CN113685380A - Control system and control method of hydraulic tongs - Google Patents
Control system and control method of hydraulic tongs Download PDFInfo
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- CN113685380A CN113685380A CN202110973010.3A CN202110973010A CN113685380A CN 113685380 A CN113685380 A CN 113685380A CN 202110973010 A CN202110973010 A CN 202110973010A CN 113685380 A CN113685380 A CN 113685380A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 239000003921 oil Substances 0.000 claims description 88
- 238000001514 detection method Methods 0.000 claims description 35
- 230000001939 inductive effect Effects 0.000 claims description 32
- 239000010720 hydraulic oil Substances 0.000 claims description 19
- 230000006698 induction Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 3
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
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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
- E21B19/16—Connecting or disconnecting pipe couplings or joints
- E21B19/165—Control or monitoring arrangements therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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Abstract
The invention discloses a control system and a control method of hydraulic tongs. The hydraulic tong can effectively solve the problems of excessive manual work, complex operation, low working efficiency and potential safety hazard of the conventional hydraulic tong.
Description
Technical Field
The invention relates to the field of hydraulic tongs, in particular to a control system and a control method of hydraulic tongs.
Background
At present, the traditional manual hydraulic tongs are used in oil fields generally, and the hydraulic tongs need manual operation. When the hydraulic tongs are buckled up, the hydraulic tongs need to be manually placed to the position suitable for the oil pipe, the connecting rod is stirred to start working, the connecting rod is stirred to enable the main back tongs to be centered and reset after completion, in the whole process, the spirit of an operator needs to be highly concentrated, the hydraulic tongs are high in speed and large in torque during working, and great potential safety hazards exist for the operator.
Disclosure of Invention
The invention aims to provide a control system of hydraulic tongs, which can effectively solve the problems of heavy manual work, complex operation, low working efficiency and potential safety hazard of the existing hydraulic tongs.
The technical scheme adopted by the invention for solving the technical problems is as follows: a control system of hydraulic tongs comprises a control unit, a torque value detection unit, an automatic centering unit, an automatic gear shifting unit and a hydraulic control system,
the automatic centering unit is used for judging whether the jaw of the main tong is centered and the number of turns of the rotating body in the main tong and transmitting a signal to the control unit;
the automatic gear shifting unit is connected with a gear shifting device in the main tong and controls the gear shifting device to switch between a high gear and a low gear by receiving a control signal of the control unit;
the hydraulic control system comprises a hydraulic oil way, and a main tong control system and a back-up tong control system which are connected to the hydraulic oil way, wherein the main tong control system is used for controlling the rotation and the rotation direction of the main tong internal rotating body, and the back-up tong control system is used for controlling the rotation and the rotation direction of the back-up tong internal rotating body; the main tong control system and the back-up tong control system are connected with the control unit;
the torque value detection unit is connected with the main tong control system and the control unit and is used for detecting the torque value of the main tong in real time and transmitting the torque value to the control unit in real time to be connected.
Furthermore, the automatic centering unit comprises two independent inductive sensors, the two inductive sensors are arranged on the side wall of the main tong shell at intervals, and an induction trigger plate capable of moving back and forth relative to the two independent inductive sensors is arranged on the upper end face of the main tong rotating body; when the jaw is centered, the induction trigger plate simultaneously triggers and induces the two inductive sensors; the inductive sensor is connected with the control unit.
Furthermore, the automatic gear shifting unit comprises a connecting rod connected with a gear shifting device in the main clamp and a gear shifting oil cylinder used for controlling the movement of the connecting rod; one end of the connecting rod connected with the gear shifting oil cylinder can move up and down along with the gear shifting oil cylinder piston, and the other end of the connecting rod connected with the gear shifting device can rotate to realize the switching between a high gear and a low gear of the gear shifting device; the electromagnetic valve of the gear shifting oil cylinder is connected with the control unit, and the control unit controls the gear shifting device to switch between a high gear and a bottom gear by controlling the motion of the gear shifting oil cylinder.
Furthermore, the main tong control system comprises a hydraulic motor and a first reversing valve connected with the hydraulic motor, wherein the input end and the output end of the left position of the first reversing valve are respectively connected with the left end of the hydraulic motor and a hydraulic oil path, and the input end and the output end of the right position of the first reversing valve are respectively connected with the right end of the hydraulic motor and the hydraulic oil path.
Furthermore, the torque value detection unit is provided with two torque value detection devices which are respectively arranged at the left end and the right end of the hydraulic motor; the torque value detection unit is used for detecting the pressure of the left end and the right end of the hydraulic motor; the torque value detection unit is connected with the control unit.
Furthermore, the back-up tong control system comprises a double-piston-rod cylinder and a second reversing valve connected with the double-piston-rod cylinder; the middle piston of the double-piston-rod cylinder is matched with the back-up tong rotator and is used for driving the back-up tong to rotate; the input end and the output end of the left position of the second reversing valve are respectively connected with the left end of the double-piston rod cylinder and the hydraulic oil way; the input end and the output end of the left position of the second reversing valve are respectively connected with the right end of the double-piston rod cylinder and the hydraulic oil way.
Furthermore, a one-way valve and a throttle valve are arranged between the left position and the right position of the second reversing valve and the left end and the right end of the double-piston-rod cylinder.
A control method of hydraulic tongs is characterized in that:
in the buckling process: the control unit gives a button-up instruction, after the main tong control system and the back-up tong control system receive the button-up instruction,
a second reversing valve in the back-up tong control system is positioned at the right position, the left end of the double-piston rod cylinder is provided with an oil inlet, the right end of the double-piston rod cylinder is provided with an oil outlet, a middle piston of the double-piston rod cylinder moves to the right, and the right movement of the middle piston can drive a gear on a back-up tong jaw frame meshed with the middle piston to rotate so as to drive the back-up tong jaw frame to rotate to hold an oil discharge pipe tightly;
a first reversing valve in the main tong control system is in a left position; at the moment, the right end of the hydraulic motor is an oil inlet, and the left end of the hydraulic motor is an oil outlet; the hydraulic motor drives the main tong to rotate forwards;
when the main tongs start to rotate forwards, the automatic centering module obtains the number of turns of the forward rotation of the main tongs through the inductive sensor and transmits the number of turns to the control unit in real time;
the first torque value detection unit and the second torque value detection unit which are arranged at the left end and the right end of the hydraulic motor respectively detect pressure values at the left end and the right end of the hydraulic motor, the pressure values at the left end and the right end are fed back to the control unit in real time, and the control unit calculates to obtain torque values according to the pressure values at the left end and the right end of the hydraulic motor;
in the buckling and centering process: when the control unit sends a fastening and centering instruction, the main tong control system controls the first reversing valve to be in the right position, the right end of the hydraulic motor is an oil outlet, and the left end of the hydraulic motor is an oil inlet; at the moment, the automatic gear shifting module connected with the main tong gear shifting device adjusts the gear shifting device to a high gear through a connecting rod, and the main tong starts to reversely rotate at the high gear; when the trigger plate rotates between the two inductive switches along with the main tong rotating body in a reverse rotation mode and simultaneously triggers the two inductive sensors, the control unit sends out a buckling notch centering completion signal, and the main tong automatically stops rotating;
a second reversing valve in the back-up tong control system is in a left position, an oil inlet is formed in the right end of a double-piston rod cylinder, an oil outlet is formed in the left end of the double-piston rod cylinder, a middle piston of the double-piston rod cylinder moves leftwards, the left movement of the middle part of the double-piston rod cylinder can drive a gear on a back-up tong jaw frame connected with the double-piston rod cylinder to rotate until the initial position of the middle piston is reached, and at the moment, the back-up tong completes centering and stops rotating;
in the shackle process: the control unit gives out a tripping command, and the main tong control system and the back-up tong control system receive the tripping command;
the first torque value detection unit and the second torque value detection unit which are arranged at the left end and the right end of the hydraulic motor respectively detect pressure values at the left end and the right end of the hydraulic motor, the pressure values at the left end and the right end are fed back to the control unit in real time, and the control unit calculates to obtain torque values according to the pressure values at the left end and the right end of the hydraulic motor;
the main tong control system controls the first reversing valve to be at the right position, the right end of the hydraulic motor is an oil outlet end, and the left end of the hydraulic motor is an oil inlet end; at the initial stage of shackle, the connection between the upper oil pipe in the main tong and the lower oil pipe in the back-up tong is relatively fastened, the torque value is large, the control unit controls the gear shifting oil cylinder of the automatic gear shifting mechanism to control the gear shifting device to automatically switch to the low gear with low speed and large torque, and the control unit controls the gear shifting oil cylinder to enable the automatic gear shifting mechanism of the gear shifting device to automatically switch to the high gear with small torque until shackle is completed when the connection between the oil pipes is looser and looser.
In the shackle removing process, a second reversing valve in the back-up tong control system is in a left position, the right end of the double-piston rod cylinder is an oil inlet, the left end of the double-piston rod cylinder is an oil outlet, a middle piston of the double-piston rod cylinder moves leftwards, and the left movement of the middle piston can drive a gear on a back-up tong jaw frame meshed with the middle piston to rotate, so that the back-up tong jaw frame is driven to rotate to hold an oil discharge pipe tightly; until the main tong finishes shackle;
in the shackle centering process: when the control unit sends a shackle centering instruction, the main tong hydraulic control system controls the first reversing valve to be in the left position, the right end of the hydraulic motor is an oil inlet, and the left end of the hydraulic motor is an oil outlet; at the moment, the automatic gear shifting module connected with the main tong gear shifting device adjusts the gear shifting device to a high gear through a connecting rod, and the main tong starts to rotate forwards at a high gear; when the trigger plate rotates between the two inductive switches along with the forward rotation of the power tong and simultaneously triggers the two inductive sensors, the control unit sends out a shackle notch centering completion signal, and the main tong automatically stops rotating;
a second reversing valve in the back-up tong control system is positioned at the right position, the left end of the double-piston rod cylinder is provided with an oil inlet, the right end of the double-piston rod cylinder is provided with an oil outlet, a middle piston of the double-piston rod cylinder moves to the right, and the middle of the double-piston rod cylinder moves to the right to drive a gear on a back-up tong jaw frame connected with the middle piston to rotate until the middle piston returns to the initial position, so that the back-up tong centering is completed.
Further, in the process of screwing, a torque value of the main tong is obtained through the torque detection unit, when the torque value is increased and reaches a set value, the main tong is indicated to bite an oil pipe, at the moment, the control unit starts to calculate the number of screwing turns through the automatic centering unit, when screwing is stopped, the actual total number of screwing turns and the rotating angle of the main tong are calculated, and when the rotating angle of the main tong stops screwing in a set angle range, normal screwing is judged to be finished;
when the torque value is increased in the threading process, but the main tong is not in a preset angle or the number of turns is not changed, the main tong is judged to work under the action of other forces, and the control unit sends out a fault alarm signal and controls the main tong to stop rotating;
when the rotation angle of the main tong is within the preset range but the torque value is not increased or is 0, the fact that the tong teeth of the main tong are in fault is judged, the buckling action cannot be achieved, and the control unit sends out a fault alarm signal and controls the main tong to stop rotating.
The invention has the beneficial effects that: through the control system of the hydraulic tong, the operation is completed from the beginning to the end of the work, the whole process is not required to be operated nearby the hydraulic tong, the observation and the operation are realized only by the control unit at the background, and the safety of workers is greatly guaranteed. The hydraulic power tongs can be automatically turned on and off and centered, and workers can finish all actions of the hydraulic power tongs only by remotely operating the control unit of the control system, so that the labor force is liberated, and the working efficiency is improved. The problems of heavy labor, complex operation, low working efficiency and potential safety hazard of the existing hydraulic tongs can be effectively solved.
The invention will be explained in more detail below with reference to the drawings and examples.
Drawings
FIG. 1 is a block diagram of the present invention.
FIG. 2 is a schematic diagram of a hydraulic control system.
Fig. 3 is a schematic structural diagram of the hydraulic tong.
The hydraulic control device comprises a control unit 1, a torque value detection unit 2, an automatic centering unit 3, an automatic gear shifting unit 4, an automatic gear shifting unit 5, a hydraulic control system 6, a hydraulic oil circuit 7, a main tong control system 8, a back tong control system 9, an inductive sensor 10, an inductive trigger plate 11, a connecting rod 12, a gear shifting oil cylinder 13, a hydraulic motor 14, a first reversing valve 15, a torque value detection device 16, a double-piston rod cylinder 17, a second reversing valve 18, a one-way valve 19, a throttle valve 20 and a middle piston.
Detailed Description
Embodiment 1, a control system of hydraulic tong as shown in fig. 1 to 3, comprising a control unit 1, a torque value detection unit 2, an automatic centering unit 3, an automatic shifting unit 4, a hydraulic control system 5,
the automatic centering unit 3 is used for judging whether the jaw of the main tong is centered and the number of rotation turns of the rotating body in the main tong, and transmitting signals to the control unit 1;
the automatic gear shifting unit 4 is connected with a gear shifting device in the main tong and controls the gear shifting device to switch between a high gear and a low gear by receiving a control signal of the control unit 1;
the hydraulic control system 5 comprises a hydraulic oil way 6, and a main tong control system 7 and a back-up tong control system 8 which are connected to the hydraulic oil way 6, wherein the main tong control system 7 is used for controlling the rotation and the rotation direction of the rotating body in the main tong, and the back-up tong control system 8 is used for controlling the rotation and the rotation direction of the rotating body in the back-up tong; the main tong control system 7 and the back-up tong control system 8 are connected with the control unit 1;
the torque value detection unit 2 is connected with the main tong control system 7 and the control unit 1, and is used for detecting the torque value of the main tong in real time and transmitting the torque value to the control unit 1 in real time.
The automatic centering unit 3 comprises two independent inductive sensors 9, the two inductive sensors 9 are arranged on the side wall of the main tong shell at intervals, and an induction trigger plate 10 capable of moving back and forth relative to the two independent inductive sensors 9 is arranged on the upper end face of the main tong rotating body; when the jaws are centered, the induction trigger plate 10 simultaneously triggers and induces the two inductive sensors 9; the inductive sensor 9 is connected to the control unit 1.
The automatic gear shifting unit 4 comprises a connecting rod 11 connected with a gear shifting device in the main tong and a gear shifting oil cylinder 12 used for controlling the movement of the connecting rod 11; one end of the connecting rod 11 connected with the gear shifting oil cylinder 12 can move up and down along with the piston of the gear shifting oil cylinder 12, and meanwhile, the other end of the connecting rod 11 connected with the gear shifting device can rotate to realize the switching between a high gear and a low gear of the gear shifting device; the solenoid valve of the shift cylinder 12 is connected to the control unit 1, and the control unit 1 controls the shifting device to switch between the high gear and the low gear by controlling the movement of the shift cylinder 12.
The main tong control system 7 comprises a hydraulic motor 13 and a first reversing valve 14 connected with the hydraulic motor 13, wherein the input end and the output end of the left position of the first reversing valve 14 are respectively connected with the left end of the hydraulic motor 13 and the hydraulic oil path 6, and the input end and the output end of the right position of the first reversing valve 14 are respectively connected with the right end of the hydraulic motor 13 and the hydraulic oil path 6.
The torque value detection unit 2 is provided with two torque value detection devices 15 which are respectively arranged at the left end and the right end of the hydraulic motor 13; the torque value detection unit 2 is used for detecting the pressure at the left end and the right end of the hydraulic motor 13; the torque value detection unit 2 is connected to the control unit 1.
The back-up tong control system 8 comprises a double-piston-rod cylinder 16 and a second reversing valve 17 connected with the double-piston-rod cylinder 16, and a middle piston 20 of the double-piston-rod cylinder 16 is matched with the back-up tong rotator and used for driving the back-up tong to rotate; the input end and the output end of the left position of the second reversing valve 17 are respectively connected with the left end of the double-piston rod cylinder 16 and the hydraulic oil circuit 6; the input end and the output end of the left position of the second reversing valve 17 are respectively connected with the right end of the double-piston rod cylinder 16 and the hydraulic oil circuit 6.
And a check valve 18 and a throttle valve 19 are arranged between the left position and the right position of the second reversing valve 17 and the left end and the right end of the double-piston-rod cylinder 16.
Example 2, based on the control method of the hydraulic tong of example 1,
in the buckling process: the control unit 1 gives a button-up instruction, after the main tong control system 7 and the back-up tong control system 8 receive the button-up instruction,
a second reversing valve 17 in the back-up tong control system 8 is positioned at the right position, the left end of the double-piston rod cylinder 16 is an oil inlet, the right end of the double-piston rod cylinder 16 is an oil outlet, a middle piston 20 of the double-piston rod cylinder 16 moves rightwards, and the right movement of the middle piston 20 can drive a gear on a back-up tong jaw frame meshed with the middle piston to rotate, so that the back-up tong jaw frame is driven to rotate to hold an oil discharge pipe tightly; the back-up tong rotator comprises a back-up tong jaw frame.
The first reversing valve 14 in the main tong control system 7 is in the left position; at the moment, the right end of the hydraulic motor 13 is an oil inlet, and the left end of the hydraulic motor 13 is an oil outlet; the hydraulic motor 13 drives the main tong to rotate forwards;
when the main tong starts to rotate forwards, the automatic centering module obtains the number of turns of the forward rotation of the main tong through the inductive sensor 9 and transmits the number of turns to the control unit 1 in real time;
the first torque value detection unit 2 and the second torque value detection unit 2 which are arranged at the left end and the right end of the hydraulic motor 13 respectively detect pressure values at the left end and the right end of the hydraulic motor 13, the pressure values at the left end and the right end are fed back to the control unit 1 in real time, and the control unit 1 calculates to obtain torque values according to the pressure values at the left end and the right end of the hydraulic motor 13;
in the buckling and centering process: when the control unit 1 sends a fastening and centering instruction, the main tong control system 7 controls the first reversing valve 14 to be in the right position, the right end of the hydraulic motor 13 is an oil outlet, and the left end of the hydraulic motor 13 is an oil inlet; at this time, the automatic gear shifting module connected with the main tong gear shifting device adjusts the gear shifting device to a high gear through the connecting rod 11, and the main tong starts to reversely rotate at a high gear; when the trigger plate rotates between the two inductive switches along with the main tong rotating body in a reverse rotation manner and simultaneously triggers the two inductive sensors 9, the control unit 1 sends out a buckling notch centering completion signal, and the main tong automatically stops rotating;
a second reversing valve 17 in the back-up tong control system 8 is positioned at the left position, the right end of the double-piston rod cylinder 16 is an oil inlet, the left end of the double-piston rod cylinder 16 is an oil outlet, a middle piston 20 of the double-piston rod cylinder 16 moves leftwards, the middle of the double-piston rod cylinder 16 moves leftwards, and the gear on the back-up tong jaw frame connected with the middle piston 16 can be driven to rotate by the left movement of the middle part of the double-piston rod cylinder until the initial position of the middle piston 20 is reached, and at the moment, the back-up tong is centered and stops rotating;
in the shackle process: the control unit 1 gives out a tripping command, and the main tong control system 7 and the back-up tong control system 8 receive the tripping command;
the first torque value detection unit 2 and the second torque value detection unit 2 which are arranged at the left end and the right end of the hydraulic motor 13 respectively detect pressure values at the left end and the right end of the hydraulic motor 13, the pressure values at the left end and the right end are fed back to the control unit 1 in real time, and the control unit 1 calculates to obtain torque values according to the pressure values at the left end and the right end of the hydraulic motor 13;
the main tong control system 7 controls the first reversing valve 14 to be at the right position, the right end of the hydraulic motor 13 is an oil outlet end, and the left end of the hydraulic motor 13 is an oil inlet end; at the initial stage of shackle, the connection between an upper oil pipe in the main tong and a lower oil pipe in the back-up tong is relatively tight, the torque value is large, the control unit 1 controls the gear shifting oil cylinder of the automatic gear shifting mechanism to control the gear shifting device to automatically switch to a low gear with low speed and large torque, and when the torque value is reduced to a set value along with the connection between the oil pipes is looser and looser, the control unit 1 controls the gear shifting oil cylinder 12 to enable the automatic gear shifting mechanism of the gear shifting mechanism to automatically switch to a high gear with small torque until shackle is completed.
In the process of shackle removal, a second reversing valve 17 in the back-up tong control system 8 is positioned at the left position, the right end of a double-piston rod cylinder 16 is an oil inlet, the left end of the double-piston rod cylinder 16 is an oil outlet, a middle piston 20 of the double-piston rod cylinder 16 moves leftwards, and the left movement of the middle piston 20 can drive a gear on a back-up tong jaw frame meshed with the middle piston to rotate, so that the back-up tong jaw frame is driven to rotate to hold an oil discharge pipe tightly; until the main tong finishes shackle;
in the shackle centering process: when the control unit 1 sends a shackle centering instruction, the main tong hydraulic control system 5 controls the first reversing valve 14 to be in the left position, the right end of the hydraulic motor 13 is an oil inlet, and the left end of the hydraulic motor 13 is an oil outlet; at this time, the automatic gear shifting module connected with the main tong gear shifting device adjusts the gear shifting device to a high gear through the connecting rod 11, and the main tong starts to rotate forwards at a high gear; when the trigger plate rotates to a position between the two inductive switches along with the forward rotation of the power tong and simultaneously triggers the two inductive sensors 9, the control unit 1 sends out a shackle notch centering completion signal, and the main tong automatically stops rotating;
the second reversing valve 17 in the back-up tong control system 8 is in the right position, the left end of the double-piston rod cylinder 16 is an oil inlet, the right end of the double-piston rod cylinder 16 is an oil outlet, the middle piston 20 of the double-piston rod cylinder 16 moves to the right, and the middle of the double-piston rod cylinder 16 moves to the right to drive the gear on the back-up tong jaw frame connected with the middle piston to rotate until the middle piston 20 returns to the initial position, so that the back-up tong centering is completed.
In the process of screwing, a torque value of the main tong is obtained through the torque detection unit, when the torque value is increased and reaches a set value, the main tong is indicated to bite an oil pipe, at the moment, the control unit 1 starts to calculate the number of screwing turns through the automatic centering unit 3, when screwing is stopped, the actual total number of screwing turns and the rotation angle of the main tong are calculated, and when the rotation angle of the main tong stops screwing in a set angle range, normal screwing is judged to be finished;
when the torque value is increased in the threading process, but the main tong is not in a preset angle or the number of turns is not changed, the main tong is judged to work under the action of other forces, and the control unit 1 sends out a fault alarm signal and controls the main tong to stop rotating;
when the rotation angle of the main tong is within the preset range but the torque value is not increased or is 0, the fact that the tong teeth of the main tong are in failure is judged, the buckling action cannot be achieved, and the control unit 1 sends out a failure alarm signal and controls the main tong to stop rotating.
In the description of the present invention, it is to be understood that the terms "center", "lateral", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified. Furthermore, the term "comprises" and any variations thereof is intended to cover non-exclusive inclusions.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
The invention is described above with reference to the accompanying drawings. It is to be understood that the specific implementations of the invention are not limited in this respect. Various insubstantial improvements are made by adopting the method conception and the technical scheme of the invention; the present invention is not limited to the above embodiments, and can be modified in various ways.
Claims (9)
1. A control system of hydraulic tong is characterized in that: comprises a control unit, a torque value detection unit, an automatic centering unit, an automatic gear shifting unit and a hydraulic control system,
the automatic centering unit is used for judging whether the jaw of the main tong is centered and the number of turns of the rotating body in the main tong and transmitting a signal to the control unit;
the automatic gear shifting unit is connected with a gear shifting device in the main tong and controls the gear shifting device to switch between a high gear and a low gear by receiving a control signal of the control unit;
the hydraulic control system comprises a hydraulic oil way, and a main tong control system and a back-up tong control system which are connected to the hydraulic oil way, wherein the main tong control system is used for controlling the rotation and the rotation direction of the main tong internal rotating body, and the back-up tong control system is used for controlling the rotation and the rotation direction of the back-up tong internal rotating body; the main tong control system and the back-up tong control system are connected with the control unit;
the torque value detection unit is connected with the main tong control system and the control unit and is used for detecting the torque value of the main tong in real time and transmitting the torque value to the control unit in real time to be connected.
2. The control system of a hydraulic tong according to claim 1, characterized in that: the automatic centering unit comprises two independent inductive sensors, the two inductive sensors are arranged on the side wall of the main tong shell at intervals, and an induction trigger plate capable of moving back and forth relative to the two independent inductive sensors is arranged on the upper end face of the main tong rotating body; when the jaw is centered, the induction trigger plate simultaneously triggers and induces the two inductive sensors; the inductive sensor is connected with the control unit.
3. The control system of a hydraulic tong according to claim 1 or 2, characterized in that: the automatic gear shifting unit comprises a connecting rod connected with a gear shifting device in the main clamp and a gear shifting oil cylinder used for controlling the movement of the connecting rod; one end of the connecting rod connected with the gear shifting oil cylinder can move up and down along with the gear shifting oil cylinder piston, and the other end of the connecting rod connected with the gear shifting device can rotate to realize the switching between a high gear and a low gear of the gear shifting device; the electromagnetic valve of the gear shifting oil cylinder is connected with the control unit, and the control unit controls the gear shifting device to switch between a high gear and a bottom gear by controlling the motion of the gear shifting oil cylinder.
4. The control system of a hydraulic tong according to claim 3, characterized in that: the main tong control system comprises a hydraulic motor and a first reversing valve connected with the hydraulic motor, wherein the input end and the output end of the left position of the first reversing valve are respectively connected with the left end of the hydraulic motor and a hydraulic oil path, and the input end and the output end of the right position of the first reversing valve are respectively connected with the right end of the hydraulic motor and the hydraulic oil path.
5. The control system of the hydraulic tong according to claim 4, characterized in that: the torque value detection unit is provided with two torque value detection devices which are respectively arranged at the left end and the right end of the hydraulic motor; the torque value detection unit is used for detecting the pressure of the left end and the right end of the hydraulic motor; the torque value detection unit is connected with the control unit.
6. The control system of a hydraulic tong according to claim 5, characterized in that: the back-up tong control system comprises a double-piston rod cylinder and a second reversing valve connected with the double-piston rod cylinder; the middle piston of the double-piston-rod cylinder is matched with the back-up tong rotator and is used for driving the back-up tong to rotate; the input end and the output end of the left position of the second reversing valve are respectively connected with the left end of the double-piston rod cylinder and the hydraulic oil way; the input end and the output end of the left position of the second reversing valve are respectively connected with the right end of the double-piston rod cylinder and the hydraulic oil way.
7. The control system of a hydraulic tong according to claim 6, characterized in that: and a check valve and a throttle valve are arranged between the left position and the right position of the second reversing valve and the left end and the right end of the double-piston-rod cylinder.
8. A control method of hydraulic tongs is characterized in that:
in the buckling process: the control unit gives a button-up instruction, after the main tong control system and the back-up tong control system receive the button-up instruction,
a second reversing valve in the back-up tong control system is positioned at the right position, the left end of the double-piston rod cylinder is provided with an oil inlet, the right end of the double-piston rod cylinder is provided with an oil outlet, a middle piston of the double-piston rod cylinder moves to the right, and the right movement of the middle piston can drive a gear on a back-up tong jaw frame meshed with the middle piston to rotate so as to drive the back-up tong jaw frame to rotate to hold an oil discharge pipe tightly;
a first reversing valve in the main tong control system is in a left position; at the moment, the right end of the hydraulic motor is an oil inlet, and the left end of the hydraulic motor is an oil outlet; the hydraulic motor drives the main tong to rotate forwards;
when the main tongs start to rotate forwards, the automatic centering module obtains the number of turns of the forward rotation of the main tongs through the inductive sensor and transmits the number of turns to the control unit in real time;
the first torque value detection unit and the second torque value detection unit which are arranged at the left end and the right end of the hydraulic motor respectively detect pressure values at the left end and the right end of the hydraulic motor, the pressure values at the left end and the right end are fed back to the control unit in real time, and the control unit calculates to obtain torque values according to the pressure values at the left end and the right end of the hydraulic motor;
in the buckling and centering process: when the control unit sends a fastening and centering instruction, the main tong control system controls the first reversing valve to be in the right position, the right end of the hydraulic motor is an oil outlet, and the left end of the hydraulic motor is an oil inlet; at the moment, the automatic gear shifting module connected with the main tong gear shifting device adjusts the gear shifting device to a high gear through a connecting rod, and the main tong starts to reversely rotate at the high gear; when the trigger plate rotates between the two inductive switches along with the main tong rotating body in a reverse rotation mode and simultaneously triggers the two inductive sensors, the control unit sends out a buckling notch centering completion signal, and the main tong automatically stops rotating;
a second reversing valve in the back-up tong control system is in a left position, an oil inlet is formed in the right end of a double-piston rod cylinder, an oil outlet is formed in the left end of the double-piston rod cylinder, a middle piston of the double-piston rod cylinder moves leftwards, the left movement of the middle part of the double-piston rod cylinder can drive a gear on a back-up tong jaw frame connected with the double-piston rod cylinder to rotate until the initial position of the middle piston is reached, and at the moment, the back-up tong completes centering and stops rotating;
in the shackle process: the control unit gives out a tripping command, and the main tong control system and the back-up tong control system receive the tripping command;
the first torque value detection unit and the second torque value detection unit which are arranged at the left end and the right end of the hydraulic motor respectively detect pressure values at the left end and the right end of the hydraulic motor, the pressure values at the left end and the right end are fed back to the control unit in real time, and the control unit calculates to obtain torque values according to the pressure values at the left end and the right end of the hydraulic motor;
the main tong control system controls the first reversing valve to be at the right position, the right end of the hydraulic motor is an oil outlet end, and the left end of the hydraulic motor is an oil inlet end; at the initial stage of shackle, the connection between the upper oil pipe in the main tong and the lower oil pipe in the back-up tong is relatively fastened, the torque value is large, the control unit controls the gear shifting oil cylinder of the automatic gear shifting mechanism to control the gear shifting device to automatically switch to the low gear with low speed and large torque, and the control unit controls the gear shifting oil cylinder to enable the automatic gear shifting mechanism of the gear shifting device to automatically switch to the high gear with small torque until shackle is completed when the connection between the oil pipes is looser and looser.
In the shackle removing process, a second reversing valve in the back-up tong control system is in a left position, the right end of the double-piston rod cylinder is an oil inlet, the left end of the double-piston rod cylinder is an oil outlet, a middle piston of the double-piston rod cylinder moves leftwards, and the left movement of the middle piston can drive a gear on a back-up tong jaw frame meshed with the middle piston to rotate, so that the back-up tong jaw frame is driven to rotate to hold an oil discharge pipe tightly; until the main tong finishes shackle;
in the shackle centering process: when the control unit sends a shackle centering instruction, the main tong hydraulic control system controls the first reversing valve to be in the left position, the right end of the hydraulic motor is an oil inlet, and the left end of the hydraulic motor is an oil outlet; at the moment, the automatic gear shifting module connected with the main tong gear shifting device adjusts the gear shifting device to a high gear through a connecting rod, and the main tong starts to rotate forwards at a high gear; when the trigger plate rotates between the two inductive switches along with the forward rotation of the power tong and simultaneously triggers the two inductive sensors, the control unit sends out a shackle notch centering completion signal, and the main tong automatically stops rotating;
a second reversing valve in the back-up tong control system is positioned at the right position, the left end of the double-piston rod cylinder is provided with an oil inlet, the right end of the double-piston rod cylinder is provided with an oil outlet, a middle piston of the double-piston rod cylinder moves to the right, and the middle of the double-piston rod cylinder moves to the right to drive a gear on a back-up tong jaw frame connected with the middle piston to rotate until the middle piston returns to the initial position, so that the back-up tong centering is completed.
9. The control method of the hydraulic tong as claimed in claim 8, characterized in that: in the process of screwing, a torque value of the main tong is obtained through the torque detection unit, when the torque value is increased and reaches a set value, the main tong is indicated to bite an oil pipe, at the moment, the control unit starts to calculate the number of screwing turns through the automatic centering unit, when screwing is stopped, the actual number of screwing turns and the rotation angle of the main tong are calculated, and when the rotation angle of the main tong stops screwing in a set angle range, normal screwing is judged to be finished;
when the torque value of the main tong is increased in the process of screwing up, but the main tong is not in a preset angle or the number of turns is not changed, the main tong is judged to work under the action of other forces, and the control unit sends out a fault alarm signal and controls the main tong to stop rotating;
when the rotation angle of the main tong is within the preset range but the torque value is not increased or is 0, the fact that the tong teeth of the main tong are in fault is judged, the buckling action cannot be achieved, and the control unit sends out a fault alarm signal and controls the main tong to stop rotating.
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| CN202110973010.3A CN113685380A (en) | 2021-08-24 | 2021-08-24 | Control system and control method of hydraulic tongs |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117345131A (en) * | 2023-11-29 | 2024-01-05 | 克拉玛依市建业能源股份有限公司 | Electric pipe rod pliers for workover |
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