CN110080698B - Control system of electric fingerboard - Google Patents
Control system of electric fingerboard Download PDFInfo
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- CN110080698B CN110080698B CN201910249172.5A CN201910249172A CN110080698B CN 110080698 B CN110080698 B CN 110080698B CN 201910249172 A CN201910249172 A CN 201910249172A CN 110080698 B CN110080698 B CN 110080698B
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- 238000005192 partition Methods 0.000 claims description 10
- 230000032258 transport Effects 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 claims 1
- 238000007599 discharging Methods 0.000 description 9
- 230000002159 abnormal effect Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 206010063385 Intellectualisation Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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Abstract
The invention discloses a control system of an electric fingerboard, which comprises a fingerboard area and a control area, wherein the fingerboard area comprises a shell, a left fingerboard area and a right fingerboard area are arranged in the shell, the left fingerboard area is provided with a plurality of fingerboards, a main stop lever is arranged on the fingerboard at an opening of the left fingerboard area, the fingerboards are mutually parallel and are arranged at intervals to form a tubular column containing area, and the fingerboard stop lever and the main stop lever are both provided with control components; the control area comprises a controller box body, the controller box body comprises a controller, a data acquisition module and an instruction output module, the control assembly transmits data to the controller through the data acquisition module under the condition that the tubular column is detected, and the controller sends an instruction for opening the finger beam stop lever according to the data transmitted by the acquisition module to control the finger beam stop lever to be opened and allow the tubular column pushing and supporting equipment to convey the tubular column to a target position of the tubular column placement area. The control system of the electric fingerboard realizes the control automation and simultaneously improves the precision of the fingerboard control.
Description
Technical Field
The invention belongs to the technical field of automatic control, and particularly relates to a control system of an electric fingerboard.
Background
With the rapid development of the automation degree of the drilling machine, the automation and the intellectualization of the drilling machine become processes which must be experienced in the development trend, and higher requirements are put forward on the automation, the intellectualization and the convenience of the fingerboard control;
most of the existing fingerboards are mechanical fingerboards or pneumatic fingerboards, wherein the mechanical fingerboards are pure mechanical mechanisms and need to be manually operated. As an improvement, the pneumatic control fingerboard can complete partial automation functions, but the automation degree needs to be further improved, and manual operation needs to be intervened in most cases. The operation mode that still needs manual intervention inevitably has the potential safety hazard, and the control accuracy of present gas accuse fingerboard is general lower moreover.
Disclosure of Invention
The invention aims to provide a control system of an electric fingerboard, which solves the problems that the existing pneumatic control fingerboard needs to be intervened in manual operation and is low in control precision.
The technical scheme adopted by the invention is that,
a control system of an electric fingerboard comprises a fingerboard area and a control area,
the fingerboard area comprises a shell, a left fingerboard area and a right fingerboard area are arranged in the shell, one side of the shell is provided with an opening, a partition plate is fixedly connected to the center of the side wall of the shell, the center of the side wall of the shell is opposite to the opening, the left fingerboard area and the right fingerboard area are identical in structure and located on two sides of the partition plate, the left fingerboard area is provided with a plurality of fingerboards, the left fingerboard area is provided with a main stop rod on the fingerboard at the opening, the plurality of fingerboards are arranged in parallel and at intervals to form a tubular column containing area, each tubular column containing area comprises a plurality of tubular column to-be-placed areas corresponding to a single tubular column, each tubular column to-be-placed area is provided with a tubular column detector to be placed, the tubular column detector to be placed is used for detecting whether the tubular column to be placed in the to-be-placed area, one end of each fingerboard in the tubular column containing area is fixedly connected to the side wall of the shell, the other end of;
the control area comprises a controller box body, the controller box body comprises a controller, a data acquisition module and an instruction output module, the control assembly transmits data to the controller through the data acquisition module under the condition that the tubular column is detected, the controller sends an instruction for opening the fingerboard stop lever according to the data transmitted by the acquisition module to control the fingerboard stop lever to open and allow the tubular column pushing and supporting equipment to convey the tubular column to a target position of the tubular column to-be-placed area, the tubular column detector of the to-be-placed area transmits the data to the controller after detecting the tubular column, and the controller sends an instruction to control the tubular column pushing and supporting equipment to return and control the control assembly to close the fingerboard stop lever.
The control assembly comprises a gear driving device and a gear tubular column detector, the gear driving device is used for driving the finger beam gear to rotate, and the gear tubular column detector is used for detecting and transmitting signals of the tubular column.
The number of the tubular column containing areas corresponding to the fingerboards is divided into m rows of tubular column containing areas, the mth row of tubular column to-be-placed areas are close to the total stop lever, the tubular column to-be-placed areas are divided into n rows along the direction vertical to the fingerboards, the nth row of tubular column to-be-placed areas are close to the partition boards, the tubular column to-be-placed areas in the 1 st row and the 1 st column are marked as (1,1), the nth row of tubular column to-be-placed areas in the mth row are marked as (m, n), and the tubular column pushing and supporting equipment is controlled by the controller to discharge tubular columns to the corresponding tubular column to-be-placed areas in the sequence from (1;
when the controller controls the tubular column pushing and supporting equipment to convey the tubular column to the target position (1,1), the tubular column detector to be placed at the position (1,1) detects the tubular column and transmits a signal to the controller, and the controller controls the tubular column pushing and supporting equipment to return and convey the tubular column to the target position (1,2) for the next time until the tubular column conveying of the tubular column to be placed in the zone (m, n) is completed.
The target position is located in a tubular column to-be-placed area of the ith row and the jth column, and is marked as (i, j), wherein i is more than or equal to 1 and less than or equal to m, i is an integer, j is more than or equal to 1 and less than or equal to n, and j is an integer; under the condition of receiving any specified target position (i, j), after the pipe column (13) at the specified target position is discharged, a pipe column detector (8) at the specified target position detects the pipe column and transmits a signal to the controller, the controller sends an instruction to control the pipe column pushing and supporting equipment to convey the pipe column to the target position (i, j +1), and the controller sends an instruction to control the pipe column pushing and supporting equipment to convey the pipe column to the to-be-placed areas from (i, j +2) to (m, n) in sequence.
The controller is used for:
when the pipe column containing area has the pipe column to be moved out, the position of the pipe column detector in the area to be placed is determined firstly, and then a signal is sent out to control the pipe column pushing and supporting equipment to move out of the pipe column.
The controller is connected with a switch which can be externally connected with other control systems.
The invention has the advantages that; the control system of the electric fingerboard realizes the transportation/delivery of the tubular column through the detector and the controller according to the data acquisition and the final control of the data output, realizes the control automation and simultaneously improves the precision of the fingerboard control.
Drawings
FIG. 1 is a schematic view of an electric fingerboard control system of the present invention;
FIG. 2 is a schematic diagram of an electric fingerboard discharge string of the electric fingerboard control system of the present invention.
In the figure, 1, a controller box, 2, a controller, 3, a data acquisition module, 4, an output module, 5, an exchanger, 6, a gear lever driving device, 7, a gear lever pipe column detector, 8, a zone to be placed pipe column detector, 9, a left junction box, 10, a right junction box, 11, a total gear lever, 12, a finger lever, 13, a pipe column and 14, and a partition plate.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
A control system of an electric fingerboard comprises a fingerboard area and a control area,
as shown in fig. 2, the fingerboard area includes a housing, a left fingerboard area and a right fingerboard area are provided in the housing, one side of the housing is open, a partition 14 is fixedly connected to the center of the side wall opposite to the opening in the housing, the left fingerboard area and the right fingerboard area have the same structure and are located on both sides of the partition 14, the left fingerboard area and the right fingerboard area have the same structure, the left fingerboard area is provided with a plurality of fingerboards, the fingerboards of the left fingerboard area at the opening are provided with a general stop lever 11, the plurality of fingerboards are arranged in parallel and at intervals to form a tubular column containing area, each tubular column containing area includes a plurality of tubular column waiting areas corresponding to a single tubular column 13, each tubular column waiting area is provided with a tubular column detector 8 to be placed, the tubular column detector 8 to be placed is used for detecting whether a tubular column 13 exists in the waiting area, one end of each fingerboard of the tubular column containing area is fixedly connected to the side wall of the housing, the other end is, the finger beam stop lever 12 and the main stop lever 11 are both provided with control components;
as shown in fig. 1, the control area includes a controller box 1, the controller box 1 includes a controller 2, a data acquisition module 3 and a command output module 4, the control component transmits data to the controller 2 through the data acquisition module 3 when detecting that a tubular column 13 is present, the controller 2 sends out a command for opening the fingerboard stop lever 12 according to the data transmitted by the acquisition module 3 to control the fingerboard stop lever 12 to open and allow the tubular column pushing and supporting equipment to transport the tubular column 13 to a target position of the tubular column to-be-placed area, the tubular column detector 8 for to-be-placed area transmits data to the controller 2 after detecting that the tubular column 13 is present, and the controller 2 sends out a command for controlling the tubular column pushing and supporting equipment to return and controls the control component to close the fingerboard stop lever 12.
The control assembly comprises a gear lever driving device 6 and a gear lever tubular column detector 7, wherein the gear lever driving device 6 is used for driving a finger beam gear lever 12 to rotate, and the gear lever tubular column detector 7 is used for detecting and transmitting signals of tubular columns.
The number of the pipe column containing areas corresponding to the fingerboards is divided into m rows of pipe column containing areas, the m-th row of pipe column to-be-placed areas are close to the total stop lever 11, the pipe column to-be-placed areas are divided into n rows along the direction vertical to the fingerboards, the n-th row of pipe column to-be-placed areas are close to the partition plates 14, the pipe column to-be-placed areas in the 1 st row and the 1 st row are marked as (1,1), the n-th row of pipe column to-be-placed areas are marked as (m, n), and the controller 2 controls the pipe column pushing and supporting equipment to discharge the pipe columns 13 to the corresponding pipe column to-be-placed areas in the sequence from (1, 1;
when the controller 2 controls the pipe column pushing and supporting device to convey the pipe column 13 to the target position (1,1), the pipe column detector 8 at the position (1,1) to be placed transmits a signal to the controller 2 after detecting the pipe column 13, and the controller 2 controls the pipe column pushing and supporting device to return and convey the next pipe column 13 to the target position (1,2) until the pipe column (13) of the pipe column to be placed in the region (m, n) is conveyed.
The target position is located in a tubular column to-be-placed area of the ith row and the jth column, and is marked as (i, j), wherein i is more than or equal to 1 and less than or equal to m, i is an integer, j is more than or equal to 1 and less than or equal to n, and j is an integer; in the case of receiving any specified target position (i, j), after the tubular column 13 at the specified target position is completely discharged, the tubular column detector 8 at the specified target position detects the tubular column 13 and transmits a signal to the controller 2, the controller 2 sends a command to control the tubular column pushing and supporting device to convey the tubular column 13 to the target position (i, j +1), and the controller 2 sends a command to control the tubular column pushing and supporting device to convey the tubular column 13 to the to-be-placed areas from (i, j +2) to (m, n) in sequence.
The controller (2) is configured to:
when the pipe column containing area has the pipe column 13 needing to be moved out, the position of the pipe column detector 8 of the area to be placed is determined firstly, and then a signal is sent out to control the pipe column pushing and supporting device to move out of the pipe column 13.
The controller 2 is connected to a switch 5 that can be externally connected to other control systems.
As shown in fig. 1, the electric fingerboard control system includes a controller 2, a data acquisition module 3 and an output module 4 installed inside a control box 1 to complete automatic control of the electric fingerboard, and a finger area is installed with a lever driving device 6, a lever tubular column detector 7, a to-be-placed area tubular column detector 8, a left junction box 9 and a right junction box 10 to complete data acquisition of the whole system and specific action execution of the automatic fingerboard.
The controller 2 is connected with the switch 5 through an industrial Ethernet cable, so that the interface of the controller can be conveniently expanded, and the controller can be conveniently and flexibly connected with other equipment with Ethernet interfaces; a gear lever pipe column detector 7 of a left finger beam area and a pipe column detector 8 of an area to be placed are connected to a left junction box 9 respectively, and then are combined into a connecting cable to be connected to a data acquisition module 3 and an output module 4 in a control area.
As shown in fig. 2, the gear lever driving device 6 adopts a miniature electric driving device, integrates a power end and an actuating mechanism together, and has a small structure; the encoder is matched with an encoder, a limiting protection signal and an overcurrent protection signal, and the encoder can be accurately positioned to realize accurate control on the driving device. The encoder return value α defines the lever closed, and the encoder return value β defines the lever open.
The stop lever pipe column detector 7 and the pipe column detector 8 of the area to be set can set the pipe column detection range. The detection range can be flexibly set according to different diameters of the pipe column 13, and the detection precision is improved; the data returned according to the method can be used as the parameters of the discharge path planning guidance and the target position intelligent recommendation control algorithm.
The working principle of the control method is described in detail below with reference to fig. 2, and for a more detailed description, the following is specified:
the fingerboard area consists of m rows and n columns, namely the number of the maximum tubular columns 13 which can be discharged by the fingerboard area is m multiplied by n;
the position of the tubular column 13 in the ith row and the jth column of the fingerboard in the fingerboard area is marked as (i, j), wherein i is less than or equal to m, and j is less than or equal to n;
the columns 13 in the beam area may be arranged in rows or first in columns, and in this embodiment, the row-first arrangement is taken as an example.
After determining the operation of the discharge string 13, the controller 2 will calculate and plan a discharge path for the string 13 based on the actual conditions and recommend a target position for the string 13. The planned path of the first discharging pipe string 13 is the position of the first row 1 finger, and the recommended first target finger position is the position of the first column of the first row finger, and at this time, the controller 2 marks i as 1, and j as 1, that is, the (1,1) position in fig. 2. When the discharge of the (1,1) position column 13 is completed, the controller 2 recommends a second target position, at which time the controller 2 marks i equal to 1 and j equal to 2, i.e., the (1,2) position in fig. 2, and so on recommends that all columns 13 in the first row of the fingerboard discharge the target position, at which time the controller 2 marks i equal to 1 and j equal to n, i.e., the (1, n) position in fig. 2 discharges the column 13. After the discharging of the first row of fingered columns 13 is completed, the controller 2 will plan the discharging path of the second row of fingered columns 13, i.e. i is 2, and the discharging of the second row of fingered columns 13 is similar to that of the first row, and will not be described again; and so on until all the columns 13 are discharged, at which time the controller 2 marks i m and j n.
After the controller 2 plans the discharge path, only the lever driving device 6 at the front end of the path-guiding fingerboard is allowed to be opened, and the lever driving devices 6 at the front ends of the other m-1 fingerboards are not allowed to be opened.
Taking the left fingerboard area discharge pipe string 13 as an example, as shown in fig. 2, the pipe string 13 is discharged at the recommended target position of the ith row fingerboard jth column position, i.e. the target position is (i, j), according to the route planned by the controller 2 in fig. 2. When the pipe column pushing equipment pushes the pipe column to run to the total gear lever 11 according to the planned discharge path, and the gear lever pipe column detector 7 of the total gear lever 11 detects that the pipe column 13 exists, the data acquisition module 3 acquires the signal; the controller 2 reads the signal and determines whether to allow the lever driving device 6 of the total lever 11 to perform the operation of opening the total lever 11. The condition that the total gear lever 11 is opened is that all the finger levers 12 of m fingers in the left finger area are closed, namely the encoder return values of m gear lever driving devices 6 are all alpha; if the return value of the lever driving device 6 is not alpha, the controller 2 sends an instruction to close the main lever 11 to the lever driving device 6 with the return value not alpha through the output module 4 until all the fingerboard levers 12 are closed; the purpose of this is: the pipe column 13 is prevented from sliding out of the area to be placed, and safety accidents are prevented. When the controller 2 judges that the condition that the gear lever driving device 6 of the master gear lever 11 is allowed to execute the action of opening the master gear lever 11 is met, the output module 4 sends an instruction for opening the master gear lever 11 to the gear lever driving device 6 of the master gear lever 11, and at the moment, the gear lever driving device 6 opens the master gear lever 11 according to the instruction; when the encoder return value of the stop lever driving device 6 of the total stop lever 11 is β, an instruction to allow the tubular column handling apparatus to handle the tubular column 13 to continue moving to the target position after passing through the total stop lever 11 is issued to the stop lever driving device 6 of the total stop lever 11 through the output module 4, and the total stop lever 11 is then closed.
When the pipe column pushing and supporting equipment pushes and supports the pipe column 13 to be conveyed to the ith finger beam selected by the planned path (i, j), and the stop lever pipe column detector 7 at the front end of the ith finger beam detects the pipe column 13 needing to be discharged, the data acquisition module 3 acquires the signal; the controller 2 reads the signal and determines whether to allow the lever driving device 6 at the front end of the ith finger to perform the lever opening operation. Specifically, the condition that the lever drive 6 at the front end of the ith finger is open is that all the levers at the front ends of m-1 fingers in the left finger area and the master lever are closed, i.e., the return values of the m-1 lever drive 6 encoders and the lever drive 6 of the master lever are both α; if the return value of the gear lever driving device 6 is not alpha, the controller 2 sends a closing instruction to the gear lever driving device 6 with the return value not alpha through the output module 4 until all the gear levers are closed; this is done to prevent a pipe string from slipping out of the left fingerboard area, causing a safety hazard. When the controller 2 judges that the opening condition is met, an opening instruction is sent to a gear driving device 6 at the front end of the ith row of fingerboards through an output module 4, and the gear driving device 6 at the front end of the ith row of fingerboards executes the instruction to open the gear; when the controller 2 detects that the return value of the encoder of the stop lever driving device 6 of the ith row of fingerboards is beta, the output module 4 sends an instruction which allows the tubular column pushing equipment to push the tubular column to continue moving to the recommended target position (i, j) through the stop lever to the stop lever driving device 6 at the front end of the ith row of fingerboards, and then the stop lever is closed.
When the pipe column pushing and supporting device pushes and supports the pipe column 13 to move to the recommended target position (i, j), the pipe column detection 8 of the area to be placed detects the discharged pipe column 13, and the data acquisition module 3 acquires the signal; the controller 2 reads this signal and records that the pipe string 13 has completed discharging for this purpose. At this time, the pipe string 13 is discharged to the recommended target position in accordance with the planned route. The controller 2 automatically recommends the position of the ith +1 of the next target ith row fingerboard, namely the position (i, j +1), wherein j is more than or equal to 1 and less than n.
When j is equal to n in the target position (i, j), it indicates that the fingerboard has discharged the full string 13, and the string 13 is not allowed to be discharged at the fingerboard, so when the fingerboard stop string detector 7 detects that there is a string 13 that needs to be discharged, the stop of the fingerboard is not allowed to be opened. The controller 2 automatically plans the discharge path of the i +1 th row of the lower target row, wherein i is more than or equal to 1 and less than m.
If the pipe string 13 is discharged not at the target position recommended by the controller 2 planned route, but at the position specified by the operator, it is assumed that the position of the b-th column of the a-th finger in fig. 2 is the position (a, b). The controller 2 plans a new discharge path according to the positions (a, b), and after the new path planning is completed, the same pipe arrangement operation as the previous flow can be executed.
The above details describe the operation flow of discharging the tubular column 13 in the left fingerboard area, the operation flow of the right fingerboard area is similar to that in the left fingerboard area, and the operation flow of the fingerboard when the tubular column 13 is in the discharging operation of the fingerboard, and the operation flow of the fingerboard when the tubular column 13 is taken out from the fingerboard is the inverse process of the operation flow when the tubular column 13 is in the discharging operation, and the details are not repeated herein.
If during the process of discharging or taking out the tubular string 13, it is found that the tubular string 13 at a certain position has an abnormality (such as improper size, damage, improper type, etc.) and cannot meet the requirements of the field operation, the tubular string 13 needs to be removed from the current position. Assume now that column 13 at column b1 of the row a1 fingerboard in FIG. 2 has an anomaly, i.e., column 13 at position (a1, b1) and is designated to move column 13 to column b2 of row a2 fingerboard at position (a2, b 2). The controller 2 will mark the pipe string 13 at position (a1, b1) as abnormal and record this position and the number of abnormal pipe strings 13; the operator is to specify the position to which the abnormal string 13 is moved (a2, b 2); the controller 2 reschedules the discharge path and directs discharge of the abnormal tubular string 13 from the position (a1, b1) to the position (a2, b2) being propped by the tubular string propping apparatus; when the string detector 8 of the to-be-placed area at the position of the b2 of the fingerboard at the a 2-th row detects the abnormal string 13, the moving operation is finished; the controller 2 marks the position and records that the abnormal string 13 is abnormally moved to the position (a2, b2) from the string 13 at the position (a1, b1), so that the post-processing of the string 13 by an operator is facilitated, and the operation safety is further improved.
The control system of the electric fingerboard provided by the invention has the advantages that the tubular column 13 is conveyed through automatic control, the working efficiency is improved, the labor force is reduced, the control mode of preventing misoperation is arranged, the potential safety hazards are reduced, the storage position of the tubular column is strictly controlled in the conveying process of the tubular column, and the potential safety hazards such as the slipping of the tubular column are avoided. The control system of the electric fingerboard is high in working efficiency and safety coefficient.
Claims (5)
1. A control system of an electric fingerboard is characterized by comprising a fingerboard area and a control area,
the fingerboard area comprises a shell, a left fingerboard area and a right fingerboard area are arranged in the shell, one side of the shell is open, a partition plate (14) is fixedly connected to the center of the side wall of the shell, which is opposite to the opening, the left fingerboard area and the right fingerboard area are identical in structure and are located on two sides of the partition plate (14), a plurality of fingerboards are arranged in the left fingerboard area, a main stop rod (11) is arranged on the fingerboard at the opening of the left fingerboard area, the fingerboards are arranged in parallel and at intervals to form tubular column containing areas, each tubular column containing area comprises a plurality of tubular column containing areas corresponding to a single tubular column (13), each tubular column containing area is provided with a tubular column detector (8) to be placed, the tubular column detector (8) to be placed is used for detecting whether a tubular column (13) exists in the zone to be placed, one end of each fingerboard in the tubular column containing area is fixedly connected to the side, the other end of the finger beam is provided with a finger beam stop lever (12), the axis of the finger beam stop lever (12) is vertical to the axis of the finger beam, and the finger beam stop lever (12) and the main stop lever (11) are both provided with control components;
the control area comprises a controller box body (1), the controller box body (1) comprises a controller (2), a data acquisition module (3) and an instruction output module (4), the control assembly transmits data to the controller (2) through the data acquisition module (3) under the condition that a tubular column (13) is detected, the controller (2) sends out an instruction for opening a fingerboard stop lever (12) according to the data transmitted by the acquisition module (3) to control the fingerboard stop lever (12) to be opened and allow a tubular column pushing device to convey the tubular column (13) to a target position of a tubular column to-be-placed area, the tubular column detector (8) of the to-be-placed area transmits the data to the controller (2) after the tubular column (13) is detected, and the controller (2) sends out an instruction to control the tubular column pushing device to return and control the control assembly to close the fingerboard lever (12); the control assembly comprises a gear driving device (6) and a gear tubular column detector (7), the gear driving device (6) is used for driving a finger beam gear (12) to rotate, and the gear tubular column detector (7) is used for detecting and transmitting signals of tubular columns.
2. The control system of an electric fingerboard according to claim 1, wherein the column containing areas are divided into m rows of column containing areas corresponding to the number of fingerboards, the mth row of column waiting areas are close to a total stop lever (11), the column waiting areas are divided into n columns in the direction perpendicular to the fingerboards, the nth row of column waiting areas are close to a partition plate (14), the column waiting areas in the 1 st row and the 1 st column in the 1 st row are marked as (1,1), the column waiting areas in the mth row and the nth column are marked as (m, n), and the controller (2) controls the column pushing and supporting device to discharge the columns (13) to the corresponding column waiting areas in the sequence from (1,1) to (m, n);
when controller (2) control tubular column pushing and supporting equipment transports tubular column (13) to target location (1,1), waiting to put district tubular column detector (8) of (1,1) position detect tubular column (13) after with signal transmission for controller (2), controller (2) control tubular column pushing and supporting equipment returns and transports next tubular column (13) target location (1,2), and the completion is transported to tubular column (13) that the district (m, n) was waited to put to the tubular column.
3. The control system of claim 1, wherein the target position is located in the tubular column to be placed in the ith row and the jth column, which is denoted as (i, j), wherein i is greater than or equal to 1 and less than or equal to m and is an integer, i is greater than or equal to 1 and less than or equal to n and is an integer; under the condition of receiving any specified target position (i, j), after the pipe column (13) at the specified target position is discharged, the pipe column detector (8) at the specified target position detects the pipe column (13) and transmits a signal to the controller (2), the controller (2) sends a command to control the pipe column pushing and supporting equipment to convey the pipe column (13) to the target position (i, j +1), and the controller (2) sends a command to control the pipe column pushing and supporting equipment to convey the pipe column (13) to the to-be-placed areas from (i, j +2) to (m, n) in sequence.
4. A control system for an electric fingerboard according to claim 1, wherein the controller (2) is configured to:
when the pipe column containing area has a pipe column (13) needing to be moved out, the position of the pipe column detector (8) of the area to be placed is determined firstly, and then a signal is sent out to control the pipe column pushing and supporting equipment to move out of the pipe column (13).
5. A control system for an electric fingerboard according to claim 1, characterized in that the controller (2) is connected with a switch (5) which can be connected with other control systems.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910249172.5A CN110080698B (en) | 2019-03-29 | 2019-03-29 | Control system of electric fingerboard |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910249172.5A CN110080698B (en) | 2019-03-29 | 2019-03-29 | Control system of electric fingerboard |
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| Publication Number | Publication Date |
|---|---|
| CN110080698A CN110080698A (en) | 2019-08-02 |
| CN110080698B true CN110080698B (en) | 2021-02-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910249172.5A Active CN110080698B (en) | 2019-03-29 | 2019-03-29 | Control system of electric fingerboard |
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| CN201087699Y (en) * | 2007-09-19 | 2008-07-16 | 南阳二机石油装备(集团)有限公司 | Two-layer worktable of derrick |
| US8317448B2 (en) * | 2009-06-01 | 2012-11-27 | National Oilwell Varco, L.P. | Pipe stand transfer systems and methods |
| US8899901B2 (en) * | 2012-06-14 | 2014-12-02 | Warrior Energy Services Corporation | Pipe handling apparatus and method |
| CN203716882U (en) * | 2013-12-13 | 2014-07-16 | 天时海洋工程及石油装备研究院（青岛）有限公司 | Pipe racking system of semiautomatic racking drill pipe |
| CN204024530U (en) * | 2014-06-12 | 2014-12-17 | 黑龙江景宏石油设备制造有限公司 | Drilling well drilling rod automation conveyer |
| GB2532267A (en) * | 2014-11-14 | 2016-05-18 | Nat Oilwell Varco Norway As | A method for placing and removing pipe from a finger rack |
| GB2535137B (en) * | 2014-12-23 | 2020-10-07 | Swire Oilfield Services Ltd | Modular tubing rack assembly |
| CN205078202U (en) * | 2015-08-28 | 2016-03-09 | 黑龙江景宏石油设备制造有限公司 | Automatic processing apparatus that discharges of drilling tool |
| CN205778618U (en) * | 2016-05-31 | 2016-12-07 | 青岛杰瑞工控技术有限公司 | A kind of quadruple board platform Intelligent drainage guard system |
| CN206429207U (en) * | 2016-12-21 | 2017-08-22 | 兰州兰石集团有限公司 | Fingerboard thribble automatic sealing package blocking means |
| CN107575174A (en) * | 2017-10-10 | 2018-01-12 | 烟台杰瑞石油装备技术有限公司 | A kind of new drilling tool conveying device |
| CN108301792B (en) * | 2018-02-12 | 2024-04-05 | 中国石油天然气集团有限公司 | Environment-friendly well repairing operation oil pipe conveying device and using method thereof |
| CN108533194A (en) * | 2018-05-25 | 2018-09-14 | 西安石油大学 | Land rig quadruple board platform automatic tube-arranging system |
| CN109403889B (en) * | 2018-12-24 | 2020-07-28 | 辽宁陆海石油装备研究院有限公司 | Moving and transporting discharge method for drill pipe of offshore drilling platform |
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