CN116335555A - Control method of iron driller and iron driller - Google Patents

Abstract

The invention relates to the technical field of working machinery, and provides a control method of an iron roughneck and the iron roughneck. The iron roughneck comprises an arm support, a lifting oil cylinder, a main clamp, a suspension oil cylinder, a clamping device, a clamping oil cylinder, a turnbuckle device and a turnbuckle motor; the method comprises the following steps: acquiring the clamping state of the clamping device on the drilling tool, and determining the working state of an iron roughneck according to the clamping state; determining the working state of an iron roughneck as a loaded state, and acquiring the working state information of at least one of the arm support, the main clamp and the turnbuckle device; and when the working state is in a loaded state and the working state information meets the abnormal state requirement, executing abnormal adjustment operation on at least one of the lifting oil cylinder, the suspension oil cylinder and the clamping oil cylinder. The control method provided by the invention can timely and effectively find out the abnormal working state of the iron driller and timely take effective countermeasures against the abnormal working state, thereby avoiding the damage of the iron driller and preventing the occurrence of safety accidents.

Description

Control method of iron driller and iron driller

Technical Field

The invention relates to the technical field of working machinery, in particular to a control method of an iron roughneck and the iron roughneck.

Background

In the related art, when an iron driller works normally, a clamping device and a turnbuckle device of the iron driller interact with a drill rod, and the main stress is torque between the iron driller and the drill rod and vertical force caused by the torque, which does not include the gravity of the drill rod. The weight of the drill pipe is all borne by slips or similar devices.

However, in abnormal situations, such as slip failure or skidding, part or all of the weight of the drill pipe is transferred to the iron driller for bearing, and at this time, the mechanical system and hydraulic system of the iron driller can bear extreme loads, and possibly damage or safety accidents, and effective measures must be timely taken to cope with the situation. However, in the prior art, there is no effective scheme for judging and effectively coping with the abnormal situation.

Disclosure of Invention

The invention provides a control method of an iron roughneck and the iron roughneck, which are used for solving the defects in the prior art and realizing the following technical effects: the method can timely and effectively find out the abnormal working state of the iron driller and timely take effective countermeasures aiming at the abnormal working state, thereby avoiding the damage of the iron driller and preventing the occurrence of safety accidents.

According to the control method of the iron roughneck, which is provided by the embodiment of the first aspect of the invention, the iron roughneck comprises a boom, a lifting oil cylinder driving the boom to lift, a main clamp, a suspension oil cylinder driving the main clamp to move up and down, a clamping device, a clamping oil cylinder driving the clamping device to clamp, a turnbuckle device and a turnbuckle motor driving the turnbuckle device to rotate;

the control method comprises the following steps:

acquiring the clamping state of the clamping device on the drilling tool, and determining the working state of the iron roughneck according to the clamping state;

determining the working state of the iron roughneck to be a loaded state, and acquiring the working state information of at least one of the arm support, the main clamp and the turnbuckle device;

and when the working state is in a loaded state and the working state information meets the abnormal state requirement, executing abnormal adjustment operation on at least one of the lifting oil cylinder, the suspension oil cylinder and the clamping oil cylinder.

According to one embodiment of the invention, the operating state information includes at least one of an angle change value of the swivel device, a rotational speed of the swivel device, a height change value of the main clamp, a speed of the main clamp, and a height change value of the boom.

According to one embodiment of the present invention, when the working state is a loaded state and the working state information meets an abnormal state requirement, the step of performing an abnormal adjustment operation on at least one of the lift cylinder, the suspension cylinder and the clamp cylinder specifically includes:

and when the working state is a loaded state, determining that the rotating speed of the turnbuckle device and the speed of the main clamp are not zero, and the ratio of the rotating speed of the turnbuckle device to the speed of the main clamp exceeds a first preset ratio range, performing abnormal adjustment operation on at least one of the lifting oil cylinder, the suspension oil cylinder and the clamping oil cylinder.

According to one embodiment of the present invention, when the working state is a loaded state and the working state information meets an abnormal state requirement, the step of performing an abnormal adjustment operation on at least one of the lift cylinder, the suspension cylinder and the clamp cylinder specifically includes:

and when the working state is a loaded state, determining that the angle change value of the turnbuckle device and the position change value of the main clamp are not zero, and the ratio of the angle change value of the turnbuckle device to the position change value of the main clamp exceeds a second preset ratio range, performing abnormal adjustment operation on at least one of the lifting oil cylinder, the suspension oil cylinder and the clamping oil cylinder.

According to one embodiment of the present invention, when the working state is a loaded state and the working state information meets an abnormal state requirement, the step of performing an abnormal adjustment operation on at least one of the lift cylinder, the suspension cylinder and the clamp cylinder specifically includes:

and under the working state of load, determining that the angle change value of the turnbuckle device and the height change value of the main clamp are not zero, and executing abnormal adjustment operation on at least one of the lifting oil cylinder, the suspension oil cylinder and the clamping oil cylinder when the ratio of the angle change value of the turnbuckle device to the height change value of the main clamp exceeds a third preset ratio range and the height change value of the arm support exceeds a preset height range.

According to one embodiment of the present invention, when the working state is a loaded state and the working state information meets an abnormal state requirement, the step of performing an abnormal adjustment operation on at least one of the lift cylinder, the suspension cylinder and the clamp cylinder specifically includes:

when the working state is in a loaded state and the working state information meets the abnormal state requirement, acquiring an abnormal working position in the iron roughneck, which is abnormal, according to the working state information;

And selecting at least one of the lifting oil cylinder, the suspension oil cylinder and the clamping oil cylinder according to the abnormal working position and executing abnormal adjustment operation on the lifting oil cylinder, the suspension oil cylinder and the clamping oil cylinder.

According to one embodiment of the invention, the anomaly adjustment operation includes:

the lifting oil cylinder is adjusted to enable the height of the arm support to be a first set height;

and/or adjusting the suspension cylinder to enable the height of the main clamp to be a second set height;

and/or adjusting the clamping oil cylinder to enable the pressure of the clamping oil cylinder to the drilling tool to be adjusted to the set pressure.

According to one embodiment of the invention, the clamping cylinder is connected with a clamping pressure sensor;

the method for obtaining the clamping state of the clamping device on the drilling tool and determining the working state of the iron roughneck according to the clamping state comprises the following steps:

acquiring the clamping pressure of the clamping oil cylinder to the drilling tool through the clamping pressure sensor;

determining the clamping state according to the interval range of the clamping pressure, and determining the working state of the iron roughneck according to the clamping state;

the clamping states comprise an unclamped state, a low clamping state and a high clamping state, and when the clamping state is the high clamping state, the working state of the iron roughneck is the load state.

According to one embodiment of the invention, the lifting oil cylinder is connected with a lifting position acquisition device, the suspension oil cylinder is connected with a suspension position acquisition device, and the turnbuckle motor is connected with a rotation position acquisition device;

the step of obtaining the working state information of at least one of the arm support, the main clamp and the turnbuckle device comprises the following steps:

acquiring a height variation value of the arm support according to the lifting position acquisition device;

and/or, according to the suspension position acquisition device, acquiring a height variation value of the main clamp;

and/or acquiring the speed of the main clamp according to the suspension position acquisition device;

and/or, according to the rotary position acquisition device, acquiring an angle change value of the turnbuckle device;

and/or acquiring the rotating speed of the turnbuckle device according to the rotating position acquisition device.

The iron roughneck comprises a boom, a lifting oil cylinder driving the boom to lift, a main clamp, a suspension oil cylinder driving the main clamp to move up and down, a clamping device, a clamping oil cylinder driving the clamping device to clamp, a turnbuckle device and a turnbuckle motor driving the turnbuckle device to rotate, wherein the lifting oil cylinder is used for driving the boom to lift;

the arm support is connected with the main clamp and the turnbuckle device, the arm support is used for driving the main clamp and the turnbuckle device to integrally lift, and the clamping device is connected with the main clamp and used for clamping a drilling tool;

The iron roughneck further comprises a control device, the control device comprising:

the first acquisition module is used for acquiring the clamping state of the clamping device on the drilling tool and determining the working state of the iron roughneck according to the clamping state;

the second acquisition module is used for determining that the working state of the iron roughneck is a loaded state and acquiring the working state information of at least one of the arm support, the main clamp and the turnbuckle device;

and the execution module is used for executing abnormal adjustment operation on at least one of the lifting oil cylinder, the suspension oil cylinder and the clamping oil cylinder according to the working state information to meet the abnormal state requirement when the working state is in the loaded state.

In summary, in order to solve the technical defects existing in the related art, the invention provides a control method of an iron roughneck, the method obtains and analyzes the working state information of at least one of a boom, a main clamp and a turnbuckle device on the premise that the iron roughneck is in an effective loading state, and determines that the iron roughneck is in an abnormal working state when the working state information meets the abnormal state requirement, so that abnormal adjustment operation is timely performed when the state of the iron roughneck is abnormal, that is, the method can timely and effectively find the abnormal condition of the working state of the iron roughneck, and timely take effective countermeasures against the abnormal working state, thereby avoiding the damage of the iron roughneck and preventing the occurrence of safety accidents.

For example, when the iron roughneck experiences an abnormal situation as mentioned in the related art, that is, when the slips of the iron roughneck fail or slip, since part or all of the weight of the drill rod is transferred to the iron roughneck for bearing, both the boom and the main tongs have a moving speed and their height positions are lowered, the turnbuckle device also has a rotating speed and its angular position is changed. It can be understood that the working state information (such as a height change value, a speed, a drilling speed, an angle change value, etc.) of the arm support, the main tongs and the turnbuckle device of the iron driller also changes at this time, so when the working state information meets the preset abnormal state requirement, it is proved that the iron driller has an abnormal state that the slips of the iron driller fail or slip, and at this time, at least one of the lifting oil cylinder, the suspension oil cylinder and the clamping oil cylinder needs to be subjected to abnormal adjustment operation to avoid the occurrence of safety accidents.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of a method for controlling an iron roughneck provided by the invention;

FIG. 2 is a schematic diagram of the control device of the iron roughneck provided by the invention;

fig. 3 is a schematic structural view of the iron roughneck provided by the invention.

Reference numerals:

1. arm support; 11. a lifting oil cylinder; 12. lifting position acquisition device;

2. a main clamp; 21. a suspension cylinder; 22. a suspension position acquisition device;

31. clamping an oil cylinder; 32. clamping the pressure sensor; 4. a turnbuckle device; 41. a spin button motor; 42. a rotational position acquisition device; 5. is clamped; 6. drilling tool;

110. a first acquisition module; 120. a second acquisition module; 130. and executing the module.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In describing embodiments of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in embodiments of the present invention will be understood in detail by those of ordinary skill in the art.

In embodiments of the invention, unless expressly specified and limited otherwise, a first feature "up" or "down" on a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

Before introducing the control method of the iron driller, the structure of the iron driller is described first, and specifically, the iron driller is a petroleum machine, is used as core equipment for pipe column automation, and is mainly used for drilling a wellhead on a floor and a mousehole to replace manual work for carrying out pipe column tripping operation.

As shown in fig. 3, the iron roughneck comprises a boom 1, a main clamp 2, a clamp 5 and a turnbuckle device 4, wherein the main clamp 2 is arranged above the clamp 5 in a vertically suspending manner, clamping devices for clamping a drilling tool 6 are arranged in the main clamp 2 and the clamp 5, the turnbuckle device 4 is arranged above the main clamp 2 in a rotatable manner, the main clamp 2, the clamp 5 and the turnbuckle device 4 form a clamp assembly, and the boom 1 is connected with the clamp assembly and is used for driving the clamp assembly to move up and down.

In addition, the iron roughneck further comprises a set of electrohydraulic control system, wherein the hydraulic control system comprises a plurality of subsystems and is respectively an arm support lifting subsystem, a main clamp suspension subsystem, a clamping control subsystem and a turnbuckle control subsystem, the arm support lifting subsystem comprises a lifting oil cylinder 11, a lifting control valve and a lifting control device, the lifting oil cylinder 11 is connected with the arm support 1 and is used for driving the arm support 1 to lift, the lifting control valve is connected with the lifting oil cylinder 11 and is used for driving the action direction and speed of the lifting oil cylinder 11, and the lifting control device is connected with the lifting control valve and is used for controlling the action of the lifting control valve; the main clamp suspension subsystem comprises a suspension oil cylinder 21, a suspension control valve and a suspension control device, wherein the suspension oil cylinder 21 is connected with the main clamp 2 and is used for driving the main clamp 2 to move up and down, the suspension control valve is connected with the suspension oil cylinder 21 and is used for driving the movement direction, the position and the speed of the suspension oil cylinder 21, and the suspension control device is connected with the suspension control valve and is used for controlling the movement of the suspension control valve; the clamping control subsystem comprises a clamping driving device, a clamping control valve and a clamping control device, wherein the clamping driving device is connected with the clamping device and used for driving the clamping device, the clamping driving device in the scheme is preferably a clamping oil cylinder 31, the clamping control valve is connected with the clamping driving device and used for driving the clamping driving device, and the clamping control device is connected with the clamping control valve and used for controlling the action of the clamping control valve; the turnbuckle control subsystem comprises a turnbuckle motor 41, a turnbuckle control valve and a turnbuckle control device, wherein the turnbuckle motor 41 is connected with the turnbuckle mechanism and used for driving the turnbuckle mechanism to rotate, the turnbuckle control valve is connected with the turnbuckle motor 41 and used for driving the action direction and speed of the turnbuckle motor 41, and the turnbuckle control device is connected with the turnbuckle control valve and used for controlling the action of the turnbuckle control valve.

The main action modes of the iron driller comprise boom rotation, boom lifting, boom extension, clamping by pliers, main pliers clamping, main pliers rotation and main pliers floating. The working process of the iron roughneck is generally as follows: the arm support 1 rotates to the angle of the target drill rod, the arm support 1 is lifted to the corresponding height of the drill rod joint, the arm support 1 stretches to the amplitude of the target drill rod, the clamp 5 and the main clamp 2 clamp the lower part and the upper part of the drill rod respectively, the turnbuckle device 4 performs turnbuckle, punching buckle or shackle work, and the main clamp 2 floats synchronously along with the turnbuckle device 4.

The control method based on the iron roughneck provided by the invention is described in detail below with reference to the accompanying drawings, wherein the method can timely and effectively discover the abnormal condition of the working state of the iron roughneck, and timely take effective countermeasures against the abnormal working state to prevent the occurrence of safety accidents.

As shown in fig. 1, a control method of an iron roughneck according to an embodiment of the first aspect of the present invention includes:

s1, acquiring the clamping state of the clamping device on the drilling tool 6, and determining the working state of an iron roughneck according to the clamping state;

s2, determining that the working state of an iron roughneck is a loaded state, and acquiring the working state information of at least one of the arm support 1, the main clamp 2 and the turnbuckle device 4;

S3, when the working state is in the loaded state and the working state information meets the abnormal state requirement, performing abnormal adjustment operation on at least one of the lifting oil cylinder 11, the suspension oil cylinder 21 and the clamping oil cylinder 31.

The control method of the iron roughneck according to the embodiment of the invention comprises the following specific working processes: firstly, the controller obtains the clamping state of the clamping device on the drilling tool 6, and determines the current working state of the iron driller according to the clamping state, and it can be understood that when the clamping device clamps the drilling tool 6, the iron driller is proved to be in a normal loading state, and on the premise that the iron driller is in the loading state (that is, the clamping device clamps the drilling tool 6), the controller further obtains the working state information of at least one of the arm support 1, the main clamp 2 and the turnbuckle device 4, analyzes the obtained working state information, so as to judge whether the working state information meets the abnormal state requirement of the iron driller in an abnormal state, and when the working state information meets the abnormal state requirement, the iron driller is proved to be in the abnormal state at the moment, so that the controller executes abnormal adjustment operation on at least one of the lifting oil cylinder 11, the suspension oil cylinder 21 and the clamping oil cylinder 31, thereby avoiding the damage of the iron driller and avoiding the occurrence of safety accidents.

In the related art, when an iron roughneck works normally, the clamping device and the turnbuckle device 4 of the iron roughneck interact with the drill rod, and the main stress is torque between the iron roughneck and the drill rod, and the force in the vertical direction caused by the torque does not include the gravity of the drill rod. The weight of the drill pipe is all borne by slips or similar devices.

However, in abnormal situations, such as slip failure or skidding, part or all of the weight of the drill pipe is transferred to the iron driller for bearing, and at this time, the mechanical system and hydraulic system of the iron driller can bear extreme loads, and possibly damage or safety accidents, and effective measures must be timely taken to cope with the situation. However, in the prior art, there is no effective scheme for judging and effectively coping with the abnormal situation.

In order to solve the technical defects in the related art, the invention provides a control method of an iron roughneck, which obtains and analyzes the working state information of at least one of a boom 1, a main clamp 2 and a turnbuckle device 4 on the premise that the iron roughneck is in an effective loading state, and determines that the iron roughneck is in an abnormal working state when the working state information meets the abnormal state requirement, so that abnormal adjustment operation is timely performed when the state of the iron roughneck is abnormal, namely the method can timely and effectively find the abnormal condition of the working state of the iron roughneck, and timely take effective countermeasures against the abnormal working state, thereby avoiding the damage of the iron roughneck and preventing the occurrence of safety accidents.

For example, when the iron roughneck has an abnormal condition as mentioned in the related art, that is, when the slips of the iron roughneck fail or slip, since part or all of the weight of the drill rod is transferred to the iron roughneck to be born, both the boom 1 and the main tongs 2 have a moving speed and their height positions are lowered, the turnbuckle device 4 also has a rotating speed and its angular position is changed. It will be understood that the working state information (such as the height change value, the speed, the drilling rate, the angle change value, etc.) of the arm support 1, the main tongs 2, and the turnbuckle device 4 of the iron roughneck will also change at this time, and therefore, when the working state information meets the preset abnormal state requirement, it is proved that the iron roughneck has an abnormal state in which the slips of the iron roughneck fail or slip, and at this time, it is necessary to perform an abnormal adjustment operation on at least one of the lift cylinder 11, the suspension cylinder 21, and the clamp cylinder 31 to avoid the occurrence of a safety accident.

In the above embodiment, the abnormal condition requirement may include at least one of the requirements that the height change values of the boom 1 and the main pliers 2 are not zero, the angle change value of the turnbuckle device 4 is not zero, the speed of the main pliers 2 is not zero, the rotation speed of the turnbuckle device 4 is not zero, and the ratio of the angle change value of the turnbuckle device 4 to the position change value of the main pliers 2 satisfies the preset range, etc., and the present invention does not specifically limit the abnormal condition requirement, as long as the abnormal condition requirement may reflect that the iron roughneck is in an abnormal condition.

In addition, the above-described abnormal adjustment operation includes at least one of the operations of the adjustment lift cylinder 11, the adjustment suspension cylinder 21, the adjustment clamp cylinder 31, the adjustment turnbuckle motor 41, and the like, and the present invention is not particularly limited as long as the abnormal adjustment operation can alleviate or solve the current abnormal state of the iron roughneck. For example, when it is determined that the iron roughneck has an abnormal state in which the slips of the iron roughneck fail or slip, the abnormal adjustment operation may be to adjust the lift cylinder 11 to lower the height position of the boom 1, so as to avoid safety accidents such as breakage due to the overload of the boom 1.

According to some embodiments of the invention, the operating state information includes at least one of an angle change value of the swivel device 4, a rotational speed of the swivel device 4, a height change value of the main clamp 2, a speed of the main clamp 2, and a height change value of the boom 1.

Further, as shown in fig. 3, the lifting cylinder 11 is connected with a lifting position acquisition device 12, the suspension cylinder 21 is connected with a suspension position acquisition device 22, and the turnbuckle motor 41 is connected with a rotation position acquisition device 42. Wherein, the lifting position acquisition device 12 is used for acquiring the lifting position of the lifting oil cylinder 11; the suspension position acquisition device 22 is used for acquiring the position of the suspension cylinder 21 and calculating the speed according to the position; the rotational position acquisition means 42 may be a rotational speed sensor for acquiring the rotational speed of the turnbuckle motor 41 and calculating an angle change value according to the rotational speed thereof.

Thus, on the basis of the above structure, the operation state information can be acquired by:

according to the detection result of the lifting position acquisition device 12, acquiring the change of the position of the oil rod in the lifting oil cylinder 11, thereby acquiring the height change value of the arm support 1;

according to the detection result of the suspension position acquisition device 22, the change of the position of the oil rod in the suspension oil cylinder 21 is acquired, so that the height change value of the main clamp 2 is acquired;

according to the detection result of the suspension position acquisition device 22, the speed of the change of the position of the oil rod in the suspension oil cylinder 21 is obtained, so that the speed of the main clamp 2 is obtained;

according to the detection result of the rotation position acquisition device 42, the change of the rotation angle of the turnbuckle motor 41 is acquired, so that the angle change value of the turnbuckle device 4 is acquired;

the rotation speed of the turnbuckle motor 41 is acquired based on the detection result of the rotation position acquisition device 42, thereby acquiring the rotation speed of the turnbuckle device 4.

According to an embodiment of the present invention, when the operating state is the loaded state and the operating state information satisfies the abnormal state requirement, the step of performing the abnormal adjustment operation on at least one of the lift cylinder 11, the suspension cylinder 21, and the clamp cylinder 31 specifically includes:

in the working state of the load state, when it is determined that the rotation speed of the turnbuckle device 4 and the speed of the main clamp 2 are not zero and the ratio of the rotation speed of the turnbuckle device 4 to the speed of the main clamp 2 exceeds a first preset ratio range, an abnormal adjustment operation is performed on at least one of the lifting cylinder 11, the suspension cylinder 21 and the clamping cylinder 31.

In the present embodiment, whether the speed of the main clamp 2 is normal is determined based on the rotation speed of the turnbuckle motor 41 (i.e., the rotation speed of the turnbuckle device 4), the pressure of the clamping cylinder 31, and the speed of the main clamp 2 (i.e., the speed of the main clamp 2); specifically, when the state of the iron roughneck is on-load, the rotation speed of the turnbuckle motor 41 is not zero, the suspension speed of the main tong 2 is not zero, and the ratio of the rotation speed of the turnbuckle motor 41 to the suspension speed of the main tong 2 exceeds a preset range (i.e., a first preset ratio range), it is determined that the suspension speed of the main tong 2 is abnormal, and at this time, the controller will perform an abnormal adjustment operation on at least one of the lifting cylinder 11, the suspension cylinder 21 and the clamping cylinder 31, so as to reduce the load borne by the main tong 2 and the boom 1, so as to avoid safety accidents.

According to another embodiment of the present invention, when the operating state is the loaded state and the operating state information satisfies the abnormal state requirement, the step of performing the abnormal adjustment operation on at least one of the lift cylinder 11, the suspension cylinder 21, and the clamp cylinder 31 specifically includes:

in the operating state of the load state, when it is determined that the angle change value of the turnbuckle device 4 and the position change value of the main clamp 2 are not zero and the ratio of the angle change value of the turnbuckle device 4 to the position change value of the main clamp 2 exceeds the second preset ratio range, an abnormal adjustment operation is performed on at least one of the lift cylinder 11, the suspension cylinder 21 and the clamp cylinder 31.

In the present embodiment, whether the position of the main clamp 2 is suspended is judged to be normal or not according to the rotation angle of the turnbuckle motor 41 (i.e., the angle change value of the turnbuckle device 4), the pressure of the clamping cylinder 31, the position of the suspension cylinder 21 of the main clamp 2 (i.e., the position change value of the main clamp 2); specifically, when the state of the iron roughneck is loaded, the rotation angle of the turnbuckle motor 41 is not zero, the position change value of the suspension cylinder 21 of the main tong 2 is not zero, and the ratio of the rotation angle of the turnbuckle motor 41 to the position change value of the suspension cylinder 21 of the main tong 2 exceeds a preset range (i.e., a second preset ratio range), it is determined that the suspension position of the main tong 2 is abnormal, and at this time, the controller will perform an abnormal adjustment operation on at least one of the lifting cylinder 11, the suspension cylinder 21 and the clamping cylinder 31, so as to reduce the load borne by the main tong 2 and the arm support 1, thereby avoiding the occurrence of a safety accident.

According to still another embodiment of the present invention, when the operating state is the loaded state and the operating state information satisfies the abnormal state requirement, the step of performing the abnormal adjustment operation on at least one of the lift cylinder 11, the suspension cylinder 21, and the clamp cylinder 31 specifically includes:

in the working state of the load state, it is determined that the angle change value of the turnbuckle device 4 and the height change value of the main clamp 2 are not zero, the ratio of the angle change value of the turnbuckle device 4 to the height change value of the main clamp 2 exceeds a third preset ratio range, and when the height change value of the arm support 1 exceeds the preset height range, an abnormal adjustment operation is performed on at least one of the lifting cylinder 11, the suspension cylinder 21 and the clamping cylinder 31.

In the present embodiment, whether the position of the lift cylinder 11 of the boom 1 is normal is determined according to the rotation angle of the swing motor 41 (i.e., the angle change value of the swing device 4), the pressure of the clamping cylinder 31, the position of the suspension cylinder 21 of the main clamp 2 (i.e., the height change value of the main clamp 2), and the position of the lift cylinder 11 of the boom 1 (i.e., the height change value of the boom 1); specifically, when the state of the iron roughneck is loaded, the rotation angle of the turnbuckle motor 41 is not zero, the position change value of the suspension cylinder 21 of the main clamp 2 is not zero, the ratio of the rotation angle of the turnbuckle motor 41 to the position change value of the suspension cylinder 21 of the main clamp 2 exceeds a preset range (i.e., a third preset ratio range), and the change value of the position of the lifting cylinder 11 of the boom 1 exceeds a preset range (i.e., a preset height range), it is determined that the position of the lifting cylinder 11 of the boom 1 is abnormal, and at this time, the controller performs an abnormal adjustment operation on at least one of the lifting cylinder 11, the suspension cylinder 21 and the clamping cylinder 31, so as to reduce the load borne by the main clamp 2 and the boom 1, thereby avoiding a safety accident.

According to some embodiments of the present invention, when the operating state is the loaded state and the operating state information satisfies the abnormal state requirement, the step of performing the abnormal adjustment operation on at least one of the lift cylinder 11, the suspension cylinder 21, and the clamp cylinder 31 specifically includes:

When the working state is the loaded state, determining that the working state information meets the requirement of the abnormal state, and acquiring an abnormal working position of an iron roughneck, which is abnormal, according to the working state information;

at least one of the lift cylinder 11, the suspension cylinder 21, and the clamp cylinder 31 is selected and an abnormal adjustment operation is performed thereon according to the abnormal operation portion.

In this embodiment, according to the above determination result, it is determined whether or not the countermeasure needs to be output; if so, outputting countermeasures; specifically, when the working state of the iron roughneck is on load and at least one of the main clamp 2 and the arm support 1 is used as an abnormal working position, that is, at least one of the speed at which the main clamp 2 floats, the position at which the main clamp 2 floats, and the position at which the arm support 1 lifts the oil cylinder 11 is abnormal, the corresponding abnormal adjustment operation is output.

It will be appreciated that after finding the abnormal working position, the controller may perform different abnormal adjustment operations for different abnormal working positions, so as to specifically implement the elimination and avoidance of the safety fault, for example, when the abnormal working position is the main clamp 2 and the abnormal state of the main clamp 2 is that the position where the main clamp 2 is suspended is abnormal, the abnormal adjustment operation is to adjust the suspension cylinder 21 of the main clamp 2 to reduce the height of the main clamp 2 to the minimum height.

According to some embodiments of the invention, the anomaly adjustment operation comprises at least one of the following steps:

adjusting the lifting cylinder 11 to adjust the height of the boom 1 to a first set height, wherein the manner of adjusting the boom 1 comprises raising the height of the boom 1 and lowering the height of the boom 1, preferably lowering the height of the lifting cylinder 11 of the boom 1 to the lowest;

adjusting the suspension cylinder 21 to adjust the height of the main clamp 2 to a second set height, wherein the manner of adjusting the main clamp 2 comprises raising the height of the main clamp 2 and lowering the height of the main clamp 2, preferably lowering the height of the suspension cylinder 21 of the main clamp 2 to the lowest;

the clamping cylinder 31 is adjusted such that the pressure of the clamping cylinder 31 against the drilling tool 6 is adjusted to a set pressure, wherein the manner of adjusting the clamping cylinder 31 comprises increasing the pressure of the clamping cylinder 31 against the drilling tool 6 and decreasing the pressure of the clamping cylinder 31 against the drilling tool 6, preferably the clamping cylinder 31 is adjusted such that the clamping means unclamp the drilling tool 6 or further clamp the drilling tool 6.

In this embodiment, when the working state of the iron roughneck is on load and at least one of the speed at which the main tong 2 floats, the position at which the main tong 2 floats, and the position at which the boom 1 lifts the oil cylinder 11 is abnormal, the method performs the above-described abnormal adjustment operation.

It will be appreciated that when the working state of the iron roughneck is loaded and at least one of the speed at which the main tong 2 is suspended, the position at which the main tong 2 is suspended, and the position at which the boom 1 is raised and lowered, the hydraulic cylinder 11 is abnormal, it is proved that the iron roughneck has a slip failure or slip abnormality, so that part or all of the weight of the drilling tool 6 is transferred to the iron roughneck to be borne, at this time, the mechanical system and hydraulic system of the iron roughneck are subjected to extreme loads, and therefore, the controller will perform the above abnormality adjustment operation when the occurrence of the abnormality is detected.

It should be explained that the above-mentioned abnormal adjustment operations can achieve the corresponding technical effects to avoid the occurrence of safety accidents, for example, when the height of the lifting cylinder 11 of the boom 1 is reduced to the lowest position, or when the height of the suspension cylinder 21 of the main clamp 2 is reduced to the lowest position, part of the pressure of the drilling tool 6 to the boom 1 and the main clamp 2 will be transferred to the fixed seat or the ground below the boom 1, and at this time, the limit load applied to the iron roughneck by the drilling tool 6 will be partially borne by the fixed seat or the ground below the boom 1, thereby relieving the bearing pressure and load of the iron roughneck itself and further avoiding the occurrence of safety accidents.

For another example, when the pressure of the clamping cylinder 31 to the drilling tool 6 is controlled to be increased, the clamping force of the clamping device to the drilling tool 6 is further increased at this time, so that the drilling tool 6 can be ensured to be still in a clamped state under the condition that the slips fail, and the drilling tool 6 is prevented from falling off in the working process, thereby avoiding the occurrence of safety accidents.

For another example, when the load applied by the drilling tool 6 to the iron driller exceeds the limit borne by the iron driller, the clamping device loosens the drilling tool 6, and at the moment, the drilling tool 6 loosens from the clamping device of the iron driller and falls down, so that the load applied by the drilling tool 6 to the iron driller is emptied, the iron driller is prevented from being damaged due to overload, and safety accidents are avoided.

According to some embodiments of the present invention, when the clamping cylinder 31 is connected with the clamping pressure sensor 32, a clamping state of the clamping device on the drilling tool 6 is obtained, and a working state of an iron roughneck is determined according to the clamping state, which specifically includes:

the clamping pressure of the clamping cylinder 31 to the drilling tool 6 is obtained through the clamping pressure sensor 32;

and determining a clamping state according to the range of the interval where the clamping pressure is located, and determining the working state of the iron roughneck according to the clamping state.

In the present embodiment, the controller judges the current working state of the iron roughneck according to the pressure of the clamping cylinder 31; specifically, the clamping state of the clamping device can be divided into: an unclamped state, a low clamped state, and a high clamped state. Wherein, when the pressure of the clamping cylinder 31 is lower than a first preset value, judging that the clamping state of the clamping device is an unclamped state; when the pressure of the clamping cylinder 31 is higher than a second preset value, judging that the clamping state of the clamping device is a high clamping state; when the pressure of the clamping cylinder 31 is lower than the second preset value and higher than the first preset value, the clamping state of the clamping device is judged to be a low clamping state. Further, when the clamping state is high clamping, the working state of the iron roughneck is judged to be a loaded state.

According to some embodiments of the invention, the method of controlling an iron roughneck further comprises:

and under the condition that the working state is the loaded state, controlling the iron roughneck to send out alarm information according to the abnormal state requirement met by the working state information.

The alarm information may be information such as light, sound, smell or image, and the invention is not limited herein.

The control device of the iron roughneck provided by the invention is described below, and the control device of the iron roughneck described below and the control method of the iron roughneck described above can be referred to correspondingly.

According to the control device of the iron roughneck of the second aspect of the embodiment of the invention, the iron roughneck comprises a boom 1, a lifting cylinder 11 driving the boom 1 to lift, a main clamp 2, a suspension cylinder 21 driving the main clamp 2 to move up and down, a clamping device, a clamping cylinder 31 driving the clamping device to clamp, a turnbuckle device 4 and a turnbuckle motor 41 driving the turnbuckle device 4 to rotate.

As shown in fig. 2, the control device includes:

a first obtaining module 110, configured to obtain a clamping state of the clamping device on the drilling tool 6, and determine a working state of an iron roughneck according to the clamping state;

the second obtaining module 120 is configured to determine that the working state of the iron roughneck is a loaded state, and obtain working state information of at least one of the boom 1, the main clamp 2, and the turnbuckle device 4;

The execution module 130 is configured to execute an abnormal adjustment operation on at least one of the lift cylinder 11, the suspension cylinder 21, and the clamp cylinder 31 according to the operating state information when the operating state is the loaded state.

As shown in fig. 3, the iron roughneck according to the embodiment of the third aspect of the present invention includes a boom 1, a lifting cylinder 11 driving the boom 1 to lift, a main tong 2, a suspension cylinder 21 driving the main tong 2 to move up and down, a clamping device, a clamping cylinder 31 driving the clamping device to clamp, a turnbuckle device 4, and a turnbuckle motor 41 driving the turnbuckle device 4 to rotate.

The arm support 1 is connected with the main clamp 2 and the turnbuckle device 4, the arm support 1 is used for driving the main clamp 2 and the turnbuckle device 4 to integrally lift, and the clamping device is connected with the main clamp 2 and used for clamping the drilling tool 6.

The iron roughneck further comprises a control device for the iron roughneck as described in the embodiments of the second aspect of the invention.

As shown in fig. 3, according to some embodiments of the present invention, a clamping force sensor 32 is connected to the clamping cylinder 31, a lifting position acquisition device 12 is connected to the lifting cylinder 11, a suspension position acquisition device 22 is connected to the suspension cylinder 21, and a rotation position acquisition device 42 is connected to the turnbuckle motor 41.

Optionally, the rotational position detecting device 42 is a rotational speed sensor.

As shown in fig. 2 or 3, a work machine according to a fourth aspect of the present invention includes an iron roughneck as described in the embodiment of the third aspect of the present invention, or a control device for an iron roughneck as described in the embodiment of the second aspect of the present invention.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. The control method for the iron driller is characterized in that the iron driller comprises an arm support, a lifting oil cylinder driving the arm support to lift, a main clamp, a suspension oil cylinder driving the main clamp to move up and down, a clamping device, a clamping oil cylinder driving the clamping device to clamp, a turnbuckle device and a turnbuckle motor driving the turnbuckle device to rotate;

the control method comprises the following steps:

acquiring the clamping state of the clamping device on the drilling tool, and determining the working state of the iron roughneck according to the clamping state;

determining the working state of the iron roughneck to be a loaded state, and acquiring the working state information of at least one of the arm support, the main clamp and the turnbuckle device;

and when the working state is in a loaded state and the working state information meets the abnormal state requirement, executing abnormal adjustment operation on at least one of the lifting oil cylinder, the suspension oil cylinder and the clamping oil cylinder.

2. The method according to claim 1, wherein the working state information includes at least one of an angle change value of the turnbuckle device, a rotation speed of the turnbuckle device, a height change value of the main tong, a speed of the main tong, and a height change value of the boom.

3. The method according to claim 2, wherein when the working state is a loaded state and the working state information satisfies an abnormal state requirement, the step of performing an abnormal adjustment operation on at least one of the lift cylinder, the suspension cylinder, and the clamp cylinder specifically includes:

and when the working state is a loaded state, determining that the rotating speed of the turnbuckle device and the speed of the main clamp are not zero, and the ratio of the rotating speed of the turnbuckle device to the speed of the main clamp exceeds a first preset ratio range, performing abnormal adjustment operation on at least one of the lifting oil cylinder, the suspension oil cylinder and the clamping oil cylinder.

4. The method according to claim 2, wherein when the working state is a loaded state and the working state information satisfies an abnormal state requirement, the step of performing an abnormal adjustment operation on at least one of the lift cylinder, the suspension cylinder, and the clamp cylinder specifically includes:

and when the working state is a loaded state, determining that the angle change value of the turnbuckle device and the position change value of the main clamp are not zero, and the ratio of the angle change value of the turnbuckle device to the position change value of the main clamp exceeds a second preset ratio range, performing abnormal adjustment operation on at least one of the lifting oil cylinder, the suspension oil cylinder and the clamping oil cylinder.

5. The method according to claim 2, wherein when the working state is a loaded state and the working state information satisfies an abnormal state requirement, the step of performing an abnormal adjustment operation on at least one of the lift cylinder, the suspension cylinder, and the clamp cylinder specifically includes:

and under the working state of load, determining that the angle change value of the turnbuckle device and the height change value of the main clamp are not zero, and executing abnormal adjustment operation on at least one of the lifting oil cylinder, the suspension oil cylinder and the clamping oil cylinder when the ratio of the angle change value of the turnbuckle device to the height change value of the main clamp exceeds a third preset ratio range and the height change value of the arm support exceeds a preset height range.

6. The method according to any one of claims 1 to 5, wherein when the working state is a loaded state and the working state information satisfies an abnormal state requirement, the step of performing an abnormal adjustment operation on at least one of the lift cylinder, the suspension cylinder, and the clamp cylinder specifically includes:

when the working state is a loaded state, determining that the working state information meets the abnormal state requirement, and acquiring an abnormal working position in the iron roughneck, wherein the abnormal working position is abnormal according to the working state information;

And selecting at least one of the lifting oil cylinder, the suspension oil cylinder and the clamping oil cylinder according to the abnormal working position and executing abnormal adjustment operation on the lifting oil cylinder, the suspension oil cylinder and the clamping oil cylinder.

7. The control method of an iron roughneck as set forth in any one of claims 1 to 5, wherein the abnormal adjustment operation comprises:

the lifting oil cylinder is adjusted to enable the height of the arm support to be a first set height;

and/or adjusting the suspension cylinder to enable the height of the main clamp to be a second set height;

and/or adjusting the clamping oil cylinder to enable the pressure of the clamping oil cylinder to the drilling tool to be adjusted to the set pressure.

8. The method according to any one of claims 1 to 5, wherein a clamping pressure sensor is connected to the clamping cylinder;

the method for obtaining the clamping state of the clamping device on the drilling tool and determining the working state of the iron roughneck according to the clamping state comprises the following steps:

acquiring the clamping pressure of the clamping oil cylinder to the drilling tool through the clamping pressure sensor;

determining the clamping state according to the interval range of the clamping pressure, and determining the working state of the iron roughneck according to the clamping state;

The clamping states comprise an unclamped state, a low clamping state and a high clamping state, and when the clamping state is the high clamping state, the working state of the iron roughneck is the load state.

9. The method according to any one of claims 1 to 5, wherein the lifting cylinder is connected with a lifting position acquisition device, the suspension cylinder is connected with a suspension position acquisition device, and the turnbuckle motor is connected with a rotation position acquisition device;

the step of obtaining the working state information of at least one of the arm support, the main clamp and the turnbuckle device comprises the following steps:

acquiring a height variation value of the arm support according to the lifting position acquisition device;

and/or, according to the suspension position acquisition device, acquiring a height variation value of the main clamp;

and/or acquiring the speed of the main clamp according to the suspension position acquisition device;

and/or, according to the rotary position acquisition device, acquiring an angle change value of the turnbuckle device;

and/or acquiring the rotating speed of the turnbuckle device according to the rotating position acquisition device.

10. The iron roughneck is characterized by comprising an arm support, a lifting oil cylinder driving the arm support to lift, a main clamp, a suspension oil cylinder driving the main clamp to move up and down, a clamping device, a clamping oil cylinder driving the clamping device to clamp, a turnbuckle device and a turnbuckle motor driving the turnbuckle device to rotate;

The arm support is connected with the main clamp and the turnbuckle device, the arm support is used for driving the main clamp and the turnbuckle device to integrally lift, and the clamping device is connected with the main clamp and used for clamping a drilling tool;

the iron roughneck further comprises a control device, the control device comprising:

the first acquisition module is used for acquiring the clamping state of the clamping device on the drilling tool and determining the working state of the iron roughneck according to the clamping state;

the second acquisition module is used for determining that the working state of the iron roughneck is a loaded state and acquiring the working state information of at least one of the arm support, the main clamp and the turnbuckle device;

and the execution module is used for executing abnormal adjustment operation on at least one of the lifting oil cylinder, the suspension oil cylinder and the clamping oil cylinder according to the working state information to meet the abnormal state requirement when the working state is in the loaded state.

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