CN105345451A - Concentricity digital adjusting system and method for drilling pump - Google Patents

Abstract

The invention discloses a concentricity digital adjusting system for a drilling pump based on a ZigBee network. The concentricity digital adjusting system comprises a site control terminal, a data coordination terminal and a data processing computer. The site control terminal is connected with the data coordination terminal through the ZigBee wireless network, and the data coordination terminal is connected with the data processing computer through serial port communication. The invention further discloses a concentricity digital adjusting method for the drilling pump based on the ZigBee network, and the method depends on the concentricity digital adjusting system for the drilling pump based on the ZigBee network. According to the system, automatic networking is conducted through the ZigBee technology, complexity is low, the size is small, power consumption is low, carrying is convenient, input, processing and feedback of site concentricity assembly parameters can be practically completed in real time. According to the method, the adjusting period of concentricity is effectively shortened, and the adjusting precision of concentricity is improved.

Description

Drilling pump concentricity digitlization adjustment System and method of adjustment

Technical field

The invention belongs to petroleum and natural gas Drilling Control technical field, relate to a kind of drilling pump concentricity digitlization adjustment System based on ZigBee-network, the invention still further relates to the drilling pump concentricity digitlization method of adjustment of this kind based on ZigBee-network.

Background technology

In the assembling process of drilling pump, adjust the concentricity between crosshead and frame front wallboard centre bore by change bottom guide spacer thickness.Drilling pump concentricity adjustment result directly affects contact force between crosshead and guide plate and movement locus.When concentricity jerk value is excessive, can cause drilling pump to seize up, the wearing and tearing of guide plate, crosshead, cylinder sleeve eccentric wear, directly affect product quality and service life.

Existing concentricity method of adjustment is: 1) be arranged in crosshead by frock bar; 2) crosshead is placed between upper and lower guide plate, adds balancing weight, guarantee that crosshead bottom arc surface is close to bottom guide; 3) when crosshead is positioned at forward and backward two dead-centre position, the spacing of frock bar and front wallboard centre bore level, vertical direction is measured; 4) assembly crewman adjusts bottom guide spacer thickness according to measurement data and personal experience; 5) repeat 3), 4) work step, until the concentricity of frock bar and front wallboard centre bore adjusts result meet technological requirement.

The deficiency that existing drilling pump concentricity method of adjustment exists is: regulation time is long; After adjustment, concentricity is beated greatly; Concentricity adjustment unstable result; To employee's operating experience and operant level degree of dependence high.This series of shortcoming constrains the assembly precision of drilling pump, extends assembly period, adds assembly cost.Drilling pump market competition is day by day fierce now, how to improve drilling pump quality, shortens production life cycle, reduces product cost and has become problem crucial, anxious to be resolved.

Summary of the invention

The object of this invention is to provide a kind of drilling pump concentricity digitlization adjustment System based on ZigBee-network, solve existing drilling pump concentricity method of adjustment depending on unduly employee's operating experience and operant level, a difficult problem for drilling pump concentricity assembly parameter real-time Communication for Power, process in real time can not be realized.

Another object of the present invention is to provide a kind of drilling pump concentricity digitlization method of adjustment based on ZigBee-network, solves drilling pump concentricity adjustment cycle in prior art long; The fluctuation of concentricity adjustment result is large; The problem that concentricity Adjustment precision is low.

The technical solution used in the present invention is, a kind of drilling pump concentricity digitlization adjustment System based on ZigBee-network, comprise on-the-spot operation control terminal, data harmonization terminal and data handling machine, on-the-spot operation control terminal by ZigBee wireless network and data harmonization terminal interconnected, data harmonization terminal by serial communication and data handling machine interconnected.

Another technical scheme that the present invention adopts is that a kind of drilling pump concentricity digitlization method of adjustment based on ZigBee-network, depends on the above-mentioned drilling pump concentricity digitlization adjustment System based on ZigBee-network, implement according to following steps:

Step 1: in-site measurement also inputs drilling pump concentricity data

Crosshead is placed in front point and rear some position by operating personnel scene successively, measures that frock bar and front wallboard centre bore are vertical, the gap numerical value of horizontal direction respectively, and measurement data is all in units of mm; Then point vertical gap Z up and down before using the matrix keyboard of on-the-spot operation control terminal to input respectively _c1, Z _c2, front some left and right horizontal gap Y _c1, Y _c2, rear point is vertical gap Z up and down _c3, Z _c4, rear some left and right horizontal gap Y _c3, Y _c4;

Step 2: send field measurement data

After completing the input of field measurement data, operating personnel press the send key on on-the-spot operation control terminal at the scene, and inputted measured data is packed by on-the-spot operation control terminal automatically, is sent to data harmonization terminal by ZigBee wireless network;

Step 3: data harmonization terminal receives field measurement data

Data harmonization terminal receives by ZigBee wireless network the drilling pump concentricity measured data that on-the-spot operation control terminal sends;

Step 4: data harmonization terminal forwards field measurement data to data handling machine

Data harmonization terminal uses serial port communication technology, automatically the measured data received is forwarded to data handling machine, and waits for the data feedback of data handling machine;

Step 5: data handling machine solves optimum pad adjustment data

After data handling machine receives the measured data that data harmonization terminal sends, call preset drilling pump concentricity adjustment Mathematical Modeling, solve the optimal correction thickness of pad;

Step 6: data handling machine by the adjustment data feedback of pad to data harmonization terminal;

Step 7: data harmonization terminal sends the adjustment data of pad to on-the-spot operation control terminal;

Step 8: on-the-spot operation control terminal receives and shows the adjustment data of pad;

Step 9: the thickness of each pad of operating personnel scene adjustment

The adjustment data of the pad that site operation personnel shows according to on-the-spot operation control terminal, adjust the spacer thickness at bottom guide four strong point places successively, finally tighten bottom guide set bolt everywhere, complete the adjustment of drilling pump concentricity.

The invention has the beneficial effects as follows, comprise following aspect:

1) drilling pump concentricity digitlization adjustment System utilizes ZigBee technology automatic network-building, and have complexity low, volume is little, low in energy consumption, be easy to carry, input, the process of on-the-spot concentricity assembly parameter can be completed in real time, on the spot, and feedback, compensate for the deficiency of existing drilling pump mounting technology.

2) on the basis using drilling pump concentricity digitlization adjustment System in conjunction with concentricity method of adjustment, can effectively shorten concentricity adjustment cycle, improve concentricity Adjustment precision, stablize concentricity adjustment result, and then improve drilling pump concentricity adjustment quality comprehensively, extend product service life.

Accompanying drawing explanation

Fig. 1 is the structural representation of drilling pump concentricity digitlization adjustment System of the present invention;

Fig. 2 is the drilling pump structural representation of crosshead when being positioned at point before guide plate;

Fig. 3 is crosshead in the present invention when being positioned at point before guide plate, the space coordinates figure of frock bar and front wallboard centre bore;

Fig. 4 is drilling pump structural representation when putting after crosshead is positioned at guide plate;

Fig. 5 is when putting after the crosshead in the present invention is positioned at guide plate, the space coordinates figure of frock bar and front wallboard centre bore;

Fig. 6 is the space coordinates figure of key point in concentricity method of adjustment of the present invention.

In figure, 1. on-the-spot operation control terminal, 2. data harmonization terminal, 3. data handling machine, 4. data input and display module, 5. data processing module, 6. data transmit-receive module, 7. frock bar, 8. front wallboard, 9. drilling pump framework, 10. upper guide plate, 11. bottom guides, 12. crossheads, 13. balancing weights, 14. pads.

Detailed description of the invention

Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.

As Fig. 1, the present invention is based on the drilling pump concentricity digitlization adjustment System of ZigBee-network, comprise on-the-spot operation control terminal 1, data harmonization terminal 2 and data handling machine 3, on-the-spot operation control terminal 1 by ZigBee wireless network and data harmonization terminal 2 interconnected, data harmonization terminal 2 by serial communication and data handling machine 3 interconnected, functions is as follows:

On-the-spot operation control terminal 1 is portable set, is carried with by site operation personnel, in real time, completes the input of field measurement data, display and radio transmission-receiving function on the spot.This terminal specifically comprises data input and display module 4, data processing module 5, data transmit-receive module 6 are connected in sequence.Data input and display module 4 comprise 4*4 matrix keyboard and OLED display screen composition, realize input and the display of data.Data processing module 5 mainly comprises chip A (CC2530F256) and associated peripheral circuits is formed, and this module mainly completes following three functions: the field measurement data of receiving matrix input through keyboard; Data are sent to OLED display screen; With data transmit-receive module 6 real-time Communication for Power, realize the mutual of data.Data transmit-receive module 6 comprises chip B (CC2530F256), power amplifier chips (RFX2410C) and associated peripheral circuits and forms, and this module realizes the wireless receiving and dispatching of data by ZigBee-network.

Data harmonization terminal 2 is cores of ZigBee cordless communication network, is responsible for setting up ZigBee wireless network platform.In addition, this terminal also can use the data interaction between serial port communication technology realization and data handling machine 3.This terminal comprises chip C (CC2530F256), power amplifier chips (RFX2410C), interface conversion chip (PL2303HX) and associated peripheral circuits and forms.

Data handling machine 3 is for after the field measurement data that receive data harmonization terminal 2 and send, call inner preset concentricity adjustment Mathematical Modeling, calculate the optimal correction data of pad 14, then give on-the-spot operation control terminal 1 by the adjustment data feedback of pad 14.

With reference to Fig. 2, Fig. 4, the front wallboard 8 of drilling pump framework 9 has centre bore, slide between the upper guide plate 10 and bottom guide 11 of drilling pump framework 9 inner chamber and be provided with crosshead 12, the frock bar 7 of crosshead 12 is forward through the centre bore of front wallboard 8, be provided with balancing weight 13 in crosshead 12, each strong point contact surface of bottom guide 11 lower surface and drilling pump framework 9 inner chamber is respectively arranged with pad 14.

Drilling pump concentricity digitlization adjustment System of the present invention and concentricity method of adjustment, depend on above-mentioned system, specifically implement according to following steps:

Step 1: in-site measurement also inputs drilling pump concentricity data

As shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5, crosshead 12 is placed in front point and rear some position by operating personnel scene successively, measure respectively frock bar 7 and front wallboard 8 centre bore vertically, the gap numerical value of horizontal direction, measurement data is all in units of mm; Then point vertical gap Z up and down before using the matrix keyboard of on-the-spot operation control terminal 1 to input respectively _c1, Z _c2, front some left and right horizontal gap Y _c1, Y _c2, rear point is vertical gap Z up and down _c3, Z _c4, rear some left and right horizontal gap Y _c3, Y _c4.

Step 2: send field measurement data

After completing the input of field measurement data, operating personnel press the send key on on-the-spot operation control terminal 1 at the scene, and inputted measured data is packed by on-the-spot operation control terminal 1 automatically, is sent to data harmonization terminal 2 by ZigBee wireless network.

Step 3: data harmonization terminal 2 receives field measurement data

Data harmonization terminal 2 receives by ZigBee wireless network the drilling pump concentricity measured data that on-the-spot operation control terminal 1 sends.

Step 4: data harmonization terminal 2 forwards field measurement data to data handling machine 3

Data harmonization terminal 2 uses serial port communication technology, automatically the measured data received is forwarded to data handling machine 3, and waits for the data feedback of data handling machine 3.

Step 5: data handling machine 3 solves optimum pad adjustment data

After data handling machine 3 receives the measured data that data harmonization terminal 2 sends, call preset drilling pump concentricity adjustment Mathematical Modeling, solve the optimal correction thickness of pad 14.As shown in Figure 6, the drilling pump concentricity adjustment Mathematical Modeling preset in data handling machine 3, with the central point of front wallboard 8 centre bore for initial point O, centre bore axis is X-axis, vertical direction is that Z axis sets up rectangular coordinate system in space, the points of engagement of crosshead 12 and frock bar 7 when A is point before crosshead 12 is positioned at; Q ₁for crosshead 12 be positioned at before some time frock bar 7 axis and the intersection point of front wallboard 8 median surface; B is the points of engagement of crosshead 12 crosshead 12 and frock bar 7 when being positioned at rear; Q ₂for the intersection point of frock bar 7 axis and front wallboard 8 median surface when crosshead 12 is positioned at rear; The rear support point that E and F is respectively the front support point of bottom guide 11, H and G is bottom guide 11; C, D, I, J are for calculating auxiliary magnet.

According to field measurement data, the F-1600 model drilling pump produced for Baoji Petroleum Machinery Co., Ltd., obtains Q ₁the space coordinates of point is (228.6, (Y _c1-Y _c2)/2, (Z _c1-Z _c2)/2), Q ₂the space coordinates of point is (0, (Y _c3-Y _c4)/2, (Z _c3-Z _c4)/2), if the axial equation of frock bar 7 is:

$\left\{\begin{array}{c}X=t\\ Y=Y_0+A_1\·t\\ Z=Z_0+B_1\·t\end{array}\right.---\left(1\right)$

By Q ₁, Q ₂the space coordinates of 2 brings formula (1) into, obtains pad 14 before adjustment, and each parameter value of the initial axial equation of frock bar 7 is:

$\left\{\begin{array}{c}{A}_1=\frac{Y_{C4}-Y_{C3}-Y_{C2}+Y_{C1}}{457.2}\\ Y_0=\frac{Y_{C3}-Y_{C4}}{2}\\ B_1=\frac{Z_{C4}-Z_{C3}-Z_{C2}+Z_{C1}}{457.2}\\ Z_0=\frac{Z_{C3}-Z_{C4}}{2}\end{array}\right.---\left(2\right)$

After equation group (1), (2) simultaneous, by A point coordinates (1362.85, Y _a, Z _a) bring into, calculate A point coordinates value.In Fig. 6, some C is the mid point of front support point E, F line, order unit vector be then unit vector distance between A point and C point is L _aC, then C point coordinates (X _c, Y _c, Z _c) be:

$\left\{\begin{array}{c}{X}_C=1362.85+B_1\·L_{AC}\·{({B_1}^2+1)}^{-0.5}\\ Y_C=Y_A\\ Z_C=Z_A-L_{AC}\·{({B_1}^2+1)}^{-0.5}\end{array}\right.---\left(3\right)$

The unit direction vector of the strong point E, F line wherein:

$\left\{\begin{array}{c}{P}_{X2}=\frac{A_1}{{B_1}^2+1}\·{\left(\frac{{B_1}^2+1}{{A_1}^2+{B_1}^2+1}\right)}^{0.5}\\ P_{Y2}=-{\left(\frac{{B_1}^2+1}{{A_1}^2+{B_1}^2+1}\right)}^{0.5}\\ P_{Z2}=\frac{A_1\·B_1}{{B_1}^2+1}\·{\left(\frac{{B_1}^2+1}{{A_1}^2+{B_1}^2+1}\right)}^{0.5}\end{array}\right.---\left(4\right)$

If the coordinate that E, F are 2 is respectively (E _x, E _y, E _z), (F _x, F _y, F _z), the distance between mid point C to two strong point E, F is equal (is L ₁), the coordinate value that can obtain E, F 2 according to C point coordinates and equation group (4) is:

$\left\{\begin{array}{c}{E}_X=1362.85+B_1\·L_{AC}\·{({B_1}^2+1)}^{-0.5}+\frac{A_1\·L_1}{{B_1}^2+1}\·{\left(\frac{{B_1}^2+1}{{A_1}^2+{B_1}^2+1}\right)}^{0.5}\\ E_Y=Y_A-L_1\·{\left(\frac{{B_1}^2+1}{{A_1}^2+{B_1}^2+1}\right)}^{0.5}\\ E_Z=Z_A-L_{CE}\·{({B_1}^2+1)}^{-0.5}+\frac{A_1\·B_1\·L_1}{{B_1}^2+1}\·{\left(\frac{{B_1}^2+1}{{A_1}^2+{B_1}^2+1}\right)}^{0.5}\end{array}\right.---\left(5\right)$

$\left\{\begin{array}{c}{F}_X=1362.85+B_1\·L_{AC}\·{({B_1}^2+1)}^{-0.5}-\frac{A_1\·L_1}{{B_1}^2+1}\·{\left(\frac{{B_1}^2+1}{{A_1}^2+{B_1}^2+1}\right)}^{0.5}\\ F_Y=Y_A+L_1\·{\left(\frac{{B_1}^2+1}{{A_1}^2+{B_1}^2+1}\right)}^{0.5}\\ F_Z=Z_A-L_1\·{({B_1}^2+1)}^{-0.5}-\frac{A_1\·B_1\·L_1}{{B_1}^2+1}\·{\left(\frac{{B_1}^2+1}{{A_1}^2+{B_1}^2+1}\right)}^{0.5}\end{array}\right.---\left(6\right)$

Point I and bottom guide 11 rear support point H, G are positioned at same perpendicular, by the horizontal range L between I point and front wallboard 8 centre bore ₂bring in the initial axial equation of frock bar 7, calculate I point coordinates and vector according to E, F point coordinates and vector obtaining bottom guide 11 rear support point H, G coordinate is:

$\left\{\begin{array}{c}H=H+\stackrel{\→}{AI}\\ G=F+\stackrel{\→}{AI}\end{array}\right.---\left(7\right)$

After completing the calculating of the strong point E, F, H, G initial space coordinate, adjust each strong point, i.e. the thickness of pad 14 everywhere before and after adjustment, pad 14 thickness when E, F, H place is respectively H _e, H _f, H _htime, the space coordinates of the strong point E, F, H after adjustment is:

$\left\{\begin{array}{c}E=(E_X,E_Y,E_Z+H_E)\\ F=(F_X,F_Y,F_Z+H_F)\\ H=(H_X,H_Y,H_Z+H_H)\end{array}\right.---\left(8\right)$

The then pad 14 thickness H at strong point G place _gand the space coordinates of G point is:

$\{\begin{array}{c}{H}_G=F_Z+H_F+H_Z+H_H-E_Z-H_E-G_Z\\ G=F+\stackrel{\→}{EH}=(F_X+H_X-E_X,F_Y+H_Y-E_Y,F_Z+H_F+H_Z+H_H-E_Z-H_E)\end{array}---\left(9\right)$

The normal direction unit vector of bottom guide 11 supporting surface after order adjustment then normal direction unit vector tried to achieve by following formula:

$\left\{\begin{array}{c}(F_X-E_X)X_3+(F_Y-E_Y)Y_3+(F_Z+H_F-E_Z-H_E)Z_3=0\\ (H_X-E_X)X_3+(H_Y-E_Y)Y_3+(H_Z+H_H-E_Z-H_E)Z_3=0\\ {X_3}^2+{Y_3}^2+{Y_3}^2=1\end{array}\right.---\left(10\right)$

Before crosshead 12 is positioned at during point, the coordinate (A of the points of engagement A of frock bar 7 and crosshead 12 _x, A _y, A _z) become:

$\left\{\begin{array}{c}{A}_X=\frac{E_X+F_X}{2}+L_{AC}{X}_3\\ A_Y=\frac{E_Y+F_Y}{2}+L_{AC}{Y}_3\\ A_Z=\frac{E_Z+F_Z+H_E+H_F}{2}+L_{AC}{Z}_3\end{array}\right.---\left(11\right)$

After pad 14 below bottom guide 11 adjusts, frock bar 7 axis line track changes, and frock bar 7 axis direction after change is identical with the direction of adjustment rear support point E, H line, and direction vector is:

$\stackrel{\→}{EH}=(H_X-E_X,H_Y-E_Y,H_Z+H_H-E_Z-H_E),---\left(12\right)$

Simultaneous formula (11) and formula (12), calculating the axis line track that pad 14 adjusts rear frock bar 7 is:

$\left\{\begin{array}{c}X=\frac{E_X+F_X}{2}+L_{AC}{X}_3+(H_X-E_X)t\\ Y=\frac{E_Y+F_Y}{2}+L_{AC}Y+L_{AC}{Y}_3+(H_Y-E_Y)t\\ Z=\frac{E_Z+F_Z+H_E+H_F}{2}+L_{AC}{Z}_3+(H_Z+H_H-E_Z-H_E)t\end{array}\right.---\left(13\right)$

If pad 14 adjust after, crosshead 12 be placed in respectively front point, rear some time, the coordinate that Q1, Q2 are 2 is respectively Q ₁=(228.6, Y _q1, Z _q1), Q ₂=(0, Y _q2, Z _q2); Q1, Q2 are brought into pad 14 adjust after frock bar 7 axial equation (13) in, solve and obtain Y _q1, Z _q1, Y _q2, Z _q2; Work as Y _q1, Z _q1, Y _q2, Z _q2when being all less than drilling pump concentricity adjustment allowable tolerance δ, namely meet the technological requirement of drilling pump concentricity adjustment,

For finding the combination of optimum pad 14, make P _sfor concentricity pad 14 adjusts evaluation points:

P _S＝Y _Q1 ²+Z _Q1 ²+Y _Q2 ²+Z _Q2 ²，(14)

Data handling machine 3 is according to above-mentioned concentricity method of adjustment, and calculating bottom guide 11 everywhere pad 14 combines corresponding Y _q1, Z _q1, Y _q2, Z _q2and Ps value, therefrom preferred Y _q1, Z _q1, Y _q2, Z _q2all be less than concentricity adjustment allowable tolerance δ and P _sthe pad 14 that value is minimum of a value adjusts data, this pad 14 adjusts the optimum combination data that data are pad 14, adopt these pad 14 optimum combination data that drilling pump concentricity just can be made to adjust under the prerequisite meeting technological requirement, concentricity jerk value reaches minimum of a value.

Step 6: data handling machine 3 by the adjustment data feedback of pad 14 to data harmonization terminal 2;

Step 7: data harmonization terminal 2 sends the adjustment data of pad 14 to on-the-spot operation control terminal 1;

Step 8: on-the-spot operation control terminal 1 receives and shows the adjustment data of pad 14;

Step 9: the thickness of each pad 14 of operating personnel scene adjustment

The adjustment data of the pad 14 that site operation personnel shows according to on-the-spot operation control terminal 1, adjust pad 14 thickness at bottom guide 11 4 strong point places successively, finally tighten bottom guide 11 set bolt everywhere, complete the adjustment of drilling pump concentricity.

In sum, the present invention integrates emulation technology, electronic technology, the communication technology, computer aided optimum technology, construct drilling pump concentricity digitlization adjustment platform, and rely on concentricity method of adjustment, achieve the digitlization adjustment of drilling pump concentricity.For shortening drilling pump concentricity regulation time, stablizing concentricity adjustment level, improving Adjustment precision, ensureing that drilling pump assembly quality provides technical support.

Claims (6)

1. the drilling pump concentricity digitlization adjustment System based on ZigBee-network, it is characterized in that: comprise on-the-spot operation control terminal (1), data harmonization terminal (2) and data handling machine (3), on-the-spot operation control terminal (1) by ZigBee wireless network and data harmonization terminal (2) interconnected, data harmonization terminal (2) by serial communication and data handling machine (3) interconnected.

2. the drilling pump concentricity digitlization adjustment System based on ZigBee-network according to claim 1, it is characterized in that: described on-the-spot operation control terminal (1), for in real time, complete the input of field measurement data, display and radio transmission-receiving function on the spot, comprise data input and display module (4), data processing module (5), data transmit-receive module (6) be connected in sequence.

3. the drilling pump concentricity digitlization adjustment System based on ZigBee-network according to claim 1, it is characterized in that: described data harmonization terminal (2) is the core of ZigBee cordless communication network, is responsible for setting up ZigBee wireless network platform.

4. the drilling pump concentricity digitlization adjustment System based on ZigBee-network according to claim 1, it is characterized in that: described data handling machine (3) is for after the field measurement data that receive data harmonization terminal (2) and send, call inner preset concentricity adjustment Mathematical Modeling, calculate the adjustment data of pad (14), then give on-the-spot operation control terminal (1) by the adjustment data feedback of pad (14).

5., based on a drilling pump concentricity digitlization method of adjustment for ZigBee-network, depend on the drilling pump concentricity digitlization adjustment System based on ZigBee-network described in claim 1-4, it is characterized in that, implement according to following steps:

Step 1: in-site measurement also inputs drilling pump concentricity data

Crosshead (12) is placed in front point and rear some position by operating personnel scene successively, measure respectively frock bar (7) and front wallboard (8) centre bore vertically, the gap numerical value of horizontal direction, measurement data is all in units of mm; Then point vertical gap Z up and down before using the matrix keyboard of on-the-spot operation control terminal (1) to input respectively _c1, Z _c2, front some left and right horizontal gap Y _c1, Y _c2, rear point is vertical gap Z up and down _c3, Z _c4, rear some left and right horizontal gap Y _c3, Y _c4;

Step 2: send field measurement data

After completing the input of field measurement data, operating personnel press the send key on on-the-spot operation control terminal (1) at the scene, inputted measured data is packed by on-the-spot operation control terminal (1) automatically, is sent to data harmonization terminal (2) by ZigBee wireless network;

Step 3: data harmonization terminal (2) receives field measurement data

Data harmonization terminal (2) receives by ZigBee wireless network the drilling pump concentricity measured data that on-the-spot operation control terminal (1) sends;

Step 4: data harmonization terminal (2) forwards field measurement data to data handling machine (3)

Data harmonization terminal (2) uses serial port communication technology, automatically the measured data received is forwarded to data handling machine (3), and waits for the data feedback of data handling machine (3);

Step 5: data handling machine (3) solves optimum pad adjustment data

After data handling machine (3) receives the measured data that data harmonization terminal (2) sends, call preset drilling pump concentricity adjustment Mathematical Modeling, solve the optimal correction thickness of pad (14);

Step 6: data handling machine (3) by the adjustment data feedback of pad (14) to data harmonization terminal (2);

Step 7: data harmonization terminal (2) sends the adjustment data of pad (14) to on-the-spot operation control terminal (1);

Step 8: on-the-spot operation control terminal (1) receives and shows the adjustment data of pad (14);

Step 9: the thickness of operating personnel scene each pad of adjustment (14)

The adjustment data of the pad (14) that site operation personnel shows according to on-the-spot operation control terminal (1), adjust pad (14) thickness at bottom guide (11) four strong point places successively, finally tighten bottom guide (11) set bolt everywhere, complete the adjustment of drilling pump concentricity.

6. the drilling pump concentricity digitlization method of adjustment based on ZigBee-network according to claim 5, is characterized in that, in described step 5, the drilling pump concentricity adjustment Mathematical Modeling preset in data handling machine (3) is,

Be initial point O with the central point of front wallboard (8) centre bore, centre bore axis is X-axis, vertical direction is that Z axis sets up rectangular coordinate system in space, the points of engagement of crosshead (12) and frock bar (7) when A is point before crosshead (12) is positioned at; Q ₁for crosshead (12) be positioned at before some time frock bar (7) axis and the intersection point of front wallboard (8) median surface; B is the points of engagement of crosshead (12) crosshead (12) and frock bar (7) when being positioned at rear; Q ₂for the intersection point of frock bar (7) axis and front wallboard (8) median surface when crosshead (12) is positioned at rear; The rear support point that E and F is respectively the front support point of bottom guide (11), H and G is bottom guide (11); C, D, I, J are calculating auxiliary magnet,

According to field measurement data, Q ₁the space coordinates of point is (228.6, (Y _c1-Y _c2)/2, (Z _c1-Z _c2)/2), Q ₂the space coordinates of point is (0, (Y _c3-Y _c4)/2, (Z _c3-Z _c4)/2), if the axial equation of frock bar (7) is:

$\left\{\begin{array}{c}X=t\\ Y=Y_0+A_1\·t\\ Z=Z_0+B_1\·t\end{array}\right.---\left(1\right)$

By Q ₁, Q ₂the space coordinates of 2 brings formula (1) into, obtains pad (14) before adjustment, and each parameter value of the initial axial equation of frock bar (7) is:

$\left\{\begin{array}{c}{A}_1=\frac{Y_{C4}-Y_{C3}-Y_{C2}+Y_{C1}}{457.2}\\ Y_0=\frac{Y_{C3}-Y_{C4}}{2}\\ B_1=\frac{Z_{C4}-Z_{C3}-Z_{C2}+Z_{C1}}{457.2}\\ Z_0=\frac{Z_{C3}-Z_{C4}}{2}\end{array}\right.---\left(2\right)$

After equation group (1), (2) simultaneous, by A point coordinates (1362.85, Y _a, Z _a) bring into, calculate A point coordinates value.In Fig. 6, some C is the mid point of front support point E, F line, order unit vector be then unit vector $\stackrel{\→}{P_1}=(B_1{\left({B_1}^2+1\right)}^{-0.5},0,-{\left({B_1}^2+1\right)}^{-0.5}),$ Distance between A point and C point is L _aC, then C point coordinates (X _c, Y _c, Z _c) be:

$\left\{\begin{array}{c}{X}_C=1362.85+B_1\·L_{AC}\·{({B_1}^2+1)}^{-0.5}\\ Y_C=Y_A\\ Z_C=Z_A-L_{AC}\·{({B_1}^2+1)}^{-0.5}\end{array}\right.---\left(3\right)$

The unit direction vector of the strong point E, F line wherein:

$\left\{\begin{array}{c}{P}_{X2}=\frac{A_1}{{B_1}^2+1}\·{\left(\frac{{B_1}^2+1}{{A_1}^2+{B_1}^2+1}\right)}^{0.5}\\ P_{Y2}=-{\left(\frac{{B_1}^2+1}{{A_1}^2+{B_1}^2+1}\right)}^{0.5}\\ P_{Z2}=\frac{A_1\·B_1}{{B_1}^2+1}\·{\left(\frac{{B_1}^2+1}{{A_1}^2+{B_1}^2+1}\right)}^{0.5}\end{array}\right.---\left(4\right)$

If the coordinate that E, F are 2 is respectively (E _x, E _y, E _z), (F _x, F _y, F _z), the distance between mid point C to two strong point E, F is equal is L ₁, the coordinate value that can obtain E, F 2 according to C point coordinates and equation group (4) is:

$\left\{\begin{array}{c}{E}_X=1362.85+B_1\·L_{AC}\·{({B_1}^2+1)}^{-0.5}+\frac{A_1\·L_1}{{B_1}^2+1}\·{\left(\frac{{B_1}^2+1}{{A_1}^2+{B_1}^2+1}\right)}^{0.5}\\ E_Y=Y_A-L_1\·{\left(\frac{{B_1}^2+1}{{A_1}^2+{B_1}^2+1}\right)}^{0.5}\\ E_Z=Z_A-L_{CE}\·{({B_1}^2+1)}^{-0.5}+\frac{A_1\·B_1\·L_1}{{B_1}^2+1}\·{\left(\frac{{B_1}^2+1}{{A_1}^2+{B_1}^2+1}\right)}^{0.5}\end{array}\right.---\left(5\right)$

$\left\{\begin{array}{c}{F}_X=1362.85+B_1\·L_{AC}\·{({B_1}^2+1)}^{-0.5}+\frac{A_1\·L_1}{{B_1}^2+1}\·{\left(\frac{{B_1}^2+1}{{A_1}^2+{B_1}^2+1}\right)}^{0.5}\\ F_Y=Y_A+L_1\·{\left(\frac{{B_1}^2+1}{{A_1}^2+{B_1}^2+1}\right)}^{0.5}\\ F_Z=Z_A-L_1\·{({B_1}^2+1)}^{-0.5}-\frac{A_1\·B_1\·L_1}{{B_1}^2+1}\·{\left(\frac{{B_1}^2+1}{{A_1}^2+{B_1}^2+1}\right)}^{0.5}\end{array}\right.---\left(6\right)$

I point and bottom guide (11) rear support point H, G are positioned at same perpendicular, by the horizontal range L between I point and front wallboard (8) centre bore ₂bring in the initial axial equation of frock bar (7), calculate I point coordinates and vector according to E, F point coordinates and vector obtaining bottom guide (11) rear support point H, G coordinate is:

$\left\{\begin{array}{c}H=H+\stackrel{\→}{AI}\\ G=F+\stackrel{\→}{AI}\end{array}\right.---\left(7\right)$

After completing the calculating of the strong point E, F, H, G initial space coordinate, adjust each strong point, i.e. the thickness of pad (14) everywhere before and after adjustment, pad (14) thickness when E, F, H place is respectively H _e, H _f, H _htime, the space coordinates of the strong point E, F, H after adjustment is:

$\left\{\begin{array}{c}E=(E_X,E_Y,E_Z+H_E)\\ F=(F_X,F_Y,F_Z+H_F)\\ H=(H_X,H_Y,H_Z+H_H)\end{array}\right.---\left(8\right)$

Then pad (14) the thickness H at strong point G place _gand the space coordinates of G point is:

$\left\{\begin{array}{c}{H}_G=F_Z+H_F+H_Z+H_H-E_Z-H_E-G_Z\\ G=F+\stackrel{\→}{EH}=(F_X+H_X-E_X,F_Y+H_Y-E_Y,F_Z+H_F+H_Z+H_H-E_Z-H_E)\end{array}\right.---\left(9\right)$

The normal direction unit vector of bottom guide (11) supporting surface after order adjustment then normal direction unit vector tried to achieve by following formula:

$\left\{\begin{array}{c}(F_X-E_X)X_3+(F_Y-E_Y)Y_3+(F_Z+H_F-E_Z-H_E)Z_3=0\\ (H_X-E_X)X_3+(H_Y-E_Y)Y_3+(H_Z+H_H-E_Z-H_E)Z_3=0\\ {X_3}^2+{Y_3}^2+{Y_3}^2=1\end{array}\right.---\left(10\right)$

Before crosshead (12) is positioned at during point, the coordinate (A of the points of engagement A of frock bar (7) and crosshead (12) _x, A _y, A _z) become:

$\left\{\begin{array}{c}{A}_X=\frac{E_X+F_X}{2}+L_{AC}{X}_3\\ A_Y=\frac{E_Y+F_Y}{2}+L_{AC}{Y}_3\\ A_Z=\frac{E_Z+F_Z+H_E+H_F}{2}+L_{AC}{Z}_3\end{array}\right.---\left(11\right)$

After pad (14) adjustment of bottom guide (11) below, frock bar (7) axis line track changes, frock bar (7) axis direction after change is identical with the direction of adjustment rear support point E, H line, and direction vector is:

$\stackrel{\→}{EH}=(H_X-E_X,H_Y-E_Y,H_Z+H_H-E_Z-H_E),---\left(12\right)$

Simultaneous formula (11) and formula (12), after calculating pad (14) adjustment, the axis line track of frock bar (7) is:

$\left\{\begin{array}{c}X=\frac{E_X+F_X}{2}+L_{AC}{X}_3+(H_X-E_X)t\\ Y=\frac{E_Y+F_Y}{2}+L_{AC}Y+L_{AC}{Y}_3+(H_Y-E_Y)t\\ Z=\frac{E_Z+F_Z+H_E+H_F}{2}+L_{AC}{Z}_3+(H_Z+H_H-E_Z-H_E)t\end{array}\right.---\left(13\right)$

If pad (14) adjustment after, crosshead (12) be placed in respectively front point, rear some time, the coordinate that Q1, Q2 are 2 is respectively Q ₁=(228.6, Y _q1, Z _q1), Q ₂=(0, Y _q2, Z _q2); Q1, Q2 are brought in frock bar (7) axial equation (13) after pad (14) adjustment, solve and obtain Y _q1, Z _q1, Y _q2, Z _q2; Work as Y _q1, Z _q1, Y _q2, Z _q2when being all less than drilling pump concentricity adjustment allowable tolerance δ, namely meet the technological requirement of drilling pump concentricity adjustment,

For finding the combination of optimum pad (14), make P _sfor concentricity pad (14) adjusts evaluation points:

P _S＝Y _Q1 ²+Z _Q1 ²+Y _Q2 ²+Z _Q2 ²，(14)

Data handling machine (3), according to above-mentioned concentricity set-up procedure, calculates the Y that bottom guide (11) pad (14) combination is everywhere corresponding _q1, Z _q1, Y _q2, Z _q2and Ps value, therefrom preferred Y _q1, Z _q1, Y _q2, Z _q2all be less than concentricity adjustment allowable tolerance δ and P _spad (14) the adjustment data that value is minimum of a value, this pad (14) adjustment data are the optimum combination data of pad (14).