CN101195135A - Full-automatic on-line method for gag press straightening jackrod - Google Patents
Full-automatic on-line method for gag press straightening jackrod Download PDFInfo
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- CN101195135A CN101195135A CNA2007101718832A CN200710171883A CN101195135A CN 101195135 A CN101195135 A CN 101195135A CN A2007101718832 A CNA2007101718832 A CN A2007101718832A CN 200710171883 A CN200710171883 A CN 200710171883A CN 101195135 A CN101195135 A CN 101195135A
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Abstract
The invention discloses a method for straightening the pressure of drill rods, which is full-automatic and on line. The invention comprises firstly, delivering a drill rod through a roll frame and positioning precisely the drill rod to a testing position through a photoelectric switch, using a non-contact method to test straightness as the drill rod rotates, delivering the drill rod to blank if the drill rod is qualified, firstly, selecting a straightening strategy if the drill rod is un-qualified, certifying the straightening strategy, and positioning precisely the drill rod into a step clamp, secondly, subtracting a straightening parameter from a dynamic knowledge base of straightening parameters of a host computer and knowing a size of a stroke which should be fed to an oil cylinder, thirdly, driving hydraulic pressure to feed the oil cylinder, using a control technique of a straightening stroke to realize precise control for the stroke of the oil cylinder, and finishing a straightening stroke, fourthly, rechecking after a straightening is finished, and using a self-studying system of the straightening parameters to adjust and optimize the straightening parameter. The invention is enabled to realize the straightening of the pressure for ends of the drill rod, which is full-automatic and on line, and the problem that ends of the drill rod have ultra-poor straightness can be solved.
Description
Technical field
The present invention relates to a kind of method of field of mechanical technique, specifically is a kind of full-automatic on-line method for gag press straightening jackrod.
Background technology
Oil gas well drilling rod is the important tool that is used for the oil-gas drilling exploitation.Special-purpose seamless steel pipe-the oil well pipe of petroleum industry comprises drill string member (drilling rod, drill collar etc.) and sleeve pipe, oil pipe.The drillng operation of petroleum exploration and development must use drilling rod and drill collar, and well cementation must be used sleeve pipe, recovers the oil and must use oil pipe.According to statistics, oil well whenever creeps into 1 meter and needs 62 kilograms of oil well pipes approximately, 48 kilograms of its middle sleeves, 10 kilograms in oil pipe, 3 kilograms on drilling rod, 0.5 kilogram of drill collar.In the oil gas drilling process, drilling rod will bear huge axial compressive force and moment of torsion, and requires drilling depth to reach thousands of rice, and this straight degree for drilling rod has proposed very high requirement.
Drilling rod is a kind of non-equal diameter seamless steel pipe, and two forms upset end through process for upsetting, by dodging the upset end way pipe shaft is carried out the cross roll aligning after heat treatment is finished.Cross roll aligning efficient height and leveling effect are good, but are difficult to guarantee near the straight degree the pipe end.So just align at pipe end at cross roll aligning back supplementary pressure straightening process.Present domestic drilling rod gag press straightening mainly also relies on experience manual operation gag straightener to align.
Find that through literature search TaiWan, China patent (patent No. TW338102-A) has been introduced a kind of axial workpiece and detected straightening system automatically to prior art.This system comprises testing agency, feed mechanism, straightening mechanism, material collection mechanism and the parts such as software that have self-learning function.It can detect the straight degree error and the on-line straightening of a part automatically, and the aligning parameter adopts the method for self study to obtain and use the Electric Machine Control feeding.This patent aligning, causes compressing aligning process stability deficiency, and is not suitable for large-scale workpiece is aligned because the straightening mechanism of quoting as proof is a motor-driven liking the axle part.Adjustment step-length in the self-learning function can not freely be set, and also coarse adjustment and accurate adjustment is not divided in self study, can cause restraining slow or disperses.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of full-automatic on-line method for gag press straightening jackrod is provided, make it, realized the on-line Full gag press straightening of drill rod end, solved drill rod end and directly spent overproof problem based on the gag press straightening principle.The present invention utilizes laser displacement sensor to detect, and pressure sensor and the feeding of displacement transducer control hydraulic cylinder in conjunction with dynamic knowledge storehouse technology, self study technology and fuzzy theory, have reached very high flattening precision and intelligent level.
The present invention is achieved by the following technical solutions, the present invention includes following steps:
At first, transmit drilling rod and accurately navigate to detecting position with optoelectronic switch with the roller frame, drilling rod detects its straight degree while rotating with non-contact method.As detect the qualified drilling rod blanking that then transmits, if the defective policy selection of then at first aligning, the strategy of definite aligning accurately navigates to drilling rod in the ladder anchor clamps.
Secondly, in the aligning parameter dynamic knowledge storehouse of host computer, extract the aligning parameter, know that promptly oil cylinder must the much strokes of feeding.
Once more, the feeding of beginning hydraulic driving oil cylinder utilizes aligning Stroke Control technology to realize the accurate control of oil cylinder stroke, has finished the process of once aligning.
At last, recheck after aligning is finished, utilize aligning Parameter Self-learning system to adjust, optimize the aligning parameter automatically, guarantee the increase with the aligning number of times, leveling effect can be more and more desirable.
Described aligning policy selection is based on engineering experience, when detecting index and have two and two above, according to different testing results, utilizes the theoretical automatic decision method for aligning of Fuzzy Self-learning, once can satisfy a plurality of detection indexs to realize aligning.
Described ladder anchor clamps are that plain clamp is replaced to the ladder anchor clamps, and the ladder anchor clamps have the ability of clamping pipe shaft and upset end simultaneously, can make to align the more close pipe end of axial location.
Described aligning parameter dynamic knowledge storehouse is meant a dynamic knowledge storehouse of setting up at host computer, is used for storage aligning parameter information.For drilling rod, various outer diameter, grade of steel, anchor clamps are opened distance, the corresponding different aligning amount of feeding of testing result, but will certainly will cause formula too complicated with the method for resolving, and the sum of errors reliability may not be desirable.So at first set up aligning amount of feeding dynamic knowledge storehouse,, extract corresponding aligning parameter by the dynamic knowledge storehouse according to the bore rod straightness testing result.This dynamic knowledge storehouse will be with carrying out of producing and constantly revise perfect.
Described aligning Stroke Control technology is meant in oil cylinder feeding process, system can the perception pressure head and the contacting of drilling rod, after capturing contact point by detection system, pressure head will continue displacement of feeding, and this displacement is the aligning amount of feeding that obtains from dynamic knowledge base.This function is an adopts pressure sensor perception oil cylinder working-pressure, adopts displacement transducer perception oil cylinder stroke to realize.
Described aligning Parameter Self-learning system is based on the adjustment and the optimization of the aligning parameter of self study theory.The adjustment of aligning parameter need not manually participate in, and rectifys by automatic examination and continues to optimize parameter, makes aligning can guarantee higher one-time success rate.
Compared with prior art, the present invention is based on the gag press straightening principle, have significant advantage: (1) uses plain clamp must dodge upset end, and align the position after leaning on.So frequent appearance " bend in straight place, the crook is also curved " S type drilling rod.Selected the ladder anchor clamps for use,, then can really the crook have been aligned in conjunction with accurately locating; (2) aligning policy selection, aligning dynamic parameter storehouse and aligning self learning system are with whole straightening process informations parameterization, and select automatically, adjust, changed original situation that only relies on operating personnel's experience aligning, eliminated human factor, unified technology, product has more uniformity.(3) more intelligence aligning Parameter Self-learning algorithm.The self study step-length can manually be set, and changes compensation according to coarse adjustment and fine setting automatically, has solved the stability problem of parameter and the rapidity problem of convergence.(4) whole system has higher precision and productive temp.Drilling rod axial location precision 1mm, circumferentially positioning accuracy is 5 °, aligning stroke positioning accuracy 0.2mm.The average 2min/ root of productive temp, that looks the specification of drilling rod and initial straight degree differently has certain difference.
Description of drawings
Fig. 1 is the drilling rod schematic diagram, wherein: (a) drilling rod left end, (b) drilling rod right-hand member;
Fig. 2 is the straightener schematic diagram, wherein: 1. ladder anchor clamps, 2. oil cylinder pressure head, 3. displacement transducer, 4. oil-feed loop, 5. pressure sensor 6. goes out oil return line.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment has provided detailed embodiment and process being to implement under the prerequisite with the technical solution of the present invention, but protection scope of the present invention is not limited to following embodiment.
The drilling rod schematic diagram (a) is the drilling rod left end as shown in Figure 1, (b) is the drilling rod right-hand member.Form " rolling head " at upset end easily and directly spend defective, near upset end, the cross roll straightening blind area easily produces " blind area " and directly spends defective.Utilize 3 recurvation principles at present embodiment, align at rolling head and blind area.At first drilling rod is to detecting position, and the detection system operation also utilizes laser displacement sensor to detect the straight degree misalignment angle and the departure of drilling rod and passes to straightening system.A pair of support fixture is at a distance of certain distance, and drilling rod is by also clamping thereon, and the feeding of mid point hydraulic jack is oppressed drilling rod it is aligned.The technology contents that is specifically related to:
1. aligning policy selection
Detect index for rolling head, two of blind areas, according to the actual conditions needs, set note rolling head and blind area detected value and be respectively A and B, the result is divided into qualified (A＜2mm, B＜1.2mm), few (A＜2.5mm exceeds standard, B＜1.8mm), exceed standard that more (A＞2.5mm or B＞1.8mm), so just there are totally 9 kinds of combinations the blind area too.Align strategy and have following three kinds: according to a single rolling index aligning (promptly align phase place and get the eccentric phase place of rolling head detection, the aligning amount is extracted from database by a rolling testing result); According to single blind area index aligning; A comprehensive rolling blind area index aligning (define two weight parameter, comprehensively aligning phase place and aligning amount is exactly the weighted average of other aligning phase place of branch and aligning amount).Weight parameter obtains by self study.
2. ladder anchor clamps
As shown in Figure 2, ladder anchor clamps 1 are divided into the different two parts (similar stepped) of height, a part is used for clamping upset end (rolling head), part clamping pipe shaft, drilling rod is moved axially, utilize laser position sensors location, make the drill pipe thickening section just be clamped in the low part of ladder anchor clamps 1, another anchor clamps then utilize high part clamping pipe shaft.Can partly align the drilling rod actual flexion effectively like this.
3. align parameter dynamic knowledge storehouse
In host computer, set up a database, store all aligning parameters with the form of text.For various outer diameter, grade of steel, wall thickness and the corresponding different aligning amount of feeding of combination of directly spending testing result.In the host computer man-machine interface, import external diameter, grade of steel, the wall thickness of this batch drilling rod before producing, from database, extract the amount of feeding parameter of needs according to testing result.Parameter in the database can be revised in man-machine interface, be preserved.The self-learning function that mainly shows it about Database Dynamic sees the specific embodiment 4 for details.
4. align the Stroke Control technology
As shown in Figure 2, set a contact pressure thresholding in Programmable Logic Controller PLC, when oil cylinder pressure head 2 contact with drilling rod, oil-feed loop 4 had significant rising with the pressure that goes out oil return line 6, usefulness pressure sensor 5 detected pressures.Think when pressure surpasses this thresholding that oil cylinder pressure head 2 contacts with the drilling rod surface, displacement transducer 3 probe locations are as leading zero's at this moment, and probe arrives given stroke (aligning amount of feeding parameter) back oil cylinder feed-disabling and pressurize, rollback subsequently.Simultaneously, utilize pressure sensor 5 and displacement transducer 3 to carry out the overvoltage protection and the overtravel protection of the pressure of hydraulic system, avoid damaging product and equipment.
5. align the Parameter Self-learning technology
Finger is based on the adjustment and the optimization of the aligning amount of self study.For a kind of drilling rod of specification, will directly spend testing result (offset) and be divided into a plurality of intervals, each interval corresponding aligning amount of feeding.Drilling rod is rechecked after pressing and rectifying, and judges according to the eccentric phase place of rechecking the back test point whether previous aligning amount of feeding value is bigger than normal or less than normal.If near phase place (30 °-+30 °) 0 ° thinks that the amount of feeding is less than normal, if phase place near 180 °, thinks that the amount of feeding is bigger than normal.For feeding parameter bigger than normal, this interval institute corresponding aligning amount of feeding is reduced a step-length, otherwise increase a step-length.
The aligning of detection 3 times at every batch of drilling rod adopts quick self study, promptly selects bigger adjustment step-length for use, after this adopts common self study and selects less adjustment step-length for use.In addition owing to do not wish the excessive situation of the amount of feeding and occur, near can excessive to the amount of feeding (phase place is 180 degree) situation is got bigger adjustment step-length.
Embodiment:
Present embodiment is selected the drilling rod specification for use: external diameter 127mm, and grade of steel G105, wall thickness 9.19mm, environment temperature 20 degree, drilling rod temperature 20 degree, the aligning mode is the both ends alignings.Detect index: pipe end 30mm place jerk value is less than 2mm, and pipe end 366mm place jerk value is less than 1.2mm.Initial aligning parameter was 6mm, by one hour Parameter Self-learning.Class of actual production, the implementation result contrast:
Present embodiment: drilling rod all meets the detection requirement, productive temp: 2 minutes/root.Press drilling rod surface, strong back intact, can align at sweep effectively.
Conventional method: have a small amount of drilling rod not meet the detection requirement, productive temp: 3 minutes/root.Indivedual drilling rods are crossed senior general's profile because of the amount of feeding and are destroyed, and substantially all do not have at the sweep aligning, but drilling rod is pressed into the S type.
Claims (10)
1. a full-automatic on-line method for gag press straightening jackrod is characterized in that, comprises the steps:
At first, transmit drilling rod and navigate to detecting position with optoelectronic switch with the roller frame, drilling rod detects its straight degree while rotating with non-contact method, as detect the qualified drilling rod blanking that then transmits, if the defective policy selection of then at first aligning, the strategy of definite aligning accurately navigates to drilling rod in the ladder anchor clamps;
Secondly, in the aligning parameter dynamic knowledge storehouse of host computer, extract the aligning parameter, promptly know the much strokes of oil cylinder palpus feeding;
Once more, the feeding of beginning hydraulic driving oil cylinder utilizes aligning Stroke Control technology to realize the accurate control of oil cylinder stroke, has finished the process of once aligning;
At last, recheck after aligning is finished, utilize aligning Parameter Self-learning system to adjust, optimize the aligning parameter automatically.
2. full-automatic on-line method for gag press straightening jackrod as claimed in claim 1, it is characterized in that, described aligning policy selection is meant: when detecting index and have two and two above, according to testing result, utilize the theoretical automatic decision method for aligning of Fuzzy Self-learning, once can satisfy a plurality of detection indexs to realize aligning.
3. full-automatic on-line method for gag press straightening jackrod as claimed in claim 1 or 2, it is characterized in that, described aligning policy selection is meant: detect index for rolling head, two of blind areas, set note rolling head and blind area detected value, that the result is divided into is qualified, exceed standard few, it is more to exceed standard, so just there are totally 9 kinds of combinations the blind area too; Align strategy and have following three kinds: according to a single rolling index aligning, promptly align phase place and get the eccentric phase place of rolling head detection, the aligning amount is extracted from database by a rolling testing result; According to single blind area index aligning; A comprehensive rolling blind area index aligning defines two weight parameter, and comprehensively aligning phase place and aligning amount is exactly the weighted average of other aligning phase place of branch and aligning amount, and weight parameter obtains by self study.
4. full-automatic on-line method for gag press straightening jackrod as claimed in claim 1 is characterized in that, described ladder anchor clamps are the abilities that have clamping pipe shaft and upset end simultaneously, makes to align the more close pipe end of axial location.
5. as claim 1 or 4 described full-automatic on-line method for gag press straightening jackrod, it is characterized in that, described ladder anchor clamps, be divided into height two step portion, a part is used for the clamping upset end, a part of clamping pipe shaft, drilling rod is moved axially, utilize the laser position sensors location, make the drill pipe thickening section just be clamped in the low part of anchor clamps, another anchor clamps then utilize high part clamping pipe shaft.
6. full-automatic on-line method for gag press straightening jackrod as claimed in claim 1, it is characterized in that, described aligning parameter dynamic knowledge storehouse is meant in host computer sets up a database with the form of text, store all aligning parameters, for various outer diameter, grade of steel, the wall thickness and the corresponding different aligning amount of feeding of combination of directly spending testing result, in the host computer man-machine interface, import the external diameter of this batch drilling rod before producing, grade of steel, wall thickness, from database, extract the amount of feeding parameter of needs according to testing result, parameter in the database is revised by man-machine interface, preserve, database has self-learning function.
7. full-automatic on-line method for gag press straightening jackrod as claimed in claim 1, it is characterized in that, described aligning Stroke Control technology is meant in oil cylinder feeding process, system can the perception pressure head and the contacting of drilling rod, after capturing contact point by detection system, pressure head will continue displacement of feeding, and this displacement is the aligning amount of feeding that obtains from dynamic knowledge base.
8. as claim 1 or 7 described full-automatic on-line method for gag press straightening jackrod; it is characterized in that; described aligning Stroke Control technology; be meant and in Programmable Logic Controller PLC, set a contact pressure thresholding; when pressure head contacts with drilling rod; when pressure surpasses this thresholding; pressure head contacts with the drilling rod surface; this moment, the displacement transducer probe location was as leading zero's; probe arrives oil cylinder feed-disabling and pressurize behind the given stroke; rollback simultaneously, utilizes pressure sensor and displacement transducer to carry out the overvoltage protection and the overtravel protection of the pressure of hydraulic system subsequently.
9. full-automatic on-line method for gag press straightening jackrod as claimed in claim 1, it is characterized in that, described aligning Parameter Self-learning system, be meant adjustment and optimization based on the aligning amount of self study, drilling rod for a kind of specification, to directly spend testing result and be divided into a plurality of intervals, each interval corresponding aligning amount of feeding, drilling rod is rechecked after pressing and rectifying, judge according to the eccentric phase place of rechecking the back test point whether previous aligning amount of feeding value is bigger than normal or less than normal, if phase place thinks that near 0 ° the amount of feeding is less than normal, if phase place near 180 °, thinks that the amount of feeding is bigger than normal, for feeding parameter bigger than normal, this interval institute corresponding aligning amount of feeding is reduced a step-length, otherwise increase a step-length.
10. as claim 1 or 9 described full-automatic on-line method for gag press straightening jackrod, it is characterized in that, described aligning Parameter Self-learning system, the aligning of detection 3 times at every batch of drilling rod adopts quick self study, promptly select for use coarse adjustment to adjust step-length, after this adopt common self study and select for use accurate adjustment to adjust step-length.
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| CNB2007101718832A CN100542705C (en) | 2007-12-06 | 2007-12-06 | Full-automatic on-line method for gag press straightening jackrod |
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Cited By (8)
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| CN102259291A (en) * | 2010-05-31 | 2011-11-30 | 三菱电机株式会社 | Phase adjusting method and device of eccentric workpiece and workpiece supplying method and device |
| CN101937237B (en) * | 2009-07-03 | 2012-05-30 | 宝山钢铁股份有限公司 | Automatic positioning method for drill rod end straightening |
| CN103176431A (en) * | 2011-12-21 | 2013-06-26 | 新昌县盛大科技有限公司 | Automatic optimization process for graphite spheroidization production parameters |
| TWI417152B (en) * | 2011-05-31 | 2013-12-01 | ||
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA831323A (en) * | 1970-01-06 | A. Johnson Walter | Pipe straightener | |
| CA1064806A (en) * | 1976-08-23 | 1979-10-23 | International Tool And Supply Co. Inc. | Heavy duty mobile pipe straightening machine of relatively light-weight construction |
| US4131005A (en) * | 1977-05-20 | 1978-12-26 | Pridy Whetstine B | Tubular member straightening, descaling and hydraulic testing apparatus |
| CN1195586A (en) * | 1997-04-04 | 1998-10-14 | 财团法人工业技术研究院 | Automation system for measuring and straightening axle parts |
| CN100457310C (en) * | 2006-12-30 | 2009-02-04 | 西北有色金属研究院 | Straightening method and apparatus for small-diameter thin-wall metal tube |
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2007
- 2007-12-06 CN CNB2007101718832A patent/CN100542705C/en not_active Expired - Fee Related
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| CN101937237B (en) * | 2009-07-03 | 2012-05-30 | 宝山钢铁股份有限公司 | Automatic positioning method for drill rod end straightening |
| CN102259291A (en) * | 2010-05-31 | 2011-11-30 | 三菱电机株式会社 | Phase adjusting method and device of eccentric workpiece and workpiece supplying method and device |
| CN102259291B (en) * | 2010-05-31 | 2014-01-22 | 三菱电机株式会社 | Phase adjusting method and device of eccentric workpiece and workpiece supplying method and device |
| TWI417152B (en) * | 2011-05-31 | 2013-12-01 | ||
| CN103176431A (en) * | 2011-12-21 | 2013-06-26 | 新昌县盛大科技有限公司 | Automatic optimization process for graphite spheroidization production parameters |
| CN103537514A (en) * | 2013-09-29 | 2014-01-29 | 湖南恒岳重钢钢结构工程有限公司 | H-shaped steel correcting device and using method |
| CN107921500A (en) * | 2015-09-28 | 2018-04-17 | 宝马股份公司 | For aligning the method and straightener of the deformation of member by straightener |
| US10780479B2 (en) | 2015-09-28 | 2020-09-22 | Bayerische Motoren Werke Aktiengesellschaft | Method for straightening a distortion of a component by way of a straightening device, and straightening device |
| CN107442602A (en) * | 2016-05-31 | 2017-12-08 | 南京理工大学 | A kind of antidote of aluminum alloy tripod casting height |
| CN106826089A (en) * | 2016-12-30 | 2017-06-13 | 唐华烨 | Lower swing arm calibration regulation cubing before vehicle right and left |
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| CN100542705C (en) | 2009-09-23 |
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