CN116607895A - Drilling tool detection device, iron driller, drilling tool detection method and clamp body control method - Google Patents

Drilling tool detection device, iron driller, drilling tool detection method and clamp body control method Download PDF

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Publication number
CN116607895A
CN116607895A CN202310607275.0A CN202310607275A CN116607895A CN 116607895 A CN116607895 A CN 116607895A CN 202310607275 A CN202310607275 A CN 202310607275A CN 116607895 A CN116607895 A CN 116607895A
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China
Prior art keywords
drilling tool
detection
clamp body
jaw
rod
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CN202310607275.0A
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Chinese (zh)
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陈印
何波
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Sany Energy Equipment Co ltd
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Sany Energy Equipment Co ltd
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Priority to CN202310607275.0A priority Critical patent/CN116607895A/en
Publication of CN116607895A publication Critical patent/CN116607895A/en
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/16—Connecting or disconnecting pipe couplings or joints
    • E21B19/161—Connecting or disconnecting pipe couplings or joints using a wrench or a spinner adapted to engage a circular section of pipe
    • 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
    • E21B19/10—Slips; Spiders ; Catching devices

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Earth Drilling (AREA)

Abstract

The invention provides a drilling tool detection device, an iron driller, a drilling tool detection method and a clamp body control method, and relates to the technical field of drilling equipment, wherein the drilling tool detection device comprises: the device comprises two detection rods, an angle measuring device and a controller; each detection rod is used for being in rotary connection with a clamp body of an iron driller, passes through a jaw of the clamp body, and after a drilling tool enters the jaw, the detection rods are contacted with the drilling tool and pushed by the drilling tool to rotate; the angle measuring device is used for measuring the rotation angle of the detection rod; the controller is in signal connection with the angle measuring device and is used for positioning the drilling tool according to the rotation angle of the detection rod. The drilling tool detection device provided by the invention can position the drilling tool in real time, so that the iron driller is not only suitable for the working condition of fixed drilling tool positions, but also suitable for the working condition that the drilling tool positions cannot be accurately fixed, such as double-elevator operation, rat hole operation and the like, the working condition types suitable for the iron driller are enriched, and the popularization and the application of the iron driller are facilitated.

Description

Drilling tool detection device, iron driller, drilling tool detection method and clamp body control method
Technical Field
The invention relates to the technical field of drilling equipment, in particular to a drilling tool detection device, an iron driller, a drilling tool detection method and a clamp body control method.
Background
With the comprehensive popularization of the automatic drilling technology and equipment in China, higher requirements are put forward on the automation level, the application range, the equipment stability and the reliability of the automatic drilling equipment. The main operation steps (taking drill rod as an example) of the iron driller comprise extending the arm support, searching the drill rod, adjusting the height of the iron driller to adapt to a joint, screwing at a high speed and a low torque, screwing at a low speed and a high torque, loosening the drill rod, withdrawing the arm support and the like. In the step of finding the drilling tool after the arm support of the iron driller stretches out, the pliers of the iron driller must be ensured to accurately clamp the drilling tool, so that the drilling tool needs to be positioned at first.
Currently, when an iron driller works, the position of a drilling tool such as a drill rod is fixed through slips, position data is calibrated, the position data is recorded by the iron driller, and the iron driller works after reaching the recorded drilling tool position each time. Obviously, the method cannot be suitable for the working conditions that the positions of drilling tools such as double-elevator operation, mousehole operation and the like cannot be accurately fixed, and the types of the working conditions suitable for the iron driller adopting the working method are fewer.
Disclosure of Invention
The invention solves the problem of enriching the working condition types applicable to the iron roughneck.
In order to solve the above problems, the present invention provides a drilling tool detection device, including:
the device comprises two detection rods, an angle measuring device and a controller;
each detection rod is used for being in rotary connection with a clamp body of an iron driller, passes through a jaw of the clamp body, and after a drilling tool enters the jaw, the detection rods are contacted with the drilling tool and pushed by the drilling tool to rotate;
the angle measuring device is used for measuring the rotation angle of the detection rod;
the controller is in signal connection with the angle measuring device and is used for positioning the drilling tool according to the rotation angle of the detection rod.
Optionally, the drilling tool detection device comprises an elastic piece, one end of the elastic piece is connected with the detection rod, and the other end of the elastic piece is used for being connected with the clamp body.
Optionally, one end of the detecting rod is provided with a connecting part, the connecting part is used for being rotationally connected with the clamp body, and one end of the elastic piece is connected to a position, close to the connecting part, on the detecting rod.
Optionally, the detection rods rotate around a rotation axis, and a contact line of each detection rod and the drilling tool is coplanar with the rotation axis of the detection rod.
Optionally, the two detection rods are respectively connected to two sides of the jaw in a rotating way, the connection point of the two detection rods and the clamp body and the center of the clamp body are positioned on the same straight line perpendicular to the in-out direction of the jaw, and the center of the clamp body is the position of the jaw for installing a drilling tool.
Optionally, the two detection bars are symmetrically arranged with respect to the in-out direction of the jaws.
Optionally, the angle measurement device is used for setting up in the junction of inspection shaft with the pincers body.
The invention also provides an iron roughneck, which comprises a clamp body and the drilling tool detection device.
The invention also provides a drilling tool detection method, which is applied to the drilling tool detection device, and comprises the following steps:
acquiring the rotation angle of a detection rod in the drilling tool detection device;
and generating the position of the drilling tool according to the rotation angle.
Optionally, the generating the position of the drilling tool according to the rotation angle includes:
and generating the axle center position of the drilling tool according to the size of the drilling tool, the position of the connecting point of the detection rod and the clamp body and the rotation angle.
The invention also provides a method for controlling the clamp body of the iron roughneck, which comprises the following steps:
determining a position error between the drilling tool and the center of the clamp body by combining the position of the center of the clamp body and the position of the drilling tool generated based on the drilling tool detection method;
when the position error is larger than a preset value, controlling the clamp body to move towards the direction of reducing the position error;
and when the position error is smaller than the preset value, controlling the clamp body to execute clamping operation.
Compared with the prior art, the invention has at least the following beneficial effects:
according to the invention, the drilling tool detection device comprising the two detection rods, the angle measurement device and the controller is arranged, each detection rod is used for being rotationally connected with the clamp body of an iron driller and passing through the jaw of the clamp body, after the drilling tool enters the jaw, the detection rods are contacted with the drilling tool and pushed by the drilling tool to rotate, so that the movement of the drilling tool in the direction of entering the jaw is converted into the rotation movement of the detection rods, the angle measurement device is adopted to measure the rotation angle of the detection rods, the drilling tool is positioned by the controller based on the rotation angle of the detection rods, the position of the drilling tool can be quickly and efficiently detected, and the drilling tools with different sizes can be positioned in real time, so that the iron driller clamp body can be conveniently and quickly detected whether to align the drilling tool or not.
The position of the drilling tool is generated according to the rotation angle of the detection rod in the drilling tool detection device, the position error of the drilling tool and the center of the clamp body is determined, the clamp body is controlled to correspondingly move or carry out clamping operation according to the position error, so that the positioning detection of the drilling tool can be realized by relatively simple modification of an iron driller, the clamp body is correspondingly closed-loop controlled based on the positioning detection result of the drilling tool, the accuracy and the sensitivity of the clamp body control are improved, and the drilling tool can be subjected to real-time positioning detection due to the fact that the detection rod in the drilling tool detection device is in real time contact with the drilling tool, so that the iron driller is free from fear of working conditions such as double-elevator operation, rat hole operation and the like, and is free from fear of severe working conditions such as oil stains at a wellhead and vibration and the like.
Drawings
FIG. 1 is a schematic view of a part of an iron roughneck according to an embodiment of the present invention;
FIG. 2 is a schematic view of a portion of another embodiment of an iron roughneck according to an embodiment of the present invention;
FIG. 3 is a schematic view of a detection rod in a drilling tool detection device according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a method for detecting a drilling tool according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an embodiment of a method for controlling a clamp body of an iron roughneck according to the present invention.
Reference numerals illustrate:
1. the center of the clamp body; 2. a detection rod; 3. a rotation center; 4. an elastic member; 5. drilling tool; 6. and a jaw.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It should be understood that the drawings and embodiments of the invention are for illustration purposes only and are not intended to limit the scope of the present invention. The term "comprising" and variants thereof as used herein are open ended, i.e., "including, but not limited to"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "alternative embodiments". Related definitions of other terms will be given in the description below.
Referring to fig. 1, an embodiment of the present invention provides a drilling tool detection device, including: the two detection rods 2, the angle measuring device and the controller; each detection rod 2 is used for being connected with a clamp body of an iron roughneck in a rotating way, and after a drilling tool 5 enters the clamp opening 6 through the clamp opening 6 of the clamp body, the detection rods 2 are contacted with the drilling tool 5 and pushed by the drilling tool 5 to rotate; the angle measuring device is used for measuring the rotation angle of the detection rod 2; the controller is in signal connection with the angle measuring device and is used for positioning the drilling tool 5 according to the rotation angle of the detection rod 2.
The drilling tool detection device is used for being installed on a clamp body of an iron driller and detecting the position of the drilling tool 5 so as to ensure that the drilling tool 5 is placed at a correct position, and further ensure that the clamp body of the iron driller can accurately clamp the drilling tool 5. The clamp body is a main structure of an iron driller for clamping the drilling tool 5, and is provided with a jaw 6 extending towards the center of the clamp body for placing and clamping the drilling tool 5. The jaw 6 shown in fig. 1 can be a U-shaped opening, a rectangular opening or a C-shaped opening, and the jaw 6 with other shapes can be selected according to actual conditions.
The tool detection device comprises two detection bars 2, the detection bars 2 may be selected from long and thin metal bars, plastic bars or bars of other materials. The detection rod 2 passes through the jaw 6 of the clamp body, and the projection part of the detection rod 2 on the surface of the clamp body falls on the jaw 6, so that the drilling tool 5 can be contacted with the detection rod 2 after entering the jaw 6. When the drilling tool 5 is a pipe string of a drill pipe, a drill collar, a casing pipe and the like, each detection rod 2 is tangent to the cross section of the drilling tool 5.
For convenience of description, the connection point of the sensing lever 2 to the caliper body for rotation is referred to as a rotation center 3. The rotation center 3 is fixed and can be arranged at a position on the forceps body, which is deviated to the inlet side of the jaw 6, or at a position on the forceps body, which is deviated to the center 1 side.
In one embodiment, as shown in fig. 1, one end of each detecting rod 2 is rotatably connected to the pliers body, and the other end of each detecting rod 2 passes through the jaw 6 of the pliers body. In the initial state, the two detection rods 2 pass through the jaw 6 and can be parallel to each other or can be crossed with each other. After the drilling tool 5 enters the jaw 6, the two detection rods 2 are blocked on the travel of the drilling tool 5 towards the center 1 of the clamp body, each detection rod 2 is contacted with the drilling tool 5, and the drilling tool 5 pushes the two detection rods 2 to rotate around the rotation center 3 of the detection rods. After the drilling tool 5 enters the jaw 6, the two detection rods 2 can cross the jaw 6 under the pushing of the drilling tool 5 to form a scissor-shaped structure. Wherein the clamp body center 1 refers to the position in the clamp mouth for installing the drilling tool 5.
The angle sensor can be arranged at one end of the detection rod 2, which is close to the rotation center 3, and can also be used for being arranged at the joint of the detection rod and the clamp body, namely, the angle sensor is arranged at the rotation center 3, so that the rotation angle of the detection rod 2 is directly measured, and the timely and accurate acquisition of the rotation angle is realized.
The controller is in signal connection with the drilling tool detection device, after the drilling tool 5 pushes the detection rod 2 to rotate, the angle sensor measures the rotation angle of the detection rod 2 and transmits the rotation angle to the controller, and the controller determines the position of the drilling tool 5 according to the rotation angle of the detection rod 2, so that the detection of the position of the drilling tool 5 is realized. The controller comprises a singlechip or a PLC and other devices.
According to the embodiment of the invention, the drilling tool detection device comprising the two detection rods 2, the angle measurement device and the controller is arranged, each detection rod 2 is used for being in rotary connection with the jaw body of an iron driller, after the drilling tool 5 enters the jaw 6 through the jaw 6 of the jaw body, the detection rod 2 is contacted with the drilling tool 5 and is pushed by the drilling tool 5 to rotate, so that the movement of the drilling tool 5 in the direction of entering the jaw 6 is converted into the rotary motion of the detection rod 2, the angle measurement device is adopted for measuring the rotary angle of the detection rod 2, and the controller is used for positioning the drilling tool 5 based on the rotary angle of the detection rod 2, so that the position of the drilling tool can be detected quickly and efficiently, and whether the iron driller jaw body is aligned or not can be detected conveniently and quickly and efficiently.
In the prior art, the approach switch is arranged on the back-up wrench to detect whether the drilling tool approaches to the scheme for realizing the positioning of the drilling tool, because the approach switch can only detect the drilling rod along one direction and the detection distance is fixed, when the drilling tools with different rod diameters are replaced, the accurate judgment can not be performed any more, and the scheme in the prior art can not realize the accurate positioning of the drilling tools with different sizes. According to the drilling tool detection device provided by the embodiment of the invention, the detection rod 2 is in direct physical contact with the drilling tool 5, the positioning of the drilling tool 5 is realized based on the physical contact, and the difference of the rod diameters of the drilling tools does not affect the direct physical contact between the detection rod 2 and the drilling tool 5, namely the accuracy of positioning drilling tools with different sizes by the drilling tool detection device is not affected, so that an iron driller adopting the drilling tool detection device provided by the embodiment of the invention can position drilling tools with different sizes in real time.
When the double elevator works, the axle center of the drilling tool can randomly fluctuate within a certain range, and when the mousehole works, the axle center of the drilling tool can randomly tilt as well as fluctuate within a certain range. In the prior art, the position of a drilling tool such as a drill rod is fixed through slips, position data are calibrated, the drilling tool is recorded by an iron driller, the error of the way that the iron driller works when reaching the recorded drilling tool position every time is large, and the drilling tool cannot be accurately positioned. According to the drilling tool detection device provided by the embodiment of the invention, the detection rod 2 is in direct physical contact with the drilling tool 5, the positioning of the drilling tool 5 is realized based on the physical contact, and the drilling tool 5 moves, so that the accuracy of positioning the drilling tool by the drilling tool detection device cannot be affected, an iron driller adopting the drilling tool detection device provided by the embodiment of the invention is suitable for the working conditions of fixing the position of the drilling tool, and also suitable for the working conditions of incapability of accurately fixing the position of the drilling tool such as double-elevator operation, mousehole operation and the like, the working condition types suitable for the iron driller are enriched, and popularization and application of the iron driller are facilitated.
Optionally, the drilling tool detection device comprises an elastic member 4, one end of the elastic member 4 is connected with the detection rod 2, and the other end of the elastic member 4 is used for being connected with the forceps body.
The elastic member 4 may be a spring, specifically, a compression spring, or a torsion spring. After the drilling tool 5 enters the jaw 6, the drilling tool 5 pushes the detection rod 2 to rotate around the rotation center 3 of the detection rod, the detection rod 2 applies acting force to the elastic piece 4, the elastic piece 4 provides reverse acting force for the detection rod 2, and therefore the detection rod 2 is tightly attached to the drilling tool 5, and accuracy of detection of the position of the drilling tool 5 is improved.
In one embodiment, as shown in fig. 1, a connecting portion is disposed at one end of the detecting rod 2, the connecting portion is used for rotationally connecting with the pliers body, and one end of the elastic member is connected to a position on the detecting rod 2 near the connecting portion.
The connection part of the detection rod 2 is used for being rotationally connected with the clamp body, and the connection point of the detection rod 2 and the clamp body which are rotationally connected is called a rotation center 3. As shown in fig. 1, the detecting rod 2 has two ends, one end of the detecting rod is provided with a connecting part, and the connecting point of the elastic piece and the detecting rod 2 is positioned on the detecting rod 2 near the end where the connecting part is positioned.
In this embodiment, one end of the elastic member 4 is connected to the detection rod 2 at a position close to the connection portion, and the other end of the detection rod 2 is not required to be connected to other devices, so that the whole drilling tool detection device can be completely and freely rotated, and the whole drilling tool detection device is more flexible.
Of course, the connection position between one end of the elastic member and the detecting rod 2 is not limited to the above embodiment, for example, as shown in fig. 2, in another embodiment, the elastic member may be connected to one end of the detecting rod 2 away from the connection portion, so that the detecting rod is convenient to restore to its original position after the measurement is completed, specifically, the two detecting rods 2 are respectively used for being rotatably connected to two sides of the jaw 6, the elastic member 4 corresponds to the detecting rod 2 connected thereto, one end of the elastic member 4 is connected to one end of the corresponding detecting rod 2 away from the rotation center 3, and the other end of the elastic member 4 is connected to the clamp body. One end of the detecting rod 2 extends to the other side of the clamp body through the jaw, one end of the elastic piece 4 is connected with the tail end of the detecting rod 2, and the other end of the elastic piece 4 is connected with the clamp body where the tail end of the detecting rod 2 is located.
Alternatively, the sensing rods 2 are rotated about the rotational axis, and the line of contact of each sensing rod 2 with the drill 5 is coplanar with the rotational axis of the sensing rod 2.
Wherein the drilling tool 5 comprises a pipe column such as a drill rod, a drill collar, a casing pipe and the like, so that the detection rod 2 is in line contact with the drilling tool 5.
Fig. 3 shows a top view of the inspection shaft 2, the point a in fig. 3 is the contact line between the inspection shaft 2 and the drilling tool 5, and the point O is the rotation axis of the inspection shaft 2. The detecting rod 2 is used for being connected with the pliers body in a rotating way, and rotates around the rotating shaft O, the rotating shaft O of the detecting rod 2 is arranged on the same plane as the contact line of the detecting rod 2 and the drilling tool 5, after the detecting rod 2 is connected with the pliers body, the position of the rotating shaft O is fixed, so that the straight line where the contact line of the detecting rod 2 and the drilling tool 5 is positioned can be defined based on the position of the rotating shaft O and the rotating angle of the detecting rod 2, the axle center of the drilling tool 5 is calculated based on the position where the straight line where the contact line is tangential to the cross section of the drilling tool 5, and the calculation is referred to as follows, at the moment, the distance from the axle center of the drilling tool 5 to the straight line where the contact line is just equal to the radius of the cross section of the drilling tool 5, the calculation difficulty of positioning the drilling tool 5 according to the rotating angle of the detecting rod 2 can be reduced, and the positioning efficiency is improved.
As shown in fig. 1, the connection points (i.e., the rotation centers 3) of the two detection bars 2 and the two sides of the jaw 6 can be disposed at positions on the two sides of the jaw 6, which are biased toward the inlet side of the jaw 6.
As shown in fig. 2, the connection points (i.e., the rotation centers 3) of the two detection bars 2 and the two sides of the jaw 6 can be disposed at the positions of the two sides of the jaw 6, which are biased to the sides of the center 1 of the jaw. Optionally, the two detecting rods 2 are respectively connected to two sides of the jaw 6 in a rotating manner, the connection point of the two detecting rods 2 and the clamp body and the center 1 of the clamp body are positioned on the same straight line perpendicular to the in-out direction of the jaw 6, and the center 1 of the clamp body is the position of the jaw 6 for installing the drilling tool 5.
As shown in fig. 2, a rectangular coordinate system is constructed by taking the center 1 of the clamp body as an origin, taking the in-out direction of the jaw 6 as a Y axis and taking the in-out direction perpendicular to the jaw 6 as an X axis. The connection point (i.e., the rotation center 3) of the two detection levers 2 to the caliper body is set at the point (L2, 0), (-L1, 0) in fig. 1.
Moving the rotation center 3 to a position that is biased toward the jaw center 1 side results in higher sensitivity and accuracy of the tool detection device when the tool 5 is about to reach the jaw center 1, as the tool 5 is moved in a direction closest to the vertical detection bar 2, and the tool 5 is moved the same distance, the rotation angle of the detection bar 2 is greater, and thus the accuracy is higher, than if the rotation center 3 is set to a position that is biased toward the inlet side of the jaw 6.
Alternatively, the two detection bars 2 are symmetrically arranged with respect to the in-out direction of the jaws 6.
In the embodiment shown in fig. 1, l1=l2, h1=h2. In the embodiment shown in fig. 2, l1=l2. Therefore, the calculation difficulty of positioning the drilling tool 5 according to the rotation angle of the detection rod 2 can be reduced, and the positioning efficiency is improved.
The iron roughneck provided by the other embodiment of the invention comprises a clamp body and the drilling tool detection device. The specific structure and effect thereof have been described above and are not repeated here.
The drilling tool detection method according to the present invention is applied to the drilling tool detection device described above, and the corresponding program of the drilling tool detection method according to the present invention can be executed by a controller in the drilling tool detection device. As shown in fig. 4, the drilling tool detection method includes: acquiring the rotation angle of a detection rod in the drilling tool detection device; and generating the position of the drilling tool according to the rotation angle.
Wherein the controller receives the rotation angle of the detection rod 2 transmitted by the angle measuring device.
The position of the drilling tool 5 is calculated according to the rotation angle, and the position of the drilling tool 5 can be specifically represented by the axial center position of the drilling tool 5. For the axial position of the drilling tool 5, specifically, the generating the position of the drilling tool 5 according to the rotation angle includes: the axial center position of the drilling tool 5 is generated according to the size of the drilling tool 5, the position of the connecting point of the detection rod 2 and the clamp body and the rotation angle.
Wherein, drilling tool 5 belongs to the standard component, can set up the drilling tool 5 model of using at the host computer during operation, can inquire out the size of drilling tool 5 according to drilling tool 5 model, and the size of drilling tool 5 here includes the cross section radius of drilling tool 5.
The position of the connecting point of the detecting rod 2 and the clamp body is a fixed position, and the position of the connecting point can be stored in advance and can be called when needed.
Further, as shown in fig. 1-2, with the center 1 of the pliers body of the iron roughneck as the origin, with the in-out direction of the pliers mouth 6 as the Y axis, and with the direction perpendicular to the Y axis as the X axis, a coordinate system is established, the coordinates of the rotation centers 3 corresponding to the two detection rods are (-L1, H1), (L2, H2) respectively, the detection rods 2 rotate around the rotation axes, the contact line of each detection rod 2 with the drilling tool 5 is coplanar with the rotation axis of the detection rod 2, the angles between the two detection rods and the X axis are respectively β1 and β2, β1 and β2 can be obtained according to the rotation angles of the two detection rods respectively, for example, the initial states before the rotation of the two detection rods are parallel to the X axis, at this time β1 and β2 are respectively equal to the rotation angles of the two detection rods, if the initial states before the rotation of the two detection rods are not parallel to the X axis, at this time β1 and β2 can be calculated according to the initial angles of the two detection rods relative to the X axis and the rotation angles of the two detection rods respectively, the axis coordinates of the axis 5 is (X0, Y0), and the steps of the drilling tool is calculated as follows:
wherein, because the inspection bars 2 rotate around the rotation axis, the contact line of each inspection bar 2 and the drilling tool 5 is coplanar with the rotation axis of the inspection bar 2, the first inspection bar straight line and the second inspection bar straight line pass through the corresponding rotation center 3, thus constructing the following straight line equation:
constructing a first detection rod linear equation: y-h1= -tan β1 (x+l1) (1)
Constructing a second detection rod linear equation: y-h2=tan β2 (x-L2) (2)
The distance from the axis (x 0, y 0) of the drilling tool 5 to the straight line where the two detection rods are located is the radius R of the cross section of the drilling tool, and the formula of the distance from the point to the straight line is shown as follows:
where A, B, C is the coefficient of the linear equation. By combining the formulas (1) and (2), the following can be obtained:
in the method, in the process of the invention,y0∈(0,H1),x0∈(-L1,L2)
the method can obtain:
since the point (x 0, y 0) is always located above the straight line (1) and the straight line (2), then:
|y0+tanβ1x0+tanβ1L1-H1|>0
|y0-tanβ2x0-tanβ2L2-H2|>0
the formulas (3) (4) are simplified as:
let formulas (5) - (6) obtain:
namely:
then:
according to formula (6):
in one embodiment, the rotation center 3 of the detection lever is symmetrically arranged about the y-axis, and l1=l2=l, h1=h2=h, and then:
referring to fig. 5, another embodiment of the present invention provides a method for controlling a clamp body of an iron roughneck, comprising:
determining a position error between the drilling tool 5 and the clamp body center 1 by combining the position of the clamp body center 1 and the position of the drilling tool 5 generated by the drilling tool detection method; when the position error is larger than a preset value, the clamp body is controlled to move towards the direction of reducing the position error; and when the position error is smaller than a preset value, controlling the clamp body to execute clamping operation.
The rotation angle reflects the position of the detection rod 2 and thus the position of the drilling tool 5. The position of the clamp body center 1 is a preset known quantity, so that the position error of the drilling tool 5 and the clamp body center 1 can be determined according to the rotation angle.
In one embodiment, the rotation angle can reflect the position of the detection rod 2, and thus the position of the drilling tool 5, so that the position of the drilling tool 5 can be represented by a rotation angle pair. Pre-storing a preset angle corresponding to the clamp body center 1, comparing the actual rotation angle of the detection rod 2 sent by the drilling tool detection device with the preset angle, and determining the position error of the drilling tool 5 and the clamp body center 1. Taking two detection rods 2 as an example, the two detection rods 2 correspond to two actual rotation angles, two angles corresponding to the clamp body center 1 are preset, the two actual rotation angles are respectively compared with the two angles corresponding to the clamp body center 1, difference values of the two actual rotation angles and the two angles corresponding to the clamp body center 1 are respectively calculated, and the two difference values are used as position errors of the drilling tool 5 and the clamp body center 1.
When the position error between the drilling tool 5 and the clamp body center 1 is larger than a preset value, the position error between the drilling tool 5 and the clamp body center 1 is larger, and the clamp body needs to be controlled to rotate, extend or retract to move towards the direction of reducing the position error.
In one embodiment, the drilling tool detection device has two detection rods 2 corresponding to two rotation angles, two angles corresponding to the center 1 of the clamp body are preset, two difference values are generated respectively, the two difference values are compared with the preset value respectively, if both difference values are larger than the preset value, the clamp body is controlled to move towards the direction of reducing the two difference values at the same time, if only one of the two difference values is larger than the preset value, the clamp body is also controlled to rotate, extend or retract, and the clamp body is controlled to move towards the direction of reducing the difference value larger than the preset value.
In another embodiment, the axial position of the drilling tool 5 is generated according to the size of the drilling tool 5, the position of the connecting point of the detection rod 2 and the clamp body, and the rotation angle, and the difference between the axial position of the drilling tool 5 and the position of the clamp body center 1 is calculated as the position error. For the explanation of the foregoing examples, the center 1 of the body of the iron roughneck is taken as the origin, the direction of the jaws 6 going in and out is taken as the Y axis, the direction perpendicular to the Y axis is taken as the X axis, a coordinate system is established, and the axis coordinates of the drilling tool 5 are (X 0 ,y 0 ) Position error delta of the axle center of the drilling tool 5 relative to the clamp body center 1 in the X direction and the Y direction X And delta Y The method comprises the following steps of:
Δ X ＝|x 0 |
Δ Y ＝|y 0 |
when delta X And delta Y When at least one of the two is larger than the corresponding preset value, the position error is judged to be larger than the preset value, and the clamp body is controlled to move towards the direction of reducing the position error. When delta X And delta Y And when the position errors are smaller than the corresponding preset values, judging that the position errors are smaller than the preset values.
When the position error of the drilling tool 5 and the clamp body center 1 is smaller than a preset value, the position coincidence of the drilling tool 5 and the clamp body center 1 is judged, and the clamp body can be controlled to execute clamping operation.
According to the embodiment of the invention, the position of the drilling tool 5 is generated according to the rotation angle of the detection rod 2 in the drilling tool detection device, the position error of the drilling tool 5 and the clamp body center 1 is determined, and the clamp body is controlled to correspondingly move or carry out clamping operation according to the position error, so that the positioning detection of the drilling tool 5 can be realized by relatively simple modification of an iron driller, and further, the clamp body is correspondingly closed-loop controlled based on the positioning detection result of the drilling tool 5, the accuracy and the sensitivity of clamp body control are improved, and the drilling tool 5 can be subjected to real-time positioning detection due to the fact that the detection rod 2 in the drilling tool detection device is in real-time contact with the drilling tool 5, so that the iron driller is free from the working conditions such as double-elevator operation, rat hole operation and the like, and is free from the severe working conditions such as oil stain at a wellhead and vibration.
Optionally, the method for controlling the clamp body of the iron roughneck further comprises: before the position of the drilling tool 5 is calculated, the vibration and noise interference of the clamp body are weakened through a filtering algorithm, so that the accuracy of the position error of the drilling tool 5 and the preset clamp body center 1 is improved.
For ease of understanding, the following example description is given: when the iron roughneck performs the tripping operation, the drilling tool 5 is opened from the jaw 6 until the axis (x) 0 ,y 0 ) When the clamp body center 1O (0, 0) coincides with or the distance error is smaller than a preset value, the clamping clamp tightens towards the middle, clamps the drilling tool 5 and performs subsequent shackle operation. Wherein the detection bars 2 rotate around the rotation axis, and the contact line of each detection bar 2 and the drilling tool 5 is coplanar with the rotation axis of the detection bar 2. When the drilling tool 5 enters from the jaw 6, the drilling tool 5 can press the two detection rods 2 to rotate, and meanwhile the two detection rods 2 are tightly attached to the drilling tool 5 under the action of the compression springs. At this time, the two angle sensors respectively read the rotation angles β of the two detection levers 2 1 And beta 2 By beta 1 And beta 2 And the value of the radius R of the drilling tool 5, the controller calculates the axial center position (X 0 ,Y 0 )。
Although the present disclosure is disclosed above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the disclosure.

Claims (11)

1. A drilling tool inspection apparatus, comprising:
the device comprises two detection rods (2), an angle measuring device and a controller;
each detection rod (2) is used for being connected with a clamp body of an iron driller in a rotating way, and passes through a jaw (6) of the clamp body, and after a drilling tool (5) enters the jaw (6), the detection rods (2) are contacted with the drilling tool (5) and pushed by the drilling tool (5) to rotate;
the angle measuring device is used for measuring the rotation angle of the detection rod (2);
the controller is in signal connection with the angle measuring device and is used for positioning the drilling tool (5) according to the rotation angle of the detection rod (2).
2. Drilling tool detection device according to claim 1, characterized in that the drilling tool detection device comprises an elastic member (4), one end of the elastic member (4) is connected with the detection rod (2), and the other end of the elastic member (4) is used for being connected with the clamp body.
3. Drilling tool detection device according to claim 2, characterized in that one end of the detection rod (2) is provided with a connecting part for rotational connection with the clamp body, and one end of the elastic member is connected to the detection rod (2) at a position close to the connecting part.
4. A drill detection device according to any one of claims 1 to 3, characterized in that the detection bars (2) are rotated about a rotational axis, the line of contact of each detection bar (2) with the drill (5) being coplanar with the rotational axis of the detection bar (2).
5. A drill tool testing device according to any one of claims 1-3, characterized in that two of the testing bars (2) are adapted to be rotatably connected to both sides of the jaw (6), respectively, the connection point of the two testing bars (2) to the jaw body and the centre (1) of the jaw body being in the same line perpendicular to the direction of entry and exit of the jaw (6), the centre (1) of the jaw body being the location of the jaw (6) for mounting a drill tool (5).
6. Drilling tool detection device according to claim 5, characterized in that two detection bars (2) are symmetrically arranged with respect to the in and out direction of the jaws (6).
7. A drill detection device according to any one of claims 1 to 3, wherein the angle measurement device is adapted to be located at the junction of the detection bar and the clamp body.
8. An iron roughneck comprising a clamp body and a drill detection apparatus as claimed in any one of claims 1 to 7.
9. A drill detection method, applied to the drill detection device according to any one of claims 1 to 7, comprising:
acquiring the rotation angle of a detection rod (2) in the drilling tool detection device;
and generating the position of the drilling tool (5) according to the rotation angle.
10. The drill detection method according to claim 9, wherein the generating the position of the drill (5) as a function of the rotation angle comprises:
and generating the axle center position of the drilling tool (5) according to the size of the drilling tool (5), the position of the connecting point of the detection rod (2) and the clamp body and the rotation angle.
11. The method for controlling the clamp body of the iron roughneck is characterized by comprising the following steps:
determining a position error of the drilling tool (5) and the clamp body center (1) by combining the position of the clamp body center (1) and the position of the drilling tool (5) generated based on the drilling tool detection method as claimed in claim 9 or 10;
when the position error is larger than a preset value, the clamp body is controlled to move towards the direction of reducing the position error;
and when the position error is smaller than the preset value, controlling the clamp body to execute clamping operation.
CN202310607275.0A 2023-05-26 2023-05-26 Drilling tool detection device, iron driller, drilling tool detection method and clamp body control method Pending CN116607895A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310607275.0A CN116607895A (en) 2023-05-26 2023-05-26 Drilling tool detection device, iron driller, drilling tool detection method and clamp body control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310607275.0A CN116607895A (en) 2023-05-26 2023-05-26 Drilling tool detection device, iron driller, drilling tool detection method and clamp body control method

Publications (1)

Publication Number Publication Date
CN116607895A true CN116607895A (en) 2023-08-18

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310607275.0A Pending CN116607895A (en) 2023-05-26 2023-05-26 Drilling tool detection device, iron driller, drilling tool detection method and clamp body control method

Country Status (1)

Country Link
CN (1) CN116607895A (en)

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