CN113338821B - Automatic drill rod centralizer - Google Patents
Automatic drill rod centralizer Download PDFInfo
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- CN113338821B CN113338821B CN202110826459.7A CN202110826459A CN113338821B CN 113338821 B CN113338821 B CN 113338821B CN 202110826459 A CN202110826459 A CN 202110826459A CN 113338821 B CN113338821 B CN 113338821B
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- 238000005553 drilling Methods 0.000 claims abstract description 56
- 238000001514 detection method Methods 0.000 claims description 24
- 239000003302 ferromagnetic material Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 description 4
- 241000209094 Oryza Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 240000007643 Phytolacca americana Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000007105 physical stamina Effects 0.000 description 1
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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
- E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
- E21B17/10—Wear protectors; Centralising devices, e.g. stabilisers
- E21B17/1078—Stabilisers or centralisers for casing, tubing or drill pipes
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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
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses an automatic drill rod centralizer, which belongs to the field of drilling machine instruments and comprises a main support and a control system, wherein the main support is fixedly connected with a first mounting seat, a rotating main shaft is hinged on the first mounting seat, one end of the rotating main shaft, which is far away from the first mounting seat, is rotatably connected with two first arc-shaped rods, the first mounting seat is rotatably connected with a cylinder body of a first driving hydraulic cylinder, a piston rod of the first driving hydraulic cylinder is rotatably connected onto the rotating main shaft, a cylinder body of a second driving hydraulic cylinder is fixedly connected onto the rotating main shaft, a piston rod of the second driving hydraulic cylinder is fixedly connected with a first ejector block, and when a piston rod of the second driving hydraulic cylinder extends out, the first ejector block and the two first arc-shaped rods can be abutted to a drill rod together; one side of the main support is connected with an upper rod assembly which pushes the drill rod to move towards the first arc-shaped rod in the vertical state of the rotating main shaft.
Description
Technical Field
The invention relates to the field of drilling machine instruments, in particular to an automatic drill rod centralizer.
Background
At present, a large-scale drilling machine needs to be continuously connected with a drill bit due to the fact that the piling depth is very deep when the large-scale drilling machine works. The drill rods of large drilling rigs are also particularly long and therefore it is often necessary to transport the drill rods mechanically. The drill rod transported to the drilling rig is typically in a lateral position and the rod centralizer is used to rotate the drill rod to a vertical position and to align a new drill rod with the drill rod already extended into the ground. The rod loading process is to take out the drill rods from the warehouse, transport the drill rods to the top of the drill rods which extend into the ground, align the drill rods and fix the two drill rods through the drill rod connectors.
The above prior art solutions have the following drawbacks: at present, the drill rod centralizer also needs manual remote control or control by using a control console, and workers need to stare at the drilling machine all the time for construction, so that time and labor are wasted.
Disclosure of Invention
In order to realize the automatic pole of going up of drilling rod, this application provides an automatic drilling rod centralizer.
The application provides an automatic drilling rod centralizer adopts following technical scheme:
an automatic drill rod centralizer comprises a main support and a control system, wherein the main support is fixedly connected with a first mounting seat, a rotating main shaft is hinged to the first mounting seat, one end, far away from the first mounting seat, of the rotating main shaft is rotatably connected with two first arc-shaped rods, the first mounting seat is rotatably connected with a cylinder body of a first driving hydraulic cylinder, a piston rod of the first driving hydraulic cylinder is rotatably connected to the rotating main shaft, when the piston rod of the first driving hydraulic cylinder is contracted out, the rotating main shaft is in a vertical state, the rotating main shaft is fixedly connected with the cylinder body of a second driving hydraulic cylinder, the piston rod of the second driving hydraulic cylinder is fixedly connected with a first jacking block, and when the piston rod of the second driving hydraulic cylinder is extended out, the first jacking block and the two first arc-shaped rods can be abutted to a drill rod together;
one side of the main bracket is connected with an upper rod component which pushes the drill rod to move towards the first arc-shaped rod in the vertical state of the rotating main shaft;
the control system detects the distance that the upper rod assembly pushes the drill rod, when the distance value reaches a set distance value, the piston rod of the second driving hydraulic cylinder is controlled to extend out, then the piston rod of the first driving hydraulic cylinder is controlled to contract, and after the piston rod of the first driving hydraulic cylinder completely extends out, the piston rod of the second driving hydraulic cylinder is controlled to retract.
Through adopting above-mentioned scheme, the drilling rod is transported to upper boom subassembly department by last apparatus, the upper boom subassembly drives the drilling rod and removes to being close to first arc pole direction, the drilling rod is in the horizontality this moment, first drive hydraulic cylinder's piston rod is in the shrink state, the drilling rod reachs between two first arc poles, two first arc poles of control system automatic control and first kicking block press from both sides tight drilling rod jointly, first drive hydraulic cylinder pulling rotation main shaft rotates for the horizontality, the drilling rod rotates to vertical state by the horizontality this moment, loosen first arc pole and make the drilling rod whereabouts, accomplish automatic upper boom, do not need manual operation, degree of automation is high, and control system can calculate the distance that the upper boom subassembly promoted the drilling rod accurately, guarantee that first arc pole can press from both sides the same position of every drilling rod, do not worry and other object emergence collision, the upper boom degree of accuracy is higher.
Preferably, a second mounting seat is fixedly connected to the main support at a position corresponding to the upper part of the first mounting seat, a first fixing main shaft is fixedly connected to the second mounting seat, one end, far away from the second mounting seat, of the first fixing main shaft is rotatably connected with two second arc-shaped rods, the first fixing main shaft is fixedly connected with a cylinder body of a first pushing hydraulic cylinder, a piston rod of the first pushing hydraulic cylinder is fixedly connected with a second ejector block, and when the piston rod of the first pushing hydraulic cylinder extends out, the second ejector block and the two second arc-shaped rods can be abutted to a drill rod together;
a third mounting seat is fixedly connected to the main support at a position corresponding to the lower position of the first mounting seat, the third mounting seat is connected with a second fixing main shaft in a sliding mode, a cylinder body of a second pushing hydraulic cylinder is fixedly connected to the third mounting seat, a piston rod of the second pushing hydraulic cylinder is arranged along the horizontal direction, a third ejector block is fixedly connected to the piston rod of the second pushing hydraulic cylinder, one end, far away from the third mounting seat, of the second fixing main shaft is rotatably connected with two third arc-shaped rods, and when the piston rod of the second pushing hydraulic cylinder extends out, the two third arc-shaped rods can abut against a drill rod together;
after the piston rod of the first driving hydraulic cylinder is completely extended, the control system firstly controls the piston rod of the first pushing hydraulic cylinder and the piston rod of the second pushing hydraulic cylinder to extend out for a set distance, then controls the piston rod of the first driving hydraulic cylinder and the piston rod of the second driving hydraulic cylinder to reset, detects the falling speed of the drill rod, controls the piston rod of the first pushing hydraulic cylinder and the piston rod of the second pushing hydraulic cylinder to continue to extend when the falling speed is greater than a speed set value, and controls the piston rod of the first pushing hydraulic cylinder and the piston rod of the second pushing hydraulic cylinder to slowly retract when the falling speed is less than the speed set value.
Through adopting above-mentioned scheme, when the drilling rod was carried by first arc pole and is in vertical state, control system can let second arc pole and third arc pole carry two other positions of drilling rod through controlling first push hydraulic cylinder and second push hydraulic cylinder, guarantee drilling rod position and vertical state through three tight position of clamp, then first arc pole and drilling rod separation, the initial position of second arc pole and second arc pole is established in advance to the workman, second arc pole and third arc pole let the drilling rod slowly fall, control system controls the falling speed of drilling rod through controlling first push hydraulic cylinder and second push hydraulic cylinder.
Preferably, the two first arc-shaped rods are both rotatably connected with first control rods, and the other ends of the two first control rods are both rotatably connected to piston rods of the second driving hydraulic cylinders;
the two second arc-shaped rods are both rotatably connected with second control rods, and the other ends of the two second control rods are both rotatably connected to piston rods of the first pushing hydraulic cylinders;
the third arc pole is close to the equal fixedly connected with poker rod of second promotion pneumatic cylinder one end, and third mount pad one side is kept away from to the third kicking block has seted up the arcwall face, and two poker rods all butt are on the arcwall face of third kicking block.
By adopting the above scheme, the second drive pneumatic cylinder drives the first arc pole to rotate through pulling the first control rod, the first push pneumatic cylinder drives the second arc pole to rotate through pulling the second control rod, the second push pneumatic cylinder pushes the third ejector pad to move, and the third ejector pad pushes the two poking rods to rotate towards two sides through the arc surface, so that the third arc pole rotates to clamp the drill rod.
Preferably, the control system comprises a feeding detection module, a starting control module, a first control module, a second control module and a falling detection module;
the feeding detection module comprises a meter counter arranged on the upper rod component, the meter counter detects the moving distance of the drill rod at the upper rod component to obtain a distance value, and the feeding detection module sends the distance value to the starting control module;
the starting control module compares the distance value with a distance set value after receiving the distance value, and transmits a starting signal to the first control module when the distance value is greater than or equal to the distance set value;
the first control module receives the starting signal and then controls a piston rod of the second driving hydraulic cylinder to extend out, a piston rod of the first driving hydraulic cylinder to contract and a piston rod of the first pushing hydraulic cylinder and a piston rod of the second pushing hydraulic cylinder to extend out for a set distance, and meanwhile the first control module sends a delay signal to the second control module;
the second control module receives the delay signal and then performs timing, and when the timing reaches a set time, the piston rod of the first driving hydraulic cylinder is controlled to extend out and the piston rod of the second driving hydraulic cylinder is controlled to retract;
the falling detection module comprises a first linear velocity sensor fixedly connected to the second ejector pad and a second linear velocity sensor fixedly connected to the third ejector pad, the first linear velocity sensor and the second linear velocity sensor can abut against the drill rod and detect the falling velocity of the drill rod, when the falling velocity is larger than a velocity set value, the piston rod of the first pushing hydraulic cylinder and the piston rod of the second pushing hydraulic cylinder are controlled to continue to extend, and when the falling velocity is smaller than the velocity set value, the piston rod of the first pushing hydraulic cylinder and the piston rod of the second pushing hydraulic cylinder are controlled to slowly retract.
By adopting the scheme, the control system detects the moving distance of the drill rod when the drill rod is fed through the meter counter, and the first arc-shaped rod can be clamped to a fixed position of the drill rod. The control system simultaneously monitors the falling speed of the drill rod through the first linear speed sensor and the second linear speed sensor, and the detection accuracy and the reaction rapidness are guaranteed.
Preferably, the upper boom subassembly is including rotating the initiative gyro wheel of connecting in main support one side, and the main support is close to initiative gyro wheel position department fixedly connected with initiative motor, and the output shaft fixed connection of initiative motor is on the initiative gyro wheel, and the main support corresponds and rotates and be connected with the branch of stepping down in the position department directly over the initiative gyro wheel, and the branch of stepping down is close to initiative gyro wheel one end and rotates and be connected with driven roller, and when stepping down branch is located vertical state, distance between initiative gyro wheel and the driven roller equals the diameter of drill rod.
Through adopting above-mentioned scheme, driving motor drives the initiative gyro wheel and rotates, and the drilling rod is through initiative gyro wheel and driven gyro wheel, is driven by the initiative gyro wheel and removes, and driven gyro wheel compresses tightly the drilling rod on the initiative gyro wheel, guarantees that drilling rod translation rate is stable.
Preferably, the meter counter is connected to the position, close to the driving roller, of the main support, the connecting shell is fixedly connected to the position, corresponding to the position, under the meter counter, of the main support, a vertically arranged spring is fixedly connected into the connecting shell, the top of the spring is fixedly connected with a V-shaped groove body, the spring provides upward force for the V-shaped groove body, the V-shaped groove body is made of ferromagnetic materials, and an electromagnet is fixedly connected to the bottom surface inside the connecting shell;
the control system further comprises an automatic abutting module, the automatic abutting module monitors the meter counter, the automatic abutting module controls the electromagnet to lose power when the meter counter starts to record the distance value, and the electromagnet is controlled to be powered when the meter counter stops recording the distance value.
Through adopting above-mentioned scheme, V type tank physical stamina can support the drilling rod tightly on meter rice ware under the spring drive, guarantees that meter rice ware detects the accuracy, and control system can the automatic control electro-magnet get the electricity and inhale down V type tank when not having the drilling rod simultaneously, avoids the transportation of the too high influence next drilling rod of V type tank position.
Preferably, one end of the main bracket, which is opposite to the abdicating support rod and away from the driven roller wheel, is fixedly connected with an abdicating motor, and an output shaft of the abdicating motor is fixedly connected to the abdicating support rod;
the first control module receives the starting signal and then controls the abdicating motor to rotate until the abdicating support rod rotates by a preset angle.
Through adopting above-mentioned scheme, control system is after first arc pole presss from both sides tight drilling rod, and the control motor that steps down starts, drives the branch rotation of stepping down, lets driven gyro wheel leave original position, touches driven gyro wheel when avoiding rotating the main shaft and driving the drilling rod rotation.
Preferably, the meter counter is positioned on one side of the driven roller, which is far away from the first mounting seat, the abdicating support rod is rotatably connected with the rotating frame near the driven roller, the meter counter is fixedly connected with one end of the rotating frame, which is far away from the abdicating support rod, the abdicating support rod is rotatably connected with the cylinder body of the abdicating hydraulic cylinder at a position near the rotating frame, and the piston rod of the abdicating hydraulic cylinder is fixedly connected with one end of the rotating frame, which is near to the meter counter;
and the first control module receives the starting signal and then controls the piston rod of the abdicating hydraulic cylinder to contract.
By adopting the scheme, the meter counter can record the moving distance of the drill rod before the driving roller, so that the control is easier to advance. The control system can also let the hydraulic cylinder of stepping down pull the rotating frame and rotate after the first arc-shaped rod clamps the drilling rod, make the meter counter leave the drilling rod, avoid stepping down the branch and rotate the meter counter and take place the extrusion with the drilling rod when the branch.
Preferably, the control system further comprises a misdetection avoiding module, the misdetection avoiding module monitors the second driving hydraulic cylinder, and when a piston rod of the second driving hydraulic cylinder is in an extending state, the misdetection avoiding module prevents the falling detection module from working.
Through adopting above-mentioned scheme, the misdetection is avoided the module and can be prevented that the drilling rod from influencing control system's judgement under quiescent condition, guarantees that second arc pole and third arc pole press from both sides tight drilling rod always, and the tight dynamics of clamp is adjusted again after first arc pole is loosened, avoids the drilling rod to take place high-speed whereabouts, and second arc pole and third arc pole come too late to press from both sides tight drilling rod.
Preferably, all first arc pole, second arc pole and third arc pole all overlap and are equipped with and have elastic soft cover, the both sides of first kicking block and second kicking block all rotate be connected with can with the pulley of drilling rod butt.
Through adopting above-mentioned scheme, soft cover and pulley can reduce the damage to first arc pole, second arc pole and third arc pole when the drilling rod removes.
In conclusion, the invention has the following beneficial effects:
1. need not manual operation, degree of automation is high to control system can accurately calculate the distance that the upper boom subassembly promoted the drilling rod, guarantees that first arc pole can press from both sides the same position to every drilling rod, does not worry and bumps with other objects, and the upper boom degree of accuracy is higher.
2. Guarantee drilling rod position and vertical state through three tight position of clamp, control system controls the falling speed of drilling rod through controlling first promotion pneumatic cylinder and second promotion pneumatic cylinder, guarantees that the drilling rod can not fall too fast, simultaneously because the inclined to one side tip position of drilling rod can be pressed from both sides to the drilling rod centralizer, can reserve more space.
Drawings
Fig. 1 is a schematic view of the overall structure of an automatic drill rod centralizer according to an embodiment of the present application.
FIG. 2 is a schematic view of an upper rod assembly of an automatic drill rod centralizer according to an embodiment of the present application; .
FIG. 3 is an enlarged view of portion A of FIG. 2;
FIG. 4 is a schematic view of a first mount section of an automated pipe centralizer according to an embodiment of the present application;
FIG. 5 is a schematic view of a second mount portion of an automated pipe centralizer according to an embodiment of the present application;
FIG. 6 is a schematic view of a third mount portion of an automated pipe centralizer according to an embodiment of the present application;
FIG. 7 is an exploded view of a third mounting seat, a second stationary spindle and a third top block of the automatic pipe centralizer according to the embodiment of the present application;
FIG. 8 is a block diagram of the automated pipe centralizer control system of an embodiment of the present application.
Description of reference numerals:
1. a main support; 2. an upper rod assembly; 21. a driving roller; 22. an active motor; 23. a abdicating support rod; 231. a driven roller; 232. a meter counter; 233. a rotating frame; 234. a yielding motor; 235. a yielding hydraulic cylinder; 24. connecting the shell; 241. a spring; 242. a V-shaped groove body; 243. an electromagnet; 3. a first mounting seat; 31. rotating the main shaft; 32. a first arcuate bar; 321. a first control lever; 322. a soft sleeve; 33. a first drive hydraulic cylinder; 34. a second drive hydraulic cylinder; 341. a first top block; 342. a pulley; 4. a second mounting seat; 41. a first stationary main shaft; 42. a first pushing hydraulic cylinder; 421. a second top block; 43. a second arc-shaped rod; 431. a second control lever; 5. a third mounting seat; 51. a second stationary main shaft; 511. a T-shaped chute; 512. a T-shaped slider; 52. a second pushing hydraulic cylinder; 521. a third top block; 522. an arc-shaped surface; 53. a third arcuate bar; 531. a poke rod; 6. a control system; 61. a feeding detection module; 62. starting a control module; 63. a first control module; 64. a second control module; 65. a drop detection module; 651. a first linear velocity sensor; 652. a second linear velocity sensor; 66. a false detection avoiding module; 67. a reset module; 68. and an automatic abutting module.
Detailed Description
The present application is described in further detail below with reference to figures 1-8.
The embodiment of the application discloses automatic drilling rod centralizer, as shown in figure 1, including main support 1, main support 1 one side is connected with pole subassembly 2, and the first mount pad 3 of fixedly connected with, second mount pad 4 and third mount pad 5 on the main support 1, second mount pad 4 are located first mount pad 3 top, and third mount pad 5 is located first mount pad 3 below.
As shown in fig. 1 and 2, the upper rod assembly 2 includes a driving roller 21 rotatably connected to one side of the main bracket 1, a driving motor 22 is fixedly connected to the main bracket 1 at a position close to the driving roller 21, and an output shaft of the driving motor 22 is fixedly connected to the driving roller 21. The main support 1 is connected with the branch of stepping down 23 corresponding to the position department directly over the driving roller 21 in a rotating manner, the branch of stepping down 23 is connected with the driven roller 231 near the one end of the driving roller 21 in a rotating manner, and when the branch of stepping down 23 is located under the vertical state, the distance between the driving roller 21 and the driven roller 231 is equal to the diameter of the drill rod. The main support 1 is fixedly connected with an abdicating motor 234 corresponding to one end of the abdicating support rod 23 far away from the driven roller 231, and an output shaft of the abdicating motor 234 is fixedly connected to the abdicating support rod 23. The driving motor 22 drives the driving roller 21 to rotate, the drill rod passes through the driving roller 21 and the driven roller 231 and is driven by the driving roller 21 to move, and the driven roller 231 compresses the drill rod on the driving roller 21, so that the moving speed of the drill rod is stable. The abdicating motor 234 drives the abdicating support rod 23 to rotate, so that the driven roller 231 leaves the original position, and the driven roller 231 is prevented from blocking the drill rod.
As shown in fig. 1 and 2, a rotating frame 233 is rotatably connected to the abdicating support rod 23 near the driven roller 231, and a meter counter 232 is fixedly connected to one end of the rotating frame 233 far from the abdicating support rod 23. The meter counter 232 is located on the side of the driven roller 231 away from the first mounting seat 3. The position of the abdicating support rod 23 close to the rotating frame 233 is rotatably connected with a cylinder body of an abdicating hydraulic cylinder 235, and a piston rod of the abdicating hydraulic cylinder 235 is rotatably connected to one end of the rotating frame 233 close to the meter counter 232. The abdicating hydraulic cylinder 235 pulls the rotating frame 233 to rotate, so that the meter counter 232 leaves the drill rod, and the meter counter 232 is prevented from extruding with the drill rod when the abdicating support rod 23 rotates.
As shown in fig. 2 and 3, the connecting housing 24 is fixedly connected to the main stand 1 at a position directly below the counter 232. A vertically arranged spring 241 is fixedly connected in the connecting shell 24, a V-shaped groove 242 is fixedly connected at the top of the spring 241, and the spring 241 gives upward force to the V-shaped groove 242. The V-shaped groove 242 is made of ferromagnetic material, and an electromagnet 243 is fixedly connected to the inner bottom surface of the connecting shell 24. The V-shaped groove 242 can be driven by the spring 241 to tightly support the drill rod on the meter counter 232, so that the meter counter 232 is guaranteed to be accurate in detection.
As shown in fig. 4, a rotating main shaft 31 is hinged on the first mounting seat 3, and one end of the rotating main shaft 31, which is far away from the first mounting seat 3, is rotatably connected with two first arc-shaped rods 32. The first mounting base 3 is rotatably connected with a cylinder body of a first driving hydraulic cylinder 33, a piston rod of the first driving hydraulic cylinder 33 is rotatably connected to the rotating main shaft 31, and when the piston rod of the first driving hydraulic cylinder 33 is contracted, the rotating main shaft 31 is in a vertical state. A cylinder body of the second driving hydraulic cylinder 34 is fixedly connected to the rotating main shaft 31, and a piston rod of the second driving hydraulic cylinder 34 is fixedly connected to the first ejector block 341. Two first arc poles 32 all rotate and are connected with first control lever 321, and the other end of two first control lever 321 all rotates to be connected on the piston rod of second drive hydraulic cylinder 34. When the piston rod of the second drive hydraulic cylinder 34 is extended, the first top block 341 and the two first arc-shaped rods 32 can jointly abut against the drill rod. The piston rod of the second driving hydraulic cylinder 34 extends to drive the two first control rods 321 to rotate and move in the direction away from the second driving hydraulic cylinder 34, so that the two first arc-shaped rods 32 are pushed to rotate, the two first arc-shaped rods 32 are close to each other, and the drill rod is clamped. The drill rod is transported to the upper rod assembly 2 by a previous apparatus, the upper rod assembly 2 drives the drill rod to move towards the direction close to the first arc-shaped rods 32, after the drill rod reaches the position between the two first arc-shaped rods 32, the piston rod of the second driving hydraulic cylinder 34 extends out, the first arc-shaped rods 32 are pushed to clamp the drill rod tightly, the piston rod of the first driving hydraulic cylinder 33 extends out, the main shaft 31 is rotated to be in a horizontal state by pulling, and at the moment, the drill rod is rotated to be in a vertical state from the horizontal state.
As shown in fig. 5, the second mounting seat 4 is fixedly connected with a first fixing spindle 41, one end of the first fixing spindle 41, which is far away from the second mounting seat 4, is rotatably connected with two second arc-shaped rods 43, the first fixing spindle 41 is fixedly connected with a cylinder body of a first pushing hydraulic cylinder 42, and a piston rod of the first pushing hydraulic cylinder 42 is fixedly connected with a second top block 421. Two second arc poles 43 all rotate and are connected with second control lever 431, and two second control lever 431 other ends all rotate and connect on first push hydraulic cylinder 42's piston rod. When the piston rod of the first pushing cylinder 42 is extended, the second top block 421 and the two second arc-shaped rods 43 can jointly abut against the drill rod. The piston rod of the first pushing hydraulic cylinder 42 extends to drive the two second control rods 431 to rotate and move in the direction away from the first pushing hydraulic cylinder 42, so that the two second arc-shaped rods 43 are pushed to rotate, the two second arc-shaped rods 43 are close to each other, and a drill rod is clamped. When the drill rod is driven by the rotating main shaft 31 to be erected, the piston rod of the first pushing hydraulic cylinder 42 extends out to clamp the top of the drill rod.
As shown in fig. 4 and 5, pulleys 342 capable of abutting against the drill rod are rotatably connected to both sides of the first and second ejector blocks 341 and 421. The sliding friction that the pulley 342 can receive in by the tight in-process of being supported becomes rolling friction to pulley 342 is bigger than first kicking block 341 and second kicking block 421 direct and drilling rod butt activity allowance with the drilling rod butt, and pulley 342 can reduce the damage to first arc pole 32, second arc pole 43 and third arc pole 53 when the drilling rod removes.
As shown in fig. 6 and 7, the second fixed main shaft 51 is slidably connected to the third mounting seat 5, a T-shaped sliding slot 511 is formed in the third mounting seat 5 along the length direction of the second fixed main shaft 51, a T-shaped sliding block 512 is fixedly connected to the second fixed main shaft 51, and the T-shaped sliding block 512 is slidably connected to the T-shaped sliding slot 511. Third mount pad 5 fixedly connected with second promotes pneumatic cylinder 52's cylinder body, and the piston rod of second promotion pneumatic cylinder 52 sets up along the horizontal direction, and second promotes pneumatic cylinder 52's piston rod fixedly connected with third kicking block 521, and second stationary spindle 51 keeps away from 5 one end rotations of third mount pad and is connected with two third arc poles 53. The third arc pole 53 is close to equal fixedly connected with poker rod 531 of second promotion pneumatic cylinder 52 one end, and the third kicking block 521 is kept away from third mount pad 5 one side and has been seted up arcwall face 522, and two poker rods 531 all butt on the arcwall face 522 of third kicking block 521. When the piston rod of the second push cylinder 52 is extended, the two third arc-shaped bars 53 can jointly abut against the drill rod. The piston rod of the second pushing hydraulic cylinder 52 extends out, firstly, the third jacking block 521 pushes the second fixing main shaft 51 to slide after abutting against the third arc-shaped rods 53, the third arc-shaped rods 53 are moved to the drill rod, the drill rod is clamped between the two third arc-shaped rods 53 from the two second arc-shaped rods 43, and therefore the drill rod is provided with three clamping positions, and the drill rod is guaranteed to be in a vertical state. The second fixed main shaft 51 is in a retracted state in the rod loading process, so that the drill rod can be prevented from being collided in the process of being rotated to the vertical state. All the first arc-shaped rod 32, the second arc-shaped rod 43 and the third arc-shaped rod 53 are sleeved with elastic soft sleeves 322. The soft sleeve 322 can reduce the damage to the first arc-shaped rod 32, the second arc-shaped rod 43 and the third arc-shaped rod 53 when the drill rod moves, and can enable the drill rod to fall slowly more easily.
As shown in fig. 8, the main support 1 is connected with a control system 6, and the control system 6 includes a feeding detection module 61, a starting control module 62, a first control module 63, a second control module 64, a falling detection module 65, a first linear velocity sensor 651, a second linear velocity sensor 652, a false detection avoidance module 66, a reset module 67, and an automatic tightening module 68.
As shown in fig. 8, the automatic tightening module 68 monitors the meter 232, and when the meter 232 starts to record a distance value, the automatic tightening module 68 controls the electromagnet 243 to lose power, and when the meter 232 stops recording the distance value, the electromagnet 243 is controlled to be powered. When no drill rod exists, the control system 6 can automatically control the electromagnet 243 to be electrified to suck the V-shaped groove 242 down, and the influence of the overhigh position of the V-shaped groove 242 on the transportation of the next drill rod is avoided.
As shown in fig. 8, the feeding detection module 61 is connected to the meter counter 232, the meter counter 232 detects the moving distance of the drill rod at the upper rod assembly 2 to obtain a distance value, and the feeding detection module 61 sends the distance value to the start control module 62. The start control module 62 compares the distance value with the distance set value after receiving the distance value, and transmits a start signal to the first control module 63 when the distance value is greater than or equal to the distance set value.
As shown in fig. 8, after receiving the start signal, the first control module 63 controls the piston rod of the second driving hydraulic cylinder 34 to extend, the piston rod of the first driving hydraulic cylinder 33 to retract, the piston rod of the first pushing hydraulic cylinder 42 and the piston rod of the second pushing hydraulic cylinder 52 to extend for a set distance, and the piston rod of the second pushing hydraulic cylinder 52 extends and retracts for an extremely short distance, which may be controlled to be 5 mm. While the first control module 63 sends a delay signal to the second control module 64. The second control module 64 performs timing after receiving the delay signal, and controls the piston rod of the first driving hydraulic cylinder 33 to extend and the piston rod of the second driving hydraulic cylinder 34 to contract when the timing reaches a set time, and sends a reset signal to the reset module 67. When the drill rod reaches the position of the first arc-shaped rod 32, the control system 6 can automatically control the piston rod of the second driving hydraulic cylinder 34 to extend out, so that the first arc-shaped rod 32 clamps the drill rod, the piston rod of the first driving hydraulic cylinder 33 contracts, and the rotating main shaft 31 drives the drill rod to be converted from the horizontal state to the vertical state. The control system 6 then controls the piston rods of the first and second thrust cylinders 42, 52 to extend to grip the drill rod. The piston rod of the second pushing hydraulic cylinder 52 is retracted for a very short distance after extending for a set distance, so that the third arc-shaped rods 53 are slightly loosened, and the drill rod is more easily clamped between the two third arc-shaped rods 53. The control system 6 then controls the extension of the piston rod of the first drive hydraulic cylinder 33 and the retraction of the piston rod of the second drive hydraulic cylinder 34, so that the first curved rod 32 releases the drill rod and the rotating main shaft 31 rotates back to the vertical position.
As shown in fig. 5 and 8, the drop detection module 65 includes a first linear velocity sensor 651 fixedly connected to the second top block 421 and a second linear velocity sensor 652 fixedly connected to the third top block 521 (see fig. 7), each of the first linear velocity sensor 651 and the second linear velocity sensor 652 is capable of abutting against the drill rod and detecting the drop speed of the drill rod, when the drop speed is greater than a speed set value, the piston rod of the first push hydraulic cylinder 42 and the piston rod of the second push hydraulic cylinder 52 are controlled to continue to extend, and when the drop speed is less than the speed set value, the piston rod of the first push hydraulic cylinder 42 and the piston rod of the second push hydraulic cylinder 52 are controlled to slowly retract. The control system 6 simultaneously monitors the falling speed of the drill rod through the first linear speed sensor 651 and the second linear speed sensor 652, and the detection is accurate and the reaction is rapid.
As shown in fig. 8, the misdetection avoiding module 66 monitors the second driving hydraulic cylinder 34, and when the piston rod of the second driving hydraulic cylinder 34 is in the extended state, the misdetection avoiding module 66 prevents the drop detecting module 65 from operating. The misdetection avoiding module 66 can prevent the drill rod from influencing the judgment of the control system 6 under the static state, ensure that the second arc-shaped rod 43 and the third arc-shaped rod 53 always clamp the drill rod, adjust the clamping force after the first arc-shaped rod 32 is loosened, avoid the drill rod from falling at a high speed, and prevent the second arc-shaped rod 43 and the third arc-shaped rod 53 from having time to clamp the drill rod.
As shown in fig. 8, the reset module 67 counts time after receiving the reset signal, and controls the piston rod of the first pushing hydraulic cylinder 42 and the piston rod of the second pushing hydraulic cylinder 52 to retract after the counted time reaches a preset time. The reset module 67 releases the second curved bar 43 and the third curved bar 53 after the drill rods are completely fed, and simultaneously allows the second stationary spindle 51 to return to the original position.
The implementation principle of the automatic drill rod centralizer in the embodiment of the application is as follows: the drill rod is transported to the upper rod assembly 2 by a previous apparatus, the upper rod assembly 2 drives the drill rod to move towards the direction close to the first arc-shaped rods 32, the drill rod is in a horizontal state at the moment, the piston rod of the first driving hydraulic cylinder 33 is in a contraction state, the drill rod reaches between the two first arc-shaped rods 32, the two first arc-shaped rods 32 and the first jacking block 341 are automatically controlled by the control system 6 to clamp the drill rod together, the first driving hydraulic cylinder 33 pulls the rotating main shaft 31 to rotate to be in a horizontal state, and the drill rod is rotated to be in a vertical state from the horizontal state at the moment. The control system 6 then controls the first and second pushing hydraulic cylinders 42, 52 to allow the second and third curved bars 43, 53 to clamp the drill rod at two other positions, and then the first curved bar 32 is separated from the drill rod, and the drill rod slowly falls down to complete the rod loading. The manual operation is not needed, and the automation degree is high.
The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.
Claims (9)
1. An automatic drilling rod centralizer which characterized in that: comprises a main support (1) and a control system (6), wherein the main support (1) is fixedly connected with a first mounting seat (3), a rotating main shaft (31) is hinged on the first mounting seat (3), one end of the rotating main shaft (31) far away from the first mounting seat (3) is rotatably connected with two first arc-shaped rods (32), the first mounting seat (3) is rotatably connected with a cylinder body of a first driving hydraulic cylinder (33), a piston rod of the first driving hydraulic cylinder (33) is rotatably connected on the rotating main shaft (31), when the piston rod of the first driving hydraulic cylinder (33) contracts, the rotating main shaft (31) is in a vertical state, the cylinder body of the second driving hydraulic cylinder (34) is fixedly connected onto the rotating main shaft (31), the piston rod of the second driving hydraulic cylinder (34) is fixedly connected with the first ejector block (341), when the piston rod of the second driving hydraulic cylinder (34) extends, the first jacking block (341) and the two first arc-shaped rods (32) can jointly abut against the drill rod;
one side of the main bracket (1) is connected with an upper rod component (2) which pushes the drill rod to move towards a first arc-shaped rod (32) in a vertical state of the rotating main shaft (31);
the control system (6) detects the distance that the upper rod component (2) pushes the drill rod, when the distance value reaches a set distance value, the piston rod of the second driving hydraulic cylinder (34) is controlled to extend out, then the piston rod of the first driving hydraulic cylinder (33) is controlled to contract, and after the piston rod of the first driving hydraulic cylinder (33) completely extends out, the piston rod of the second driving hydraulic cylinder (34) is controlled to retract;
a second mounting seat (4) is fixedly connected to the main support (1) corresponding to the position above the first mounting seat (3), a first fixing main shaft (41) is fixedly connected to the second mounting seat (4), one end, far away from the second mounting seat (4), of the first fixing main shaft (41) is rotatably connected with two second arc-shaped rods (43), a cylinder body of a first pushing hydraulic cylinder (42) is fixedly connected to the first fixing main shaft (41), a piston rod of the first pushing hydraulic cylinder (42) is fixedly connected with a second ejector block (421), and when the piston rod of the first pushing hydraulic cylinder (42) extends out, the second ejector block (421) and the two second arc-shaped rods (43) can be abutted to a drill rod together;
the main support (1) is fixedly connected with a third mounting seat (5) corresponding to the lower position of the first mounting seat (3), the third mounting seat (5) is connected with a second fixed main shaft (51) in a sliding mode, the third mounting seat (5) is fixedly connected with a cylinder body of a second pushing hydraulic cylinder (52), a piston rod of the second pushing hydraulic cylinder (52) is arranged along the horizontal direction, a third ejector block (521) is fixedly connected with the piston rod of the second pushing hydraulic cylinder (52), one end, far away from the third mounting seat (5), of the second fixed main shaft (51) is rotatably connected with two third arc-shaped rods (53), and when the piston rod of the second pushing hydraulic cylinder (52) extends out, the two third arc-shaped rods (53) can abut against a drill rod together;
after the piston rod of the first driving hydraulic cylinder (33) is completely extended, the control system (6) firstly controls the piston rod of the first pushing hydraulic cylinder (42) and the piston rod of the second pushing hydraulic cylinder (52) to extend for a set distance, then controls the piston rod of the first driving hydraulic cylinder (33) and the piston rod of the second driving hydraulic cylinder (34) to reset, detects the falling speed of the drill rod, controls the piston rod of the first pushing hydraulic cylinder (42) and the piston rod of the second pushing hydraulic cylinder (52) to continue to extend when the falling speed is greater than a speed set value, and controls the piston rod of the first pushing hydraulic cylinder (42) and the piston rod of the second pushing hydraulic cylinder (52) to slowly retract when the falling speed is less than the speed set value.
2. The automated pipe centralizer of claim 1, wherein: the two first arc-shaped rods (32) are both rotatably connected with first control rods (321), and the other ends of the two first control rods (321) are both rotatably connected to piston rods of the second driving hydraulic cylinders (34);
the two second arc-shaped rods (43) are rotatably connected with second control rods (431), and the other ends of the two second control rods (431) are rotatably connected to piston rods of the first pushing hydraulic cylinders (42);
the third arc pole (53) is close to equal fixedly connected with poker rod (531) of second promotion pneumatic cylinder (52) one end, and third mount pad (5) one side is kept away from in third kicking block (521) has seted up arcwall face (522), and two poker rods (531) all butt on arcwall face (522) of third kicking block (521).
3. The automated drill rod centralizer of claim 1, wherein: the control system (6) comprises a feeding detection module (61), a starting control module (62), a first control module (63), a second control module (64) and a falling detection module (65);
the feeding detection module (61) comprises a meter counter (232) arranged on the upper rod assembly (2), the meter counter (232) detects the moving distance of the drill rod at the upper rod assembly (2) to obtain a distance value, and the feeding detection module (61) sends the distance value to the starting control module (62);
the starting control module (62) compares the distance value with a distance set value after receiving the distance value, and transmits a starting signal to the first control module (63) when the distance value is greater than or equal to the distance set value;
the first control module (63) receives the starting signal and then controls the piston rod of the second driving hydraulic cylinder (34) to extend out, the piston rod of the first driving hydraulic cylinder (33) to contract and the piston rod of the first pushing hydraulic cylinder (42) and the piston rod of the second pushing hydraulic cylinder (52) to extend out for a set distance, and meanwhile, the first control module (63) sends a delay signal to the second control module (64);
the second control module (64) receives the delay signal and then performs timing, and when the timing reaches a set time, the piston rod of the first driving hydraulic cylinder (33) is controlled to extend out, and the piston rod of the second driving hydraulic cylinder (34) is controlled to retract;
the falling detection module (65) comprises a first linear velocity sensor (651) fixedly connected to the second top block (421) and a second linear velocity sensor (652) fixedly connected to the third top block (521), the first linear velocity sensor (651) and the second linear velocity sensor (652) can abut against a drill rod and detect the falling speed of the drill rod, when the falling speed is larger than a speed set value, the piston rod of the first pushing hydraulic cylinder (42) and the piston rod of the second pushing hydraulic cylinder (52) are controlled to continue to extend, and when the falling speed is smaller than the speed set value, the piston rod of the first pushing hydraulic cylinder (42) and the piston rod of the second pushing hydraulic cylinder (52) are controlled to slowly contract.
4. The automated pipe centralizer of claim 3, wherein: go up pole subassembly (2) including rotating initiative gyro wheel (21) of connecting in main support (1) one side, main support (1) is close to initiative gyro wheel (21) position department fixedly connected with initiative motor (22), the output shaft fixed connection of initiative motor (22) is on initiative gyro wheel (21), position department rotates directly over main support (1) corresponds initiative gyro wheel (21) and is connected with branch of stepping down (23), branch of stepping down (23) are close to initiative gyro wheel (21) one end and rotate and are connected with driven gyro wheel (231), when branch of stepping down (23) are located vertical state, distance between initiative gyro wheel (21) and driven gyro wheel (231) equals the diameter of drilling rod.
5. The automated drill rod centralizer of claim 4, wherein: the meter counter (232) is connected to a position, close to the driving roller (21), of the main support (1), a connecting shell (24) is fixedly connected to a position, corresponding to the position right below the meter counter (232), of the main support (1), a vertically arranged spring (241) is fixedly connected to the inside of the connecting shell (24), a V-shaped groove body (242) is fixedly connected to the top of the spring (241), the spring (241) provides upward force for the V-shaped groove body (242), the V-shaped groove body (242) is made of ferromagnetic materials, and an electromagnet (243) is fixedly connected to the bottom surface inside the connecting shell (24);
the control system (6) further comprises an automatic tightening module (68), the automatic tightening module (68) monitors the meter counter (232), the automatic tightening module (68) controls the electromagnet (243) to lose power after the meter counter (232) starts to record the distance value, and the electromagnet (243) is controlled to be powered after the meter counter (232) stops recording the distance value.
6. The automated pipe centralizer of claim 5, wherein: one end, away from the driven roller (231), of the main support (1) corresponding to the abdicating support rod (23) is fixedly connected with an abdicating motor (234), and an output shaft of the abdicating motor (234) is fixedly connected to the abdicating support rod (23);
the first control module (63) receives the starting signal and then controls the abdicating motor (234) to rotate until the abdicating support rod (23) rotates for a preset angle.
7. The automated drill rod centralizer of claim 6, wherein: the meter counter (232) is positioned on one side, away from the first mounting seat (3), of the driven roller (231), the abdicating support rod (23) is close to the driven roller (231) and is rotatably connected with the rotating frame (233), the meter counter (232) is fixedly connected to one end, away from the abdicating support rod (23), of the rotating frame (233), the abdicating support rod (23) is rotatably connected with a cylinder body of the abdicating hydraulic cylinder (235) at a position close to the rotating frame (233), and a piston rod of the abdicating hydraulic cylinder (235) is fixedly connected to one end, close to the meter counter (232), of the rotating frame (233);
and the first control module (63) receives the starting signal and then controls the piston rod of the abdicating hydraulic cylinder (235) to contract.
8. The automated pipe centralizer of claim 3, wherein: the control system (6) further comprises a misdetection avoiding module (66), the misdetection avoiding module (66) monitors the second driving hydraulic cylinder (34), and when a piston rod of the second driving hydraulic cylinder (34) is in an extending state, the misdetection avoiding module (66) prevents the falling detection module (65) from working.
9. The automated pipe centralizer of claim 1, wherein: all first arc pole (32), second arc pole (43) and third arc pole (53) all are equipped with and have elastic soft cover (322), and the both sides of first kicking block (341) and second kicking block (421) are all rotated and are connected with pulley (342) that can with the drilling rod butt.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110826459.7A CN113338821B (en) | 2021-07-21 | 2021-07-21 | Automatic drill rod centralizer |
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| CN202110826459.7A CN113338821B (en) | 2021-07-21 | 2021-07-21 | Automatic drill rod centralizer |
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| CN113338821B true CN113338821B (en) | 2022-09-06 |
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| CN113638701B (en) * | 2021-10-13 | 2022-03-25 | 北京恒利新源地热能科技有限公司 | Drill rod centralizer of top drive type geothermal drilling machine |
| CN117020991A (en) * | 2023-09-13 | 2023-11-10 | 万向钱潮股份公司 | Fixing tool for torque |
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| US8443882B2 (en) * | 2010-07-07 | 2013-05-21 | Baker Hughes Incorporated | Wellbore centralizer for tubulars |
| CN204492687U (en) * | 2015-01-05 | 2015-07-22 | 武汉理工大学 | A kind of workover rig centralising manipulator |
| CN104727759B (en) * | 2015-01-21 | 2017-01-11 | 武汉理工大学 | Well workover oil tube centering system |
| CN107676048A (en) * | 2017-11-22 | 2018-02-09 | 宝鸡石油机械有限责任公司 | A kind of hydraulic casing stabbing board |
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