters of the equipment sent by the PLC controller, which can be obtained from the prior art.
[0038] Preferably, the luffing cylinder displacement sensor is installed in the luffing cylinder, and the luffing cylinder displacement sensor is connected with the PLC controller through a signal line, for detecting the stroke of the luffing cylinder, and converting into the inclination angle of the centralizer arm big arm through Figure 3 a mathematical model to establish a mathematical formula. The formula is:
[0039] ∠c2 = arccos; C = L1 + L2;
[0040] Wherein is the inherent angle of the machine, B and A are the inherent length of the centralizer arm machine, C is the total length of the luffing cylinder, L1 is the inherent length of the luffing cylinder full retraction, L2 is the extension length of the luffing cylinder, that is, the detection value of the displacement sensor. According to the inclination angle of the boom, the angle of the centralizer arm jaw that needs to be adjusted is determined ∠θ = 90° - ∠c2.
[0041] As shown in Figure 4 Therefore, the angle of the centralizer arm jaw that needs to be adjusted is taken as a set value, the angle detected by the jaw encoder 1 is taken as a feedback value, the set value minus the feedback value is taken as an angle deviation, and the extension and retraction distance of the leveling cylinder 2 is adjusted in real time through closed-loop control, so that the jaw is parallel to the rig floor.
[0042] As shown in Figures 5-8 After the driller issues control commands to different points on the driller operation screen, the luffing cylinder of the centralizer arm starts to adjust, and the leveling cylinder 2 of the centralizer arm also automatically adjusts the jaw in real time according to the change of the luffing cylinder, so that the jaw is always parallel to the rig floor.
[0043] The embodiment also discloses a centralizer arm jaw automatic leveling control device of a drilling machine.
[0044] The centralizer arm comprises a centralizer arm jaw, a centralizer arm boom connected with the centralizer arm jaw, and a base connected with the centralizer arm boom; and the centralizer arm jaw has a jaw rotating shaft.
[0045] The mounting bracket and the mounting plate are arranged.
[0046] The centralizer arm jaw automatic leveling control system of the drilling machine comprises a jaw encoder 1 having an encoder shaft and an encoder body, wherein the encoder shaft is fixed to the glass of the jaw rotating shaft; and the encoder body is fixed to the mounting plate of the leveling cylinder 2 through the mounting bracket.
[0047] The luffing cylinder is fixed at one end to the base and at the other end to the centralizer arm boom, and the luffing cylinder is provided with a luffing cylinder displacement sensor arranged in the luffing cylinder, which is used for detecting the displacement of the luffing cylinder, and further obtaining the rotating angle of the centralizer arm boom relative to the base, and further controlling the rotating angle of the centralizer arm jaw according to the rotating angle.
[0048] The centralizer arm jaw automatic leveling control device of the drilling machine can detect the progress of the luffing cylinder through the luffing cylinder displacement sensor, and further obtain the rotating angle of the centralizer arm boom relative to the base (fixed to the rig floor), and further adjust the angle of the centralizer arm jaw through the PLC controller, so that the centralizer arm jaw is parallel to the rig floor.
[0049] The specific procedure for running the system is the prior art, and according to the above embodiment, the utility model can be well realized. It is worth mentioning that based on the premise of the above structure design, in order to solve the same technical problem, even if some non-substantial changes or polishing are made on the utility model, the essence of the technical scheme adopted is still the same as the utility model, so it should also be within the protection scope of the utility model.
Claims
1. An automatic leveling control system for the drilling rig boom straightening tongs, characterized in that, Comprising: PLC controller and jaw encoder (1), luffing cylinder and displacement sensor (3), luffing cylinder proportional valve, leveling cylinder proportional valve, driller operation screen; the hydraulic interface of luffing cylinder proportional valve is connected to luffing cylinder and hydraulic station through hydraulic pipeline respectively; The hydraulic interface of leveling cylinder proportional valve is connected to leveling cylinder (2) and hydraulic station through hydraulic pipeline respectively.
2. The automatic leveling control system for a drilling rig mast j aw according to claim 1, wherein, The driller operation screen installed in driller house is connected to PLC controller installed in centralizer arm body through Ethernet cable.
3. The automatic leveling control system for a drilling rig mast j aw according to claim 1, wherein, The jaw encoder (1) is single-turn absolute encoder, the encoder shaft is fixed to the glass of jaw rotating shaft, the encoder body is fixed to the mounting plate of leveling cylinder (2) through mounting bracket, the encoder body is driven to rotate through the expansion of leveling cylinder (2), which is used for detecting the rotation angle of jaw.
4. The automatic leveling control system for a drilling rig mast jumbo head as defined in claim 2, wherein, The PLC controller is configured to collect and analyze sensor signals, and parse operation commands sent by driller operation screen, and simultaneously send signals to drive hydraulic valve as logic control.
5. The automatic leveling control system for a drilling rig mast jumbo head as defined in claim 4, characterized in that, The driller operation screen is configured to send operation commands given by driller to PLC controller, and simultaneously receive and display real-time state parameters of equipment sent by PLC controller.
6. The automatic leveling control system for a drilling rig mast jumbo head as defined in claim 5, characterized in that, The luffing cylinder displacement sensor is installed in luffing cylinder, and is connected to PLC controller through signal line, which is used for detecting the stroke of luffing cylinder, obtaining the inclination angle of centralizer arm big arm, and generating the angle of jaw needing automatic leveling.
7. A rig mast jumbo automatic leveling control device, characterized in that, Comprising: Centralizer arm, which comprises centralizer arm jaw, centralizer arm big arm connected with centralizer arm jaw, and base connected with centralizer arm big arm; The centralizer arm jaw has jaw rotating shaft; Mounting bracket and mounting plate; The drill centralizer arm jaw automatic leveling control system of any one of claims 1-6, wherein the jaw encoder (1) has encoder shaft and encoder body, the encoder shaft is fixed to the glass of jaw rotating shaft, and the encoder body is fixed to the mounting plate of leveling cylinder (2) through mounting bracket.