CN101716634A - Automatic laser tracking positioning device and method for straightening drill pipe of oil well - Google Patents
Automatic laser tracking positioning device and method for straightening drill pipe of oil well Download PDFInfo
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- CN101716634A CN101716634A CN200910310971A CN200910310971A CN101716634A CN 101716634 A CN101716634 A CN 101716634A CN 200910310971 A CN200910310971 A CN 200910310971A CN 200910310971 A CN200910310971 A CN 200910310971A CN 101716634 A CN101716634 A CN 101716634A
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Abstract
The invention relates to an automatic laser tracking positioning device for straightening a drill pipe of an oil well, belonging to the technical field of oil drilling. The automatic laser tracking positioning system for straightening the drill pipe of the oil well comprises two stepped clamps, two laser displacement sensors, a stepping motor, a screw rod and an encoder, wherein the two stepped clamps are respectively and rotationally arranged at both sides of the screw rod, and the lower ends of the two stepped clamps are in stepped structures and lie opposite the drill rod to be measured; the two laser displacement sensors are respectively and fixedly arranged on the two stepped clamps, and laser beams respectively lie opposite the inner stepped edges of the stepped clamps. The invention can realize the accurate positioning of the axial movement of the drill rod, also further improve the supporting structures of the stepped clamps, i.e. the spans of the stepped clamps can be automatically regulated according to different calibers and steel grades, enhance the straightening quality and efficiency and reduce the labor intensity.
Description
Technical field
What the present invention relates to is the positioner and the localization method in a kind of oil drilling technology field, specifically is that a kind of laser of straightening drill pipe of oil well is followed the tracks of automatic positioning equipment and localization method thereof.
Background technology
Along with the growth continuously and healthily of China's economy, petroleum resources residing strategic position in national economy is day by day appeared suddenly.Except actively raising the petroleum resources from international crude oil market, China has also strengthened the exploitation of domestic petroleum resource and exploration.The seamless steel pipe Zhao oil well pipe of petroleum industry special use (including: drill string member (drilling rod, drill collar etc.) and sleeve pipe) is the basic goods and materials of petroleum industry.At present, the drilling well drilling depth has reached more than the ten thousand metres, and this has higher requirement to drilling rod, particularly the requirement of straight degree.The big drilling rod of straight degree deviation makes error constantly add up with oil well depth, causes it until huge centrifugal force and fractures, and the oil well that will cause being worth tens million of units and even more than one hundred million units is scrapped.According to " API Std drilling rod standard (APISPEC 5D) ", all essential detections and aligning such as the two ends upset end of drilling rod (rolling head), two ends straightening blind area, two ends 1.5m action.
The characteristics of oil drilling drilling rod are the long 8-13m of drilling rod, diameter increases 20-30mm than body behind the jumping-up of two ends, the about 150mm of two ends upsetting length, after the thickening of two ends jumping-up, advanced full-automatic cross-roll straightening machine is also had to avoid this section reinforcement and only drilling rod intervalve body portion is aligned, and this just causes the straightening blind area that exists one section about 500mm to grow in two ends of drill.
At the straightening blind area of two ends of drill, in the API of the American Petroleum Institute standard, worked out quality standard specially: promptly, upset end is with respect to the jerk value≤2mm of body middle straight line segment, and the straightening blind area section is with respect to the flexibility≤1.2mm of body middle straight line segment.These require for the non-equal diameter of coming out by hot-working, high-intensity drilling rod, if can not reach without follow-up straightening processing.At present, in steel industry, the detection of this section straightening blind area aligning is nearly all relied on the manually-operated simple detection device and gag straightener is finished.
Drilling rod is after manually-operated aligning and manual detection finish, the operation drilling rod enters in the gag press straightening system, because there is the jumping-up part in two ends of drill, two V-arrangement support fixtures can only the isodiametric body portion of supports drill rods, and operating pressure straightener pressure head is aligned drilling rod then.Because two ends of drill approximately has only 500mm long without the length of the straightening blind area part of automatic flattening machine aligning, the real bending point of drilling rod is generally from the about 250mm of drilling rod end face place.The drilling rod jumping-up partly is about 150mm, the about 100mm of the width of each V-arrangement support fixture is long, the about 120mm of the width of gag press straightening compressing head is long, if two V-arrangement fixture support are on the isodiametric body of drilling rod, the gag press straightening compressing head acts on the centre of two V-arrangement anchor clamps, so gag press straightening compressing head application point leaves the drilling rod end face just greater than 250mm, the gag press straightening compressing head is really acted on the bending point of drilling rod align.Just because of this cause, the certain operations personnel have to suitably rectify the straight part of drilling rod and bend at present, make drilling rod become the S shape.The result who does like this, though from detection angles, perhaps the jumping-up part has reached requirement with respect to the jerk value of body straightway part, in fact drilling rod is case of bending.
In order to improve straightening quality, the engineering staff has done improvement to anchor clamps, has designed stair-stepping support fixture at different drilling rods, and the leveling effect that these species stage anchor clamps improve has greatly really reached the purpose that straightening blind area is aligned.But under mass, the fast beat condition of production, operating personnel rely on and operate the drive transfer system by hand, rely on range estimation and come the end of drilling rod is delivered in the ladder anchor clamps just very difficult, and service speed is very slow, has influenced production efficiency.
Summary of the invention
The present invention is directed to the prior art above shortcomings, provide a kind of laser of straightening drill pipe of oil well to follow the tracks of automatic positioning equipment and localization method thereof, can realize the axially movable accurate location of drilling rod, can also further improve the supporting construction of anchor clamps, be the ladder anchor clamps open shelves can regulate automatically according to different calibers and grade of steel, improve straightening quality, improve aligning efficient, reduce labour intensity.
The present invention is achieved by the following technical solutions:
The laser that the present invention relates to straightening drill pipe of oil well is followed the tracks of automatic positioning equipment, comprise: the first ladder anchor clamps, first laser displacement sensor, the second ladder anchor clamps, second laser displacement sensor, stepper motor, screw mandrel and encoder, wherein: first laser displacement sensor is fixedly mounted on the first ladder anchor clamps and laser beam is right against the ladder inward flange of ladder anchor clamps, the first ladder anchor clamps rotate the left side that is arranged at screw mandrel, second laser displacement sensor is fixedly mounted on the second ladder anchor clamps and laser beam is right against the ladder inward flange of ladder anchor clamps, the second ladder anchor clamps rotate the right side that is arranged at screw mandrel, one end of screw mandrel is connected with the output shaft of stepper motor, encoder is fixedly set in the end of stepper motor, screw mandrel parallels with drilling rod to be measured, and the ladder anchor clamps are right against drilling rod to be measured.
The lower end of the described first ladder anchor clamps and the second ladder anchor clamps is the notch cuttype structure, and the ladder degree of depth of notch cuttype structure is the thickness of drilling rod head and the tail to be measured two ends upset end.
Two ends, the described screw mandrel left and right sides are designed to left-handed respectively and the right-handed thread structure, this leading screw left end thread rotary orientation is identical with the screw thread rotation direction of the first ladder anchor clamps, leading screw right-hand member thread rotary orientation is identical with the screw thread rotation direction of the second ladder anchor clamps, when stepper motor rotated, the first and second ladder anchor clamps moved in or out simultaneously.
Described stepper motor is the double output shaft stepper motor, its front end output shaft is fixedlyed connected with screw mandrel, the rear end output shaft is connected with encoder, this stepper motor is fixedly mounted on the straightener top, control its main story or counter-rotating by control system, thus control first move anchor clamps and second move anchor clamps open span from;
Described encoder be rotary encoder, be installed in the afterbody of stepper motor, the output signal of encoder offer control system be used to detect the first ladder anchor clamps and the second ladder anchor clamps move left and right open span from.
The laser that the present invention relates to above-mentioned straightening drill pipe of oil well is followed the tracks of the localization method of automatic positioning equipment, may further comprise the steps:
The first step, control system move to the detection position by transmission system drives drilling rod left end and detect;
Control drives stepper motor and drives the screw mandrel rotation according to drilling rod grade of steel and wall thickness for second step, control system, and the first ladder anchor clamps and the second ladder anchor clamps inwardly or are simultaneously outwards moved simultaneously, adjusts to open span to requiring the position between two ladder anchor clamps;
The 3rd step, control system moves from left to right by the transmission system drives drilling rod, in the drilling rod moving process, the laser beam of the laser displacement sensor on the first ladder anchor clamps acts on the drilling rod outer surface, be in normal detection tracking mode, when drilling rod left end upset end end face moves to the ladder inside edge of the first ladder anchor clamps, drilling rod left end end face has left the detection range of laser displacement sensor light beam, represent that promptly drilling rod left end upset end end face has entered the ladder position of the first ladder anchor clamps, reached predetermined aligning clamping and positioning position, thereby got ready for the aligning of drilling rod left end;
The 4th step, the drilling rod left end of having good positioning is aligned, after aligning finishes, be moved to the left, make the right-hand member of drilling rod move to the detection position and detect;
The 5th step, control system moves right from right to left by the transmission system drives drilling rod, in the drilling rod moving process, the laser beam of the laser displacement sensor on the second ladder anchor clamps acts on the drilling rod outer surface, be in normal detection tracking mode, when drilling rod right-hand member upset end end face moves to the ladder inside edge of second ladder, drilling rod right-hand member end face has left the detection range of laser displacement sensor light beam, represent that promptly drilling rod right-hand member upset end end face has entered the ladder position of the second ladder anchor clamps, reached predetermined aligning clamping and positioning position, thereby got ready for the aligning of drilling rod right-hand member.
The present invention has realized that the two ends of drill upset end enters the accurate location in the ladder anchor clamps breach, thereby is that the automation aligning of further realizing the two ends of drill straightening blind area is got ready.Compared with prior art, the present invention has following characteristics and effect: quick, the accurate location of having realized two ends of drill straightening blind area aligning process; Method is simple, reliable; Can adjust automatically the ladder anchor clamps open span from, reach best leveling effect; Detect, align whole automation process for connecting and played crucial effect.
Description of drawings
Fig. 1 is an original state schematic diagram of the present invention;
Fig. 2 is a working state schematic representation of the present invention.
The specific embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, 2, present embodiment comprises: the first ladder anchor clamps 5, first laser displacement sensor 3, the second ladder anchor clamps 6, second laser displacement sensor 4, stepper motor 7, screw mandrel 8 and encoder 9, wherein: first laser displacement sensor 3 is fixedly mounted on the first ladder anchor clamps 5, and laser beam is right against the ladder inward flange of ladder anchor clamps, and the first ladder anchor clamps 5 rotate the left side that is arranged at screw mandrel 8.Second laser displacement sensor 4 is fixedly mounted on the second ladder anchor clamps 6, and laser beam is right against the ladder inward flange of ladder anchor clamps, and the second ladder anchor clamps 6 rotate the right side that is arranged at screw mandrel 8.One end of screw mandrel 8 is connected with the output shaft of stepper motor 7, and encoder 9 is fixedly set in the end of stepper motor 7, and screw mandrel 8 parallels with drilling rod 1 to be measured, and the lower end of the first ladder anchor clamps 5, the second ladder anchor clamps 6 is right against drilling rod 1 to be measured.
The lower end of the described first ladder anchor clamps and the second ladder anchor clamps is the notch cuttype structure, and the ladder degree of depth of notch cuttype structure is the thickness of drilling rod 1 head and the tail two ends upset end to be measured.
The laser beam of described laser displacement sensor 3 and laser displacement sensor 4 is right against the ladder inward flange of the first ladder anchor clamps and the second ladder anchor clamps respectively, to detect the position location when the end face of drilling rod 1 upset end enters the first ladder anchor clamps or the second ladder anchor clamps.
Two ends, described screw mandrel 8 left and right sides are designed to left-handed respectively and the right-handed thread structure, these leading screw 8 left end thread rotary orientations are identical with the screw thread rotation direction of the first ladder anchor clamps 5, leading screw 8 right-hand member thread rotary orientations are identical with the screw thread rotation direction of the second ladder anchor clamps 6, when stepper motor 7 rotations, the first ladder anchor clamps 5 and the second ladder anchor clamps 6 move in or out simultaneously.
Described stepper motor 7 is the double output shaft stepper motor, its front end output shaft is fixedlyed connected with screw mandrel 8, the rear end output shaft is connected with encoder 9, this stepper motor is fixedly mounted on the straightener top, control its main story or counter-rotating by control system, thus control the first ladder anchor clamps 5 and the second ladder anchor clamps 6 open span from;
Described encoder 9 be rotary encoder, be installed in the afterbody of stepper motor 7, the output signal of encoder 9 offer control system be used to detect the first ladder anchor clamps 5 and the second ladder anchor clamps, 6 move left and right open span from.
As shown in Figure 1, present embodiment carries out the work location in the following manner:
The first step, control system move to the detection position by transmission system drives drilling rod 1 left end and detect;
Second step, control system drive 8 rotations of stepper motor 7 drive screw mandrels according to drilling rod 1 grade of steel and wall thickness control, the first ladder anchor clamps 5 and the second ladder anchor clamps 6 inwardly or are simultaneously outwards moved simultaneously, adjust and open span to requiring the position between two ladder anchor clamps;
The 3rd step, control system moves from left to right by transmission system drives drilling rod 1, in the drilling rod moving process, laser beam at the laser displacement sensor 3 on the first ladder anchor clamps 5 acts on drilling rod 1 outer surface, be in normal detection tracking mode, when drilling rod 1 left end upset end end face moves to the ladder inside edge of the first ladder anchor clamps 5, drilling rod 1 left end end face has left the detection range of laser displacement sensor 3 light beams, represent that promptly drilling rod 1 left end upset end end face has entered the ladder position of the first ladder anchor clamps 5, reached predetermined aligning clamping and positioning position, thereby got ready for the aligning of drilling rod 1 left end;
The 4th step, drilling rod 1 left end of having good positioning is aligned, after aligning finishes, be moved to the left, make the right-hand member of drilling rod 1 move to the detection position and detect;
The 5th step, control system moves from right to left by transmission system drives drilling rod 1, in the drilling rod moving process, laser beam at the laser displacement sensor 4 on the second ladder anchor clamps 6 acts on drilling rod 1 outer surface, be in normal detection tracking mode, when drilling rod 1 right-hand member upset end end face moves to the ladder inside edge of second ladder 6, drilling rod 1 right-hand member end face has left the detection range of laser displacement sensor 4 laser beams, represent that promptly drilling rod 1 right-hand member upset end end face has entered the ladder position of the second ladder anchor clamps 6, reached predetermined aligning clamping and positioning position, thereby got ready for the aligning of drilling rod 1 right-hand member.
Said method has realized that drilling rod 1 two ends upset end enters the accurate location in the ladder anchor clamps, thereby is that the automation aligning of further realizing drilling rod 1 two ends straightening blind area is got ready.
Claims (6)
1. the laser of a straightening drill pipe of oil well is followed the tracks of automatic positioning equipment, it is characterized in that, comprise: the first ladder anchor clamps, first laser displacement sensor, the second ladder anchor clamps, second laser displacement sensor, stepper motor, screw mandrel and encoder, wherein: first laser displacement sensor is fixedly mounted on the first ladder anchor clamps and laser beam is right against the ladder inward flange of ladder anchor clamps, the first ladder anchor clamps rotate the left side that is arranged at screw mandrel, second laser displacement sensor is fixedly mounted on the second ladder anchor clamps and laser beam is right against the ladder inward flange of ladder anchor clamps, the second ladder anchor clamps rotate the right side that is arranged at screw mandrel, one end of screw mandrel is connected with the output shaft of stepper motor, encoder is fixedly set in the end of stepper motor, screw mandrel parallels with drilling rod to be measured, and the ladder anchor clamps are right against drilling rod to be measured.
2. the laser of straightening drill pipe of oil well according to claim 1 is followed the tracks of automatic positioning equipment, it is characterized in that, the lower end of the described first ladder anchor clamps and the second ladder anchor clamps is the notch cuttype structure, and the ladder degree of depth of notch cuttype structure is the thickness of drilling rod head and the tail to be measured two ends upset end.
3. the laser of straightening drill pipe of oil well according to claim 1 is followed the tracks of automatic positioning equipment, it is characterized in that, two ends, the described screw mandrel left and right sides are respectively left-handed and the right-handed thread structure, this leading screw left end thread rotary orientation is identical with the screw thread rotation direction of the first ladder anchor clamps, and leading screw right-hand member thread rotary orientation is identical with the screw thread rotation direction of the second ladder anchor clamps.
4. the laser of straightening drill pipe of oil well according to claim 1 is followed the tracks of automatic positioning equipment, it is characterized in that, described stepper motor is the double output shaft stepper motor, its front end output shaft is fixedlyed connected with screw mandrel, the rear end output shaft is connected with encoder, and this stepper motor is fixedly mounted on the straightener top.
5. the laser of straightening drill pipe of oil well according to claim 1 is followed the tracks of automatic positioning equipment, it is characterized in that, described encoder be rotary encoder, the output signal of encoder offer control system be used to detect the first ladder anchor clamps and the second ladder anchor clamps move left and right open span from.
6. the laser of a straightening drill pipe of oil well according to claim 1 is followed the tracks of the localization method of automatic positioning equipment, it is characterized in that, may further comprise the steps:
The first step, control system move to the detection position by transmission system drives drilling rod left end and detect;
Control drives stepper motor and drives the screw mandrel rotation according to drilling rod grade of steel and wall thickness for second step, control system, and the first ladder anchor clamps and the second ladder anchor clamps inwardly or are simultaneously outwards moved simultaneously, adjusts to open span to requiring the position between two ladder anchor clamps;
The 3rd step, control system moves from left to right by the transmission system drives drilling rod, in the drilling rod moving process, the laser beam of the laser displacement sensor on the first ladder anchor clamps acts on the drilling rod outer surface, be in normal detection tracking mode, when drilling rod left end upset end end face moves to the ladder inside edge of the first ladder anchor clamps, drilling rod left end end face has left the detection range of laser displacement sensor light beam, represent that promptly drilling rod left end upset end end face has entered the ladder position of the first ladder anchor clamps, reached predetermined aligning clamping and positioning position, thereby got ready for the aligning of drilling rod left end;
The 4th step, the drilling rod left end of having good positioning is aligned, after aligning finishes, be moved to the left, make the right-hand member of drilling rod move to the detection position and detect;
The 5th step, control system moves right from right to left by the transmission system drives drilling rod, in the drilling rod moving process, the laser beam of the laser displacement sensor on the second ladder anchor clamps acts on the drilling rod outer surface, be in normal detection tracking mode, when drilling rod right-hand member upset end end face moves to the ladder inside edge of second ladder, drilling rod right-hand member end face has left the detection range of laser displacement sensor light beam, represent that promptly drilling rod right-hand member upset end end face has entered the ladder position of the second ladder anchor clamps, reached predetermined aligning clamping and positioning position, thereby got ready for the aligning of drilling rod right-hand member.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103109715A CN101716634B (en) | 2009-12-07 | 2009-12-07 | Automatic laser tracking positioning device and method for straightening drill pipe of oil well |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009103109715A CN101716634B (en) | 2009-12-07 | 2009-12-07 | Automatic laser tracking positioning device and method for straightening drill pipe of oil well |
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| CN101716634A true CN101716634A (en) | 2010-06-02 |
| CN101716634B CN101716634B (en) | 2011-09-28 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101972950A (en) * | 2010-08-27 | 2011-02-16 | 江苏曙光华阳钻具有限公司 | Wall thickness measuring device by tracking for drilling inner hole of drill collar |
| CN102069111A (en) * | 2010-11-25 | 2011-05-25 | 武汉理工大学 | Horizontal adaptive mechanical precision straightening device for linear bars |
| CN103726827A (en) * | 2013-12-30 | 2014-04-16 | 北京市三一重机有限公司 | Drill rod movement control method, device and system |
| CN103868470A (en) * | 2014-03-10 | 2014-06-18 | 中国地质大学（武汉） | Curvature detection device and method for drill rod |
| CN113976673A (en) * | 2021-10-09 | 2022-01-28 | 山东翔讯科技有限公司 | Motor rotor shaft correcting device and correcting method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102519372A (en) * | 2011-12-23 | 2012-06-27 | 常州工学院 | Laser thickness measuring apparatus of lithium battery electrode and working method thereof |
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2009
- 2009-12-07 CN CN2009103109715A patent/CN101716634B/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101972950A (en) * | 2010-08-27 | 2011-02-16 | 江苏曙光华阳钻具有限公司 | Wall thickness measuring device by tracking for drilling inner hole of drill collar |
| CN101972950B (en) * | 2010-08-27 | 2012-10-10 | 江苏曙光华阳钻具有限公司 | Wall thickness measuring device by tracking for drilling inner hole of drill collar |
| CN102069111A (en) * | 2010-11-25 | 2011-05-25 | 武汉理工大学 | Horizontal adaptive mechanical precision straightening device for linear bars |
| CN102069111B (en) * | 2010-11-25 | 2013-04-24 | 武汉理工大学 | Horizontal adaptive mechanical precision straightening device for linear bars and method therefor |
| CN103726827A (en) * | 2013-12-30 | 2014-04-16 | 北京市三一重机有限公司 | Drill rod movement control method, device and system |
| CN103868470A (en) * | 2014-03-10 | 2014-06-18 | 中国地质大学（武汉） | Curvature detection device and method for drill rod |
| CN103868470B (en) * | 2014-03-10 | 2016-08-31 | 中国地质大学（武汉） | A kind of drill pipe buckling degree detection device and method |
| CN113976673A (en) * | 2021-10-09 | 2022-01-28 | 山东翔讯科技有限公司 | Motor rotor shaft correcting device and correcting method |
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| CN101716634B (en) | 2011-09-28 |
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