CN116203864A - Full-automatic control system and control method for workover calandria manipulator - Google Patents
Full-automatic control system and control method for workover calandria manipulator Download PDFInfo
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- CN116203864A CN116203864A CN202211584791.8A CN202211584791A CN116203864A CN 116203864 A CN116203864 A CN 116203864A CN 202211584791 A CN202211584791 A CN 202211584791A CN 116203864 A CN116203864 A CN 116203864A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 21
- 239000010959 steel Substances 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 238000005553 drilling Methods 0.000 claims description 9
- 210000000080 chela (arthropods) Anatomy 0.000 claims description 4
- SAPGTCDSBGMXCD-UHFFFAOYSA-N (2-chlorophenyl)-(4-fluorophenyl)-pyrimidin-5-ylmethanol Chemical compound C=1N=CN=CC=1C(C=1C(=CC=CC=1)Cl)(O)C1=CC=C(F)C=C1 SAPGTCDSBGMXCD-UHFFFAOYSA-N 0.000 claims 2
- 238000007599 discharging Methods 0.000 description 4
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect 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
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Automation & Control Theory (AREA)
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Abstract
The invention provides a full-automatic control system of a well repair calandria manipulator and a control method thereof, wherein the full-automatic control system comprises an upper computer, a main control box, an I/O control box and a servo control box, wherein the main control box is used as a control unit, the I/O control box is used as a detection unit, and the servo control box is used as a driving unit; the main controller in the main control box is respectively connected with an external main control handle and a control knob on the control panel through an AI input module and a DI input module; the I/O control box comprises a remote site, the remote site is in data connection with the main controller, a positioning sensor for detecting the action of the manipulator is connected with a DI signal of the remote site, and the I/O control box is in control connection with a clamp finger electric steel for realizing the clamping of the manipulator; the servo control box is connected with a driver group for controlling the rotation, translation and extension of the manipulator; the I/O control box and the servo control box are respectively connected with a group of finger locks. The invention has the effects of reducing the labor intensity of operators and improving the safety and efficiency of the calandria in the calandria process.
Description
Technical Field
The invention relates to the technical field of automatic pipe arranging equipment of drilling and repairing machines, in particular to a full-automatic control system and a full-automatic control method of a well repairing pipe arranging manipulator.
Background
The traditional workover rig racking platform is manual operation when lifting and lowering a tubular column, high-altitude operation has great potential safety hazard, and simultaneously, upper and lower racking platforms are very inconvenient, personnel are completely in outdoor operation, and the environment is abominable, and the operation intensity is big, and in order to improve this kind of condition, the workover rig has gradually been equipped with automatic racking platform calandria manipulator, but its degree of automation is limited, needs artifical closely auxiliary operation.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides a full-automatic control system and a control method of a workover rack manipulator, which solve the problem that the automation degree of a racking platform rack manipulator in the prior art is not high.
According to the embodiment of the invention, the full-automatic control system of the well repair calandria manipulator comprises an upper computer, a main control box, an I/O control box and a servo control box, wherein the main control box is used as a control unit, the I/O control box is used as a detection unit, and the servo control box is used as a driving unit; the main controller in the main control box is respectively connected with an external main control handle and a control knob on the control panel through an AI input module and a DI input module; the I/O control box comprises a remote site, the remote site is in data connection with the main controller, a positioning sensor for detecting the action of the manipulator is connected with a DI signal of the remote site, and the I/O control box is in control connection with a clamp finger electric steel for realizing the clamping of the manipulator; the servo control box is connected with a driver group for controlling the rotation, translation and extension of the manipulator; the I/O control box and the servo control box are respectively connected with a group of finger locks.
Preferably, the rotary control buttons connected with the main controller comprise a finger knob for controlling the opening or closing of the finger, a clamp finger button for controlling the opening or closing of the clamp finger, a tripping knob for controlling the automatic tripping or tripping of the system, a system starting button and a fault resetting button.
Preferably, the upper computer is in communication connection with the main control box through an EtherCat bus and is used for exchanging positioning data, animation data, flow display data and safety prompt data; the main control box is in communication connection with the remote site through an EtherCat bus and is used for exchanging remote data; the clamp finger electric steel and the group of finger locks are connected with the I/O control box through a Modbus-Rtu bus and used for realizing the opening or closing of the clamp finger electric steel and the group of finger locks; the servo control box is connected with the I/O control box through an EtherCat bus and a Modbus-Rtu bus, the driver group is connected with the servo control box through EtherCat bus data, and the servo control box is connected with the other group of fingerboard lock groups through a Modbus-Rtu bus.
Preferably, the positioning sensor comprises a rotary positioning sensor, a trolley positioning sensor, a telescopic positioning sensor and a clamp head positioning sensor; the rotary positioning sensor is used for detecting whether the vertical rotation of the manipulator reaches a set angle for grabbing a pipe column or placing the pipe column, the trolley positioning sensor is used for detecting whether the trolley moves to a finger beam port or a wellhead, the telescopic positioning sensor is used for detecting whether the manipulator is fully extended or retracted, and the clamp head positioning sensor is used for detecting whether the clamp head reaches a state for clamping the pipe column; the drive group comprises a first servo driver, a second servo driver and a third servo driver; the first servo driver comprises a rotating motor and a rotating motor encoder, the second servo driver comprises a trolley motor and a trolley motor encoder, and the third servo driver comprises a telescopic motor and a telescopic motor encoder.
The control method of the full-automatic control system of the well repair calandria manipulator comprises two operation modes, namely automatic drill-down operation and automatic drill-up operation, and comprises the following steps of: step one: resetting, detecting the angle of the manipulator, the position of the trolley, the extending state of the manipulator and the holding state of the clamp head through the rotary positioning sensor, the trolley positioning sensor, the telescopic positioning sensor and the clamp head positioning sensor, respectively driving the manipulator to rotate to a resetting angle through the rotary motor, the trolley motor, the telescopic motor and the clamp finger electric steel according to the detection structure, driving the manipulator to move to a finger opening position by the trolley, fully retracting the manipulator and opening the clamp head of the manipulator; step two: the operator selects the automatic running of the drill, clicks the drill starting and stopping knob on the upper computer or the rotary control panel, and the system automatically judges the position of the pipe column to be grasped and plans the path; step three: firstly, after the extension position of the mechanical arm at the finger opening position is judged to be reached through a telescopic positioning sensor, an electric steel control jaw is closed through a clamp finger, meanwhile, a corresponding finger beam lock of a control pipe column is opened, after the system judges that the pipe column is clamped on a clamp head, the mechanical arm is controlled to shrink through a telescopic motor, after the pipe column moves out of the finger beam, the finger beam lock is closed, then a trolley motor is controlled to move to one end close to a wellhead, then the mechanical arm is controlled to rotate to the wellhead position through a rotating motor, the mechanical arm extends to the wellhead position, after an operator confirms that the pipe column connection is completed, the operation cycle operation of next drilling and taking the pipe column is performed through clicking automatic operation; the automatic drill-up operation comprises the following steps: step one: the method comprises the steps of resetting, detecting the angle of a manipulator, the position of a trolley, the extending state of a manipulator and the holding state of a clamp head through a rotary positioning sensor, a trolley positioning sensor, a telescopic positioning sensor and a clamp head positioning sensor respectively, driving the manipulator to rotate to a resetting angle through a rotary motor, a trolley motor, a telescopic motor and clamp finger electric steel respectively according to a detection structure, driving the manipulator to move to a wellhead position by the trolley, fully retracting the manipulator and opening the clamp head of the manipulator; step two: the operator selects the automatic operation of the drill jack, clicks the drill jack knob on the upper computer or the rotary control panel, and the system automatically judges the position of the pipe column to be discharged and plans the route; step three: firstly, after the extending position of the mechanical arm at the wellhead position is judged to be reached through the telescopic positioning sensor, the electric steel control jaw is closed through the pliers to clamp the pipe column at the wellhead position, after an operator confirms that the pipe column is separated, the mechanical arm is controlled to shrink through the telescopic motor, the trolley motor drives the trolley to move to the position of the fingerboard opening, the rotating motor drives the mechanical arm to rotate, the corresponding fingerboard lock is opened, the mechanical arm extends out to operate, the fingerboard lock is controlled to close again, then the retracting operation of the mechanical arm is carried out, the trolley moves to the wellhead position again, the mechanical arm rotates to the direction towards the wellhead position, and after the operator confirms that the pipe column at the wellhead position is separated, the operator clicks the automatic drilling operation again, so that the operation cycle operation of the pipe column can be carried out together.
Preferably, in the first step, the system determines a position state of the manipulator, and when the position state is not in a position allowing automatic operation, the manipulator is manually moved to a position allowing automatic operation by the main control handle.
Compared with the prior art, the invention has the following beneficial effects:
1. the drill-lifting operation and the drill-discharging operation of the racking platform calandria manipulator realize one-key full-flow automatic operation, personnel do not need to participate in operation and judgment in the middle process, and calandria operation efficiency and operation efficiency are improved.
2. The full-automatic system operation adopts various program protection measures, including position detection of a positioning sensor, speed detection of a motor encoder, operation time detection and other modes for judgment, and can intelligently prompt the current operation state and operation method.
3. The full-automatic operation process can realize the suspension and continuous operation of the full flow, the continuous positioning and the flow operation of the system can not be influenced, and the operation is more flexible and convenient.
Drawings
Fig. 1 is a hardware connection diagram of an embodiment of the present invention.
Fig. 2 is a control method diagram according to an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings and examples.
As shown in fig. 1-2. The invention provides a full-automatic control system of a well repair calandria manipulator, which comprises an upper computer, an operation panel, a main control box, an AI input module, a DI input module, an I/O control box, a servo control box, a remote site, a clamp finger electric steel, a 1# -12# fingerboard lock, a rotary positioning sensor, a trolley positioning sensor, a telescopic positioning sensor, a clamp head positioning sensor, a servo driver 1, a servo driver 2, a servo driver 3, a 13# 24 fingerboard lock, a rotary motor encoder, a trolley motor encoder, a telescopic motor and a telescopic motor encoder. The upper computer is communicated with the main control box through the EtherCat bus, and is mainly used for exchanging positioning data, animation data, flow display data and safety prompt data. The operation panel is mainly provided with an active control handle which is connected with the main control box through an AI input module, and a fingerboard knob, a clamp knob, a tripping knob, a system start and fault reset of the operation panel are connected with the main control box through a DI input module. The remote station in the I/O control box is connected with the main control box through the EtherCat bus to realize the exchange of remote data. The rotary positioning sensor, the trolley positioning sensor, the telescopic positioning sensor and the clamp head positioning sensor are connected with a remote site through the DI input module. The clamp finger electric steel and the 1# -12# finger lock are connected with the I/O control box through a Modbus-Rru bus. The servo control box is connected with the I/O control box through an EtherCat bus and a Modbus-Rtu bus, and the servo driver I, the servo driver II and the servo driver III are connected with the servo drive box through the EtherCat bus. The servo driver II is connected with the trolley motor and the trolley motor encoder, and the servo driver III is connected with the telescopic motor and the telescopic motor encoder. The 13# -24# finger lock is connected with the servo driving box through a Modbus-Rtu bus
Based on the hardware connection, the control unit sets two control methods of automatic drilling and automatic drilling operation based on the technological process of the pipe arranging in the well repairing operation, realizes the control execution of each executing mechanism according to the logic execution sequence and the interlocking protection of the steps, and finally realizes the full-automatic flow operation of the racking pipe arranging manipulator.
All actions of the racking platform calandria manipulator can be sequentially executed through operating panel keys or upper computer buttons, automatic grabbing and discharging of a tubular column in tripping operation can be achieved, automatic positioning and running path planning of the tubular column can be achieved through a positioning system consisting of positioning sensors, and reliable and stable running of actions can be achieved through strict well repairing tripping process sequence logic. All the action execution can be monitored in the whole course, the execution data such as position, speed and the like are strictly compared and limited, and the action prompt is carried out in real time by utilizing the execution time and the state of the execution mechanism, so that the whole process can safely and automatically run under the protection of interlocking prompt
The rotary control button connected with the main controller comprises a fingerboard knob for controlling the fingerboard to be opened or closed, a pincer finger button for controlling the mechanical arm to clamp the opening or closing of the pincer fingers of the pipe column, a tripping knob for controlling the system to automatically trip or trip, a system starting button and a fault reset button.
The rotary positioning sensor is used for detecting whether the vertical rotation of the manipulator reaches a set angle for grabbing a pipe column or placing the pipe column, the trolley positioning sensor is used for detecting whether the trolley moves to a finger beam port or a wellhead, the telescopic positioning sensor is used for detecting whether the manipulator is fully extended or retracted, and the clamp head positioning sensor is used for detecting whether the clamp head reaches a state for clamping the pipe column; the drive group comprises a first servo driver, a second servo driver and a third servo driver; the first servo driver comprises a rotating motor and a rotating motor encoder, the second servo driver comprises a trolley motor and a trolley motor encoder, and the third servo driver comprises a telescopic motor and a telescopic motor encoder.
The system has a one-key start/stop function, and realizes the selection of starting at any time and stopping at any time in the operation process and one-key handover at the wellhead position. Particularly, in the matched operation of the workover rig integrated control system, an operator can press a key to automatically operate, the full-automatic system of the racking platform calandria manipulator automatically judges the capacity state of the current pipe row area according to program setting, automatically positions a target pipe column, and executes the full-automatic discharging task of the pipe column according to an optimal path. The operator can perform other operations and operations without being distracted to perform the racking operation, and after the pipe discharging operation is performed for one cycle period, the operator can stop at a waiting position and then perform the operation of the next pipe column by one key. In the full-automatic execution process, an operator can pause and continue to operate equipment at any time by one key according to the current state, and the calandria manipulator can continue the rest flow operation.
The control method of the full-automatic control system of the well repair calandria manipulator comprises two operation modes, namely automatic drill-down operation and automatic drill-up operation, and comprises the following steps of: step one: resetting, detecting the angle of the manipulator, the position of the trolley, the extending state of the manipulator and the holding state of the clamp head through the rotary positioning sensor, the trolley positioning sensor, the telescopic positioning sensor and the clamp head positioning sensor, respectively driving the manipulator to rotate to a resetting angle through the rotary motor, the trolley motor, the telescopic motor and the clamp finger electric steel according to the detection structure, driving the manipulator to move to a finger opening position by the trolley, fully retracting the manipulator and opening the clamp head of the manipulator; step two: the operator selects the automatic running of the drill, clicks the drill starting and stopping knob on the upper computer or the rotary control panel, and the system automatically judges the position of the pipe column to be grasped and plans the path; step three: firstly, after the extension position of the mechanical arm at the finger opening position is judged to be reached through a telescopic positioning sensor, an electric steel control jaw is closed through a clamp finger, meanwhile, a corresponding finger beam lock of a control pipe column is opened, after the system judges that the pipe column is clamped on a clamp head, the mechanical arm is controlled to shrink through a telescopic motor, after the pipe column moves out of the finger beam, the finger beam lock is closed, then a trolley motor is controlled to move to one end close to a wellhead, then the mechanical arm is controlled to rotate to the wellhead position through a rotating motor, the mechanical arm extends to the wellhead position, after an operator confirms that the pipe column connection is completed, the operation cycle operation of next drilling and taking the pipe column is performed through clicking automatic operation; the automatic drill-up operation comprises the following steps: step one: the method comprises the steps of resetting, detecting the angle of a manipulator, the position of a trolley, the extending state of a manipulator and the holding state of a clamp head through a rotary positioning sensor, a trolley positioning sensor, a telescopic positioning sensor and a clamp head positioning sensor respectively, driving the manipulator to rotate to a resetting angle through a rotary motor, a trolley motor, a telescopic motor and clamp finger electric steel respectively according to a detection structure, driving the manipulator to move to a wellhead position by the trolley, fully retracting the manipulator and opening the clamp head of the manipulator; step two: the operator selects the automatic operation of the drill jack, clicks the drill jack knob on the upper computer or the rotary control panel, and the system automatically judges the position of the pipe column to be discharged and plans the route; step three: firstly, after the extending position of the mechanical arm at the wellhead position is judged to be reached through the telescopic positioning sensor, the electric steel control jaw is closed through the pliers to clamp the pipe column at the wellhead position, after an operator confirms that the pipe column is separated, the mechanical arm is controlled to shrink through the telescopic motor, the trolley motor drives the trolley to move to the position of the fingerboard opening, the rotating motor drives the mechanical arm to rotate, the corresponding fingerboard lock is opened, the mechanical arm extends out to operate, the fingerboard lock is controlled to close again, then the retracting operation of the mechanical arm is carried out, the trolley moves to the wellhead position again, the mechanical arm rotates to the direction towards the wellhead position, and after the operator confirms that the pipe column at the wellhead position is separated, the operator clicks the automatic drilling operation again, so that the operation cycle operation of the pipe column can be carried out together.
In the first step, the system judges the position state of the manipulator, and when the position state is not in the position allowing automatic operation, the manipulator is manually moved to the position allowing automatic operation through the main control handle.
Claims (6)
1. A full-automatic control system of workover calandria manipulator is characterized in that: the device comprises an upper computer, a main control box, an I/O control box and a servo control box, wherein the upper computer, the main control box, the I/O control box and the servo control box are sequentially connected in data mode, the main control box is used as a control unit, the I/O control box is used as a detection unit, and the servo control box is used as a driving unit; the main controller in the main control box is respectively connected with an external main control handle and a control knob on the control panel through an AI input module and a DI input module; the I/O control box comprises a remote site, the remote site is in data connection with the main controller, a positioning sensor for detecting the action of the manipulator is connected with a DI signal of the remote site, and the I/O control box is in control connection with a clamp finger electric steel for realizing the clamping of the manipulator; the servo control box is connected with a driver group for controlling the rotation, translation and extension of the manipulator; the I/O control box and the servo control box are respectively connected with a group of finger locks.
2. The full-automatic control system of a well repair gauntlet manipulator of claim 1, wherein: the rotary control buttons connected with the main controller comprise a fingerboard knob for controlling the fingerboard to be opened or closed, a pincer finger button for controlling the pincer fingers to be opened or closed, a tripping knob for controlling the system to automatically trip or trip, a system starting button and a fault reset button.
3. The full-automatic control system of a well repair gauntlet manipulator of claim 1, wherein: the upper computer is in communication connection with the main control box through an EtherCat bus and is used for exchanging positioning data, animation data, flow display data and safety prompt data; the main control box is in communication connection with the remote site through an EtherCat bus and is used for exchanging remote data; the clamp finger electric steel and the group of finger locks are connected with the I/O control box through a Modbus-Rtu bus and used for realizing the opening or closing of the clamp finger electric steel and the group of finger locks; the servo control box is connected with the I/O control box through an EtherCat bus and a Modbus-Rtu bus, the driver group is connected with the servo control box through EtherCat bus data, and the servo control box is connected with the other group of fingerboard lock groups through a Modbus-Rtu bus.
4. A full automatic control system for a well servicing rack pipe manipulator as claimed in claim 3, wherein: the positioning sensor comprises a rotary positioning sensor, a trolley positioning sensor, a telescopic positioning sensor and a clamp head positioning sensor; the rotary positioning sensor is used for detecting whether the vertical rotation of the manipulator reaches a set angle for grabbing a pipe column or placing the pipe column, the trolley positioning sensor is used for detecting whether the trolley moves to a finger beam port or a wellhead, the telescopic positioning sensor is used for detecting whether the manipulator is fully extended or retracted, and the clamp head positioning sensor is used for detecting whether the clamp head reaches a state for clamping the pipe column; the drive group comprises a first servo driver, a second servo driver and a third servo driver; the first servo driver comprises a rotating motor and a rotating motor encoder, the second servo driver comprises a trolley motor and a trolley motor encoder, and the third servo driver comprises a telescopic motor and a telescopic motor encoder.
5. The control method of the full-automatic control system of the well repair calandria manipulator is characterized by comprising two operation modes, namely automatic drill-down operation and automatic drill-up operation, and comprises the following steps of: step one: resetting, detecting the angle of the manipulator, the position of the trolley, the extending state of the manipulator and the holding state of the clamp head through the rotary positioning sensor, the trolley positioning sensor, the telescopic positioning sensor and the clamp head positioning sensor, respectively driving the manipulator to rotate to a resetting angle through the rotary motor, the trolley motor, the telescopic motor and the clamp finger electric steel according to the detection structure, driving the manipulator to move to a finger opening position by the trolley, fully retracting the manipulator and opening the clamp head of the manipulator; step two: the operator selects the automatic running of the drill, clicks the drill starting and stopping knob on the upper computer or the rotary control panel, and the system automatically judges the position of the pipe column to be grasped and plans the path; step three: firstly, after the extension position of the mechanical arm at the finger opening position is judged to be reached through a telescopic positioning sensor, an electric steel control jaw is closed through a clamp finger, meanwhile, a corresponding finger beam lock of a control pipe column is opened, after the system judges that the pipe column is clamped on a clamp head, the mechanical arm is controlled to shrink through a telescopic motor, after the pipe column moves out of the finger beam, the finger beam lock is closed, then a trolley motor is controlled to move to one end close to a wellhead, then the mechanical arm is controlled to rotate to the wellhead position through a rotating motor, the mechanical arm extends to the wellhead position, after an operator confirms that the pipe column connection is completed, the operation cycle operation of next drilling and taking the pipe column is performed through clicking automatic operation; the automatic drill-up operation comprises the following steps: step one: the method comprises the steps of resetting, detecting the angle of a manipulator, the position of a trolley, the extending state of a manipulator and the holding state of a clamp head through a rotary positioning sensor, a trolley positioning sensor, a telescopic positioning sensor and a clamp head positioning sensor respectively, driving the manipulator to rotate to a resetting angle through a rotary motor, a trolley motor, a telescopic motor and clamp finger electric steel respectively according to a detection structure, driving the manipulator to move to a wellhead position by the trolley, fully retracting the manipulator and opening the clamp head of the manipulator; step two: the operator selects the automatic operation of the drill jack, clicks the drill jack knob on the upper computer or the rotary control panel, and the system automatically judges the position of the pipe column to be discharged and plans the route; step three: firstly, after the extending position of the mechanical arm at the wellhead position is judged to be reached through the telescopic positioning sensor, the electric steel control jaw is closed through the pliers to clamp the pipe column at the wellhead position, after an operator confirms that the pipe column is separated, the mechanical arm is controlled to shrink through the telescopic motor, the trolley motor drives the trolley to move to the position of the fingerboard opening, the rotating motor drives the mechanical arm to rotate, the corresponding fingerboard lock is opened, the mechanical arm extends out to operate, the fingerboard lock is controlled to close again, then the retracting operation of the mechanical arm is carried out, the trolley moves to the wellhead position again, the mechanical arm rotates to the direction towards the wellhead position, and after the operator confirms that the pipe column at the wellhead position is separated, the operator clicks the automatic drilling operation again, so that the operation cycle operation of the pipe column can be carried out together.
6. The control method of the full-automatic control system of the well repair calandria manipulator according to claim 5, wherein the control method comprises the following steps: in the first step, the system judges the position state of the manipulator, and when the position state is not in the position allowing automatic operation, the manipulator is manually moved to the position allowing automatic operation through the main control handle.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211584791.8A CN116203864A (en) | 2022-12-11 | 2022-12-11 | Full-automatic control system and control method for workover calandria manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211584791.8A CN116203864A (en) | 2022-12-11 | 2022-12-11 | Full-automatic control system and control method for workover calandria manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116449725A (en) * | 2023-06-19 | 2023-07-18 | 深蓝(天津)智能制造有限责任公司 | Visual calandria intelligent control method and system |
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2022
- 2022-12-11 CN CN202211584791.8A patent/CN116203864A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116449725A (en) * | 2023-06-19 | 2023-07-18 | 深蓝(天津)智能制造有限责任公司 | Visual calandria intelligent control method and system |
| CN116449725B (en) * | 2023-06-19 | 2023-09-12 | 深蓝(天津)智能制造有限责任公司 | Visual calandria intelligent control method and system |
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