CN116905985A - Clamping control method and device for iron roughneck, iron roughneck and storage medium - Google Patents

Abstract

The invention relates to the field of iron driller control, and discloses a clamping control method and device for an iron driller, the iron driller and a storage medium, wherein the method comprises the following steps: the method comprises the steps of obtaining suspension displacement of a suspension oil cylinder and a rotation angle of a rotation motor in an iron roughneck, wherein the suspension oil cylinder is used for controlling suspension movement of a main clamp, and the rotation motor is used for controlling screwing movement of the main clamp; calculating the rotating speed of a rotating motor through the rotating angle, and calculating the suspension speed of the main clamp during suspension movement through suspension displacement; calculating a theoretical pitch parameter of the drill rod according to the suspension speed and the rotating speed, and identifying whether the iron roughneck rotates and slips or not according to the corresponding relation between the actual pitch parameter and the theoretical pitch parameter of the drill rod; when the iron driller rotates and skids, the pressure of the clamping oil cylinder in the iron driller is adjusted so as to increase the clamping force of the main clamp and/or the auxiliary clamp of the iron driller. The invention improves the accuracy and timeliness of the iron roughneck slipping phenomenon identification, and further improves the timeliness of the clamping force control.

Description

Clamping control method and device for iron roughneck, iron roughneck and storage medium

Technical Field

The invention relates to the field of iron roughneck control, in particular to a clamping control method and device for an iron roughneck, the iron roughneck and a storage medium.

Background

The iron driller is a petroleum machine, and is used as a core device for pipe column automation, and is mainly used for carrying out the tripping operation on a drill rod at a wellhead and a mousehole of a drilling platform surface. The main action mechanisms of the iron driller comprise an arm support, a main clamp and an auxiliary clamp. The working process of the iron roughneck is generally as follows: the cantilever crane is controlled to rotate to the angle of the drill rod, then the cantilever crane is controlled to lift to the height corresponding to the threaded joint of the drill rod, the cantilever crane is controlled to stretch to the amplitude of the drill rod again, then the auxiliary clamp and the main clamp are controlled to clamp the drill rod at two sides of the threaded joint of the drill rod respectively, the auxiliary clamp positioned below is fixed, the main clamp positioned above performs the work of screwing, punching or screwing off, and the main clamp synchronously performs suspension movement along with the up-and-down displacement generated by the rotation of the drill rod during screwing and screwing off.

When the main clamp and the auxiliary clamp rotate the drill rod, the auxiliary clamp needs to clamp the drill rod, the main clamp needs to clamp the drill rod in the process of punching and screwing, and when the clamping force of the main clamp or the auxiliary clamp is smaller, the phenomenon of slipping possibly occurs between the clamping clamp and the drill rod. The slipping is an abnormal working condition, the working efficiency is reduced if the slipping is light, the clamping pliers or the drill rod can be damaged if the slipping is heavy, in some technologies, the slipping is generally discovered and taken by operators, the slipping phenomenon of an iron driller is usually not timely discovered, the clamping force of the iron driller cannot be timely adjusted, and the abnormal working condition cannot be timely handled. Based on this, a scheme capable of timely finding the slipping phenomenon of the iron roughneck and adjusting the clamping force of the iron roughneck is needed.

Disclosure of Invention

In view of the above, the invention provides a clamping control method and device for an iron roughneck, the iron roughneck and a storage medium, so as to solve the problem of untimely adjustment of clamping force caused by inaccurate and untimely identification of slipping phenomenon of the iron roughneck.

In a first aspect, the present invention provides a method for controlling clamping of an iron roughneck, the method comprising: the method comprises the steps of obtaining suspension displacement of a suspension oil cylinder and a rotation angle of a rotation motor in an iron roughneck, wherein the suspension oil cylinder is used for controlling suspension movement of a main clamp, and the rotation motor is used for controlling screwing movement of the main clamp; calculating the rotating speed of a rotating motor through the rotating angle, and calculating the suspension speed of the main clamp during suspension movement through suspension displacement; calculating a theoretical pitch parameter of the drill rod according to the suspension speed and the rotating speed, and identifying whether the iron roughneck rotates and slips or not according to the corresponding relation between the actual pitch parameter and the theoretical pitch parameter of the drill rod; when the iron driller rotates and skids, the pressure of the clamping oil cylinder in the iron driller is adjusted so as to increase the clamping force of the main clamp and/or the auxiliary clamp of the iron driller.

According to the embodiment, the characteristic that the self screw pitch of the drill rod is unchanged is combined, and theoretical screw pitch parameters related to screw pitch can be calculated according to the ratio and the quantitative relation between the rotating speed of the drill rod and the suspension speed of up-down displacement aiming at the advancing process of the screwing or unscrewing of the drill rod. In the embodiment, when the clamping pliers of the iron roughneck do not rotationally slip, the suspension displacement generated by the suspension oil cylinder should be changed stably, and accordingly the calculated suspension speed should be stable within a certain time, so that the calculated theoretical pitch parameter should have a stable and difficult-to-change corresponding relation with the actual pitch parameter of the drill rod. When the clamping force of the clamping pliers of the iron roughneck is small and rotary slipping occurs, the rotation number of turns of the drill rod is reduced, the suspension displacement generated by the suspension oil cylinder is smaller than the theoretical suspension displacement, accordingly the calculated suspension speed is changed within a certain time, and accordingly the error between the calculated theoretical pitch parameter and the actual pitch parameter of the drill rod is increased.

In an alternative embodiment, the method further comprises: the method comprises the steps of obtaining the pressure of a clamping oil cylinder in an iron roughneck, and calculating the clamping force of a main clamp and/or an auxiliary clamp according to the pressure of the clamping oil cylinder; recording a suspension initial position of the suspension cylinder according to the clamping force and the rotation angle; determining the suspension increment of the suspension cylinder according to the difference value between the suspension displacement and the suspension initial position; judging whether the iron roughneck axially slips according to the relation between the suspension increment and a preset increment threshold; when the iron driller axially slips, the pressure of the clamping oil cylinder in the iron driller is adjusted so as to increase the clamping force of the main clamp and/or the auxiliary clamp of the iron driller.

The embodiment also accurately identifies the axial slipping phenomenon caused by small clamping force of the iron drilling tool. Specifically, according to the pressure and the rotation angle of the clamping oil cylinder, firstly recording the suspension initial position of the suspension oil cylinder, and then calculating the difference value between the suspension displacement and the suspension initial position in real time to determine the suspension increment of the suspension oil cylinder. If the iron roughneck does not axially slip, the suspension increment should be uniform, stably changed and kept the same with the axial displacement of the drill rod, when the roughneck axially slips, the displacement of the suspension cylinder is larger than the axial displacement of the drill rod, so that the calculated suspension increment can generate larger errors.

In an alternative embodiment, the theoretical pitch parameter of the drill rod is calculated from the levitation speed and the rotational speed, comprising: calculating the ratio of the suspension speed to the upper rotating speed to obtain the theoretical pitch parameter.

According to the method, the measured screw pitch of the drill rod is calculated through the ratio of the suspension speed to the rotating speed, the measured screw pitch is directly used as a theoretical screw pitch parameter, other algebraic processing is not performed, the subsequent comparison step of the theoretical screw pitch parameter and the actual screw pitch parameter is simple and easy, and the accuracy and the efficiency of the rotation slip identification are further improved.

In an alternative embodiment, identifying whether the iron roughneck is rotating slipping through the correspondence between the actual pitch parameter and the theoretical pitch parameter of the drill pipe comprises: acquiring the screw pitch of a drill rod as an actual screw pitch parameter; calculating a parameter difference value between a theoretical pitch parameter and an actual pitch parameter; and when the parameter difference value is larger than a preset parameter threshold value, judging that the iron roughneck rotates and slips.

In the embodiment, a certain error redundancy exists in the theoretical pitch parameter and the actual pitch parameter, so that a parameter difference value of the theoretical pitch parameter and the actual pitch parameter is calculated; and secondly, when the parameter difference value is larger than a preset parameter threshold value, judging that the iron roughneck rotates and slips. The situation that the pressure is frequently adjusted by the clamping oil cylinder due to false alarm generated when the difference between the theoretical pitch parameter and the actual pitch parameter is smaller is avoided.

In an alternative embodiment, recording the initial position of suspension of the suspension cylinder according to the clamping force and the rotation angle includes: identifying an initial state that the iron roughneck has clamped the drill rod and has not performed the turnbuckle based on the clamping force and the rotation angle; and acquiring initial suspension displacement of the suspension cylinder when the iron roughneck is in an initial state, and taking the initial suspension displacement as a suspension initial position.

According to the method, the initial state that the iron roughneck has clamped the drill rod and is not screwed is identified through the clamping force and the rotation angle, and the initial suspension displacement of the suspension oil cylinder is indirectly recorded through directly identifying the initial state, so that accurate recording of the suspension initial position is achieved.

In an alternative embodiment, identifying an initial state in which an iron roughneck has gripped a drill pipe and is not making a stab based on a gripping force and a rotation angle, comprising: judging whether the clamping force is larger than a preset clamping force threshold value or not; when the clamping force is larger than a preset clamping force threshold value, calculating the angular speed of the rotary motor through the rotation angle; when the angular speed is smaller than a preset angular speed threshold, recording the current state of the iron roughneck as an initial state.

According to the method, whether the clamping pliers of the iron roughneck clamp the drill rod or not is quantitatively judged through the preset clamping force threshold value, and then the state when the angular speed analysis of the rotary motor is smaller than the preset angular speed threshold value is regarded as the initial state that the iron roughneck clamps the drill rod and the rotary motor does not rotate, so that the method for quantitatively identifying the initial state of the iron roughneck is realized, and the accuracy rate for identifying the initial state of the iron roughneck is improved.

In an alternative embodiment, determining whether the iron roughneck is axially slipping according to the magnitude relationship between the levitation increment and the preset increment threshold comprises: counting the suspension increment at preset time intervals when an iron roughneck carries out turnbuckle; sequentially comparing the suspension increment counted at each moment with a preset increment threshold corresponding to each moment; when the suspension increment at a certain moment is larger than a preset increment threshold value at a corresponding moment, judging that axial slip occurs to the iron roughneck.

For the work of the button-up or button-off of the drill rod, the work process is a continuous process, and in order to further improve the accuracy of the axial slip identification, a plurality of preset increment thresholds are respectively set according to different work moments, so that the current suspension increment is compared with the corresponding preset increment threshold at preset time intervals, and once the suspension increment at a certain moment is larger than the preset increment threshold at the corresponding moment, the axial slip of an iron roughneck is judged, so that the real-time monitoring scheme for the axial slip phenomenon of the iron roughneck is realized.

In a second aspect, the present invention provides a clamping control device for an iron roughneck, the device comprising: the data acquisition module is used for acquiring the suspension displacement of a suspension oil cylinder and the rotation angle of a rotary motor in an iron roughneck, wherein the suspension oil cylinder is used for controlling the suspension movement of the main clamp, and the rotary motor is used for controlling the screwing movement of the main clamp; the speed calculation module is used for calculating the rotating speed of the rotating motor through the rotating angle and calculating the suspension speed of the main clamp during suspension movement through suspension displacement; the slip identification module is used for calculating theoretical pitch parameters of the drill rod according to the suspension speed and the rotating speed, and identifying whether the iron roughneck rotates and slips or not according to the corresponding relation between the actual pitch parameters and the theoretical pitch parameters of the drill rod; and the clamping control module is used for adjusting the pressure of the clamping oil cylinder in the iron driller when the iron driller rotates and skids so as to increase the clamping force of the main clamp and/or the auxiliary clamp of the iron driller.

In a third aspect, the present invention provides an iron roughneck comprising: the device comprises a memory, a processor, a clamping oil cylinder, a clamping pressure sensor, a clamping control valve, a clamping control device, a suspension oil cylinder, a suspension displacement sensor, a suspension control valve, a suspension control device, a rotary motor, a rotary angle sensor, a rotary control valve and a rotary control device; the memory is in communication with the processor, and the memory stores computer instructions that are executed by the processor to perform the method of the first aspect or any of the corresponding embodiments thereof; the processor is respectively in communication connection with the clamping control device, the suspension control device and the rotation control device; the clamping control device is in communication connection with the clamping control valve and is used for controlling the rotary control valve to act; the suspension control device is in communication connection with the suspension control valve and is used for controlling the suspension control valve to act; the rotation control device is in communication connection with the rotation control valve and is used for controlling the rotation control valve to act; the clamping oil cylinder, the clamping pressure sensor and the clamping control valve are hydraulically connected; the suspension cylinder, the suspension displacement sensor and the suspension control valve are hydraulically connected; the rotary motor, the rotary angle sensor and the rotary control valve are hydraulically connected; the clamping pressure sensor, the suspension displacement sensor and the rotation angle sensor are also respectively in communication connection with a corresponding clamping control device, a corresponding suspension control device and a corresponding rotation control device; the clamping control valve, the suspension control valve and the rotation control valve are respectively used for controlling actions of the clamping oil cylinder, the suspension oil cylinder and the rotation motor; the clamping oil cylinder, the suspension oil cylinder and the rotary motor are respectively used for realizing the clamping of an iron roughneck, the suspension of the main clamp and the screwing of the main clamp.

In a fourth aspect, the present invention provides a computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of the first aspect or any of its corresponding embodiments.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present 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 flow chart of a clamping control method for an iron roughneck according to an embodiment of the present invention;

FIG. 2 is another flow chart of a clamping control method for an iron roughneck according to an embodiment of the present invention;

FIG. 3 is a further flow chart of a method of clamping control for an iron roughneck according to an embodiment of the invention;

FIG. 4 is a block diagram of a clamping control device for an iron roughneck according to an embodiment of the present invention;

Fig. 5 is a schematic diagram of a hardware structure of an iron roughneck according to an embodiment of the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. 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 accordance with an embodiment of the present invention, there is provided an iron roughneck clamping control method embodiment, it being noted that the steps shown in the flow chart of the drawings may be performed in a computer system such as a set of computer executable instructions, and, although a logical sequence is shown in the flow chart, in some cases, the steps shown or described may be performed in a different order than that shown herein.

In this embodiment, a method for controlling clamping of an iron roughneck is provided, which may be used for the iron roughneck described above, and fig. 1 is a flowchart of a method for controlling clamping of an iron roughneck according to an embodiment of the present invention, as shown in fig. 1, where the flowchart includes the following steps:

Step S101, obtaining the suspension displacement of a suspension oil cylinder and the rotation angle of a rotation motor in the iron roughneck, wherein the suspension oil cylinder is used for controlling the suspension movement of the main clamp, and the rotation motor is used for controlling the screwing movement of the main clamp.

Specifically, the embodiment combines the characteristic that the self pitch of the drill rod is unchanged, and proposes a scheme for automatically identifying skidding in the advancing process of the make-up or break-out of the drill rod. According to the embodiment, theoretical parameters related to the pitch of the drill rod are measured at first and compared with actual pitch parameters of the drill rod, and when the clamping pliers in the main pliers and/or the auxiliary pliers generate a rotary slipping phenomenon, the measured theoretical pitch parameters and the actual pitch parameters have larger errors, so that accurate identification of rotary slipping of an iron roughneck is realized. Based on the scheme thought, the suspension displacement of the suspension cylinder and the rotation angle of the rotation motor in the iron roughneck are obtained, so that preparation work is carried out for subsequent measurement of parameters related to the pitch of the drill rod.

Step S102, calculating the rotating speed of the rotating motor through the rotating angle, and calculating the suspension speed of the main clamp when in suspension movement through suspension displacement.

Similarly, the step prepares for the subsequent measurement of theoretical pitch parameters related to the pitch of the drill rod by calculating the rotational speed of the rotary motor and the levitation speed of the levitation motion of the main clamp. Specifically, the present embodiment may acquire the rotation angle of the rotation motor at two different times, and calculate the rotation speed of the rotation motor by the ratio of the variation of the rotation angle and the time difference between the two times; in addition, the embodiment can record the suspension displacement of the suspension cylinder at two different moments respectively, and calculate the suspension speed representing the suspension of the main clamp according to the ratio of the variation of the suspension displacement and the time difference between the two moments.

And step S103, calculating a theoretical pitch parameter of the drill rod according to the suspension speed and the rotating speed, and identifying whether the iron roughneck rotates and slips or not according to the corresponding relation between the actual pitch parameter and the theoretical pitch parameter of the drill rod.

Specifically, in this embodiment, the theoretical pitch parameter of the drill rod is calculated according to the suspension speed and the rotation speed, and the calculation process may include: calculating a measured pitch by the ratio of the suspension speed to the rotation speed; alternatively, the reciprocal of the measured pitch is calculated by the ratio of the rotational speed to the levitation speed; in addition, if the measured pitch or the reciprocal value of the measured pitch is smaller, it is inconvenient to analyze and determine, and the measured pitch or the reciprocal of the measured pitch may be amplified according to a certain proportion, the above method of calculating the theoretical pitch parameter is only used for example, but not limited thereto, and other methods of algebraic processing may be used to calculate the theoretical pitch parameter related to the pitch of the drill rod. And then, acquiring the real screw pitch of the drill rod, and correspondingly processing the real screw pitch through the steps to obtain the actual screw pitch parameter. When the iron roughneck does not rotate and skid, the actual pitch parameter and the theoretical pitch parameter should be the same, so that when the actual pitch parameter and the theoretical pitch parameter are different, the embodiment judges that the iron roughneck rotates and skids, and an automatic identification scheme for the rotation and skid of the iron roughneck is realized.

In some alternative embodiments, the step S103 includes:

and a1, calculating the ratio of the suspension speed to the upper rotating speed to obtain a theoretical pitch parameter.

And a2, acquiring the pitch of the drill rod as an actual pitch parameter.

And a3, calculating a parameter difference value between the theoretical pitch parameter and the actual pitch parameter.

And a4, judging that the iron roughneck rotates and slips when the parameter difference value is larger than a preset parameter threshold value.

Specifically, the embodiment calculates the ratio of the suspension speed to the rotating speed to obtain the measured pitch of the drill rod, and takes the measured pitch as the theoretical pitch parameter, so that the subsequent comparison step of the theoretical pitch parameter and the actual pitch parameter is simpler and easier, and the accuracy and the efficiency of the rotation slip identification are further improved. In addition, although the theoretical pitch parameter and the actual pitch parameter should be identical under ideal conditions, in practical application, the ideal conditions are difficult to ensure, so that the embodiment considers that a certain error redundancy exists between the theoretical pitch parameter and the actual pitch parameter, and calculates a parameter difference between the theoretical pitch parameter and the actual pitch parameter; and secondly, when the parameter difference value is larger than a preset parameter threshold value, the rotary slipping of the iron roughneck is judged, the situation that the alarm is given out when the minor errors occur in the theoretical pitch parameter and the actual pitch parameter can be effectively avoided, the false alarm is reduced, the situation that the pressure is frequently regulated by the clamping oil cylinder is further avoided, and the reliability of the iron roughneck is improved.

And step S104, when the iron roughneck rotates and slips, adjusting the pressure of the clamping oil cylinder in the iron roughneck so as to increase the clamping force of the main clamp and/or the auxiliary clamp of the iron roughneck.

Specifically, when the rotary slipping of the iron roughneck is identified, the pressure of the clamping oil cylinder in the iron roughneck is timely adjusted, so that the clamping force of the main clamp and/or the auxiliary clamp of the iron roughneck is increased, and the drill rod is further clamped, so that the phenomenon of rotary slipping is restrained from continuously occurring.

According to the clamping control method for the iron roughneck, provided by the embodiment, the characteristic that the thread pitch of the drill rod is unchanged is combined, and in the advancing process of the screwing-on or screwing-off of the drill rod, theoretical thread pitch parameters related to the thread pitch can be calculated according to the ratio and the number relation between the rotating speed of the rotation and the suspension speed of the up-down displacement. According to the embodiment, when the clamping pliers of the iron driller do not rotationally slip, the suspension displacement generated by the suspension oil cylinder should be stable and uniformly changed, and accordingly the calculated suspension speed should be stable and unchanged within a certain time, so that the calculated theoretical pitch parameter should have a stable and difficultly-changed corresponding relation with the actual pitch parameter of the drill rod. When the clamping force of the clamping pliers of the iron driller is small and rotary slipping occurs, the rotation number of the drill rod is reduced, so that the axial displacement generated by the rotation of the screw thread is reduced, the suspension displacement generated by the suspension oil cylinder is smaller than the theoretical suspension displacement, the calculated suspension speed is correspondingly changed within a certain time, and the error between the calculated theoretical pitch parameter and the actual pitch parameter of the drill rod is increased. Based on the above, in the embodiment, the angle sensor and the displacement sensor are installed on an iron roughneck, so that the suspension displacement of the suspension cylinder and the rotation angle of the rotation motor are monitored in real time, and the theoretical pitch parameter is calculated; and then, through the corresponding relation change between the theoretical pitch parameter and the actual pitch parameter, the phenomenon that the iron driller rotates and slips is accurately and automatically identified, so that the pressure of a clamping oil cylinder in the iron driller is adjusted, the clamping force of a main clamp and/or an auxiliary clamp of the iron driller is increased, the accuracy and timeliness of the identification of the iron driller slipping phenomenon are improved, and the timeliness of the clamping force control is further improved.

In some optional embodiments, as shown in fig. 2 and fig. 3, the method for controlling clamping of an iron roughneck according to the embodiment of the present invention further includes the following steps:

step S201, the pressure of a clamping oil cylinder in an iron roughneck is obtained, and the clamping force of a main clamp and/or an auxiliary clamp is calculated according to the pressure of the clamping oil cylinder.

Specifically, in addition to identifying the phenomenon of rotational slip in the above embodiment, the present embodiment also provides an automated identification scheme for the occurrence of axial slip in the suspension direction of the drill rod by the iron roughneck. Specifically, data are collected through a pressure sensor arranged on the clamping oil cylinder and a displacement sensor arranged on the suspension oil cylinder, the increment of suspension movement of the main clamp is calculated based on the collected data, and then identification is carried out according to the suspension increment. If the iron roughneck does not slip axially, the levitation increment should be uniform, stable and remain the same as the axial displacement of the drill rod, based on which the present embodiment determines that the levitation increment should be within a certain range. When a driller axially slips, the increment of the suspension oil cylinder is larger than the suspension displacement of the drill rod, so that the calculated suspension increment can generate larger error, and the increment of the suspension movement by the main clamp is utilized to realize automatic identification of the axial sliding. In order to realize the thought, firstly, the pressure of the clamping oil cylinder in the iron driller is obtained in the step, the pressure of the clamping oil cylinder is converted and calculated according to the geometric relation of the main clamp and/or the auxiliary clamp, the clamping force of the main clamp and/or the auxiliary clamp is obtained, and preparation is made for the subsequent step.

And S202, recording the suspension initial position of the suspension cylinder according to the clamping force and the rotation angle.

And step S203, determining the suspension increment of the suspension cylinder according to the difference value between the suspension displacement and the suspension initial position.

Specifically, the displacement sensor is used for recording a specific suspension position of the suspension cylinder in the current state, instead of directly recording the change amount, so that the suspension initial position of the suspension cylinder needs to be recorded in advance, and further the suspension increment of the suspension cylinder is determined according to the difference value between the suspension displacement and the suspension initial position. In the present embodiment, the levitation initial position is identified by the clamping force and the rotation angle, for example: when the clamping force reaches a certain value and the rotation angle is at a certain specific angle, the suspension position corresponding to the state is defined as the suspension initial position, so that the suspension initial position is determined by monitoring the clamping force and the rotation angle in real time and comparing the clamping force and the rotation angle with the predefined state, and a scheme for quantitatively identifying the suspension initial position is realized. The state corresponding to the suspension initial position needs to be defined in combination with the actual application scenario, and the embodiment is only limited by this example.

In some optional embodiments, the step S202 includes:

And b1, identifying the initial state that the iron roughneck has clamped the drill rod and is not screwed on the basis of the clamping force and the rotation angle.

And b2, acquiring initial suspension displacement of the suspension cylinder when the iron roughneck is in an initial state, and taking the initial suspension displacement as a suspension initial position.

Specifically, in order to further reduce measurement errors, the embodiment defines, according to the clamping force and the rotation angle, a state that the iron roughneck has clamped the drill rod and has not performed the unscrewing operation as an initial state, so as to represent a state that the iron roughneck can start the unscrewing operation at any time but has not formally started the unscrewing operation, and defines an initial suspension displacement of the suspension cylinder as a suspension initial position when the iron roughneck is in the initial state. The problem that the suspension initial position is inaccurate due to inaccurate identification of the motion state is solved because the state corresponding to the suspension initial position is a motion state which is difficult to be identified by an iron driller.

In some alternative embodiments, step b1 includes:

and c1, judging whether the clamping force is larger than a preset clamping force threshold value.

And c2, calculating the angular speed of the rotary motor through the rotation angle when the clamping force is larger than a preset clamping force threshold value.

And c3, recording the current state of the iron roughneck as an initial state when the angular speed is smaller than a preset angular speed threshold.

Specifically, whether the iron roughneck has clamped the drill rod belongs to a qualitative state rather than a quantitative state, and the computer cannot recognize through observation, so that the embodiment provides a scheme for judging whether the main clamp has clamped the drill rod in a quantitative manner through the clamping force of the main clamp, specifically through a preset clamping force threshold value, and then judging whether the clamping force is greater than the preset clamping force threshold value. The preset clamping force threshold needs to be flexibly set according to actual application scenes, for example: at a certain historical moment, when the clamping jaw and the drill rod of the iron driller are brand new (no abrasion occurs), and the clamping jaw and the surface of the drill rod are not provided with any substances generating lubrication effects, the clamping jaw is read to clamp the drill rod to carry out the screwing operation and the historical monitoring clamping force when sliding does not occur, and a preset clamping force threshold value is set based on the clamping force, for example, the preset clamping force threshold value can be equal to the historical monitoring clamping force or the preset clamping force threshold value can be slightly larger than the historical monitoring clamping force. Similarly, the present embodiment provides a scheme for quantitatively identifying the non-rotating state of the iron roughneck by the angular velocity of the rotary motor, specifically by presetting an angular velocity threshold, then calculating the angular velocity of the rotary motor by the rotation angle in a short period of time, and then judging whether the angular velocity is smaller than the preset angular velocity threshold. The preset angular velocity threshold needs to be flexibly set according to an actual application scenario, for example, the preset angular velocity threshold is set to 1 degree per second (for example only, but not limited to this), and when the angular velocity of the rotary motor is lower than 1 degree per second, the screwing operation is considered not to be started, so that the current state of the iron roughneck is determined to be an initial state. Through the steps, the method for quantitatively identifying the initial state of the iron roughneck is realized, and the accuracy of identifying the initial state of the iron roughneck is improved.

And S204, judging whether the iron roughneck axially slips according to the magnitude relation between the suspension increment and the preset increment threshold.

In step S205, when the iron roughneck axially slips, the pressure of the clamping cylinder in the iron roughneck is adjusted to increase the clamping force of the main and/or auxiliary pliers of the iron roughneck.

Specifically, when the clamping force of the main clamp or the auxiliary clamp is insufficient and an axial slip phenomenon occurs, in the process of screwing up or screwing down, the suspension increment (screwing up is negative and screwing down is positive) generated by the main clamp can exceed a certain reasonable range, the preset increment threshold is defined in the embodiment (according to the direction of screwing up or screwing down, the sign of the preset increment threshold is the same as the sign corresponding to the suspension increment) to characterize the reasonable range, when the suspension increment exceeds the preset increment threshold, it is determined that the axial slip occurs to the iron roughneck, and then the pressure of the clamping cylinder in the iron roughneck is adjusted, so that the clamping force of the main clamp and/or the auxiliary clamp of the iron roughneck is increased. For example: when the turnbuckle operation is stopped, calculating a suspension increment generated by the main clamp, comparing the suspension increment with a preset increment threshold, and when the suspension increment exceeds the preset increment threshold, judging that axial slip occurs, thereby adjusting the clamping force of the main clamp and/or the auxiliary clamp of an iron driller and ensuring that the slip phenomenon does not occur in the next threading or tripping operation.

In some alternative embodiments, the step S204 includes:

and d1, counting the suspension increment at preset time intervals when the iron roughneck performs turnbuckle.

And d2, sequentially comparing the suspension increment counted at each moment with a preset increment threshold corresponding to each moment.

And d3, when the suspension increment at a certain moment is larger than a preset increment threshold value at a corresponding moment, judging that axial slip occurs to the iron roughneck.

Specifically, in order to detect the axial slip problem in real time in the process of the turnbuckle operation of the iron roughneck, the timeliness of identifying the axial slip problem is further improved. According to the method, the device and the system, historical experience data are combined to perform calculation, different preset increment thresholds are set for different turnbuckle moments in advance, so that in the process of carrying out turnbuckle operation on an iron roughneck, suspension increments are counted at preset time intervals, the suspension increments counted at each moment are sequentially compared with preset increment thresholds corresponding to each moment, and once the suspension increments at a certain moment are larger than the preset increment thresholds at the corresponding moment, the iron roughneck is judged to axially slip, and therefore a real-time monitoring scheme for the axial slip phenomenon of the iron roughneck is realized.

Specifically, according to the clamping control method for the iron roughneck provided by the embodiment of the invention, through the steps S201 to S205, the axial slipping phenomenon caused by the small clamping force of the iron roughneck is accurately identified. Specifically, according to the pressure and the rotation angle of the clamping oil cylinder, firstly recording the suspension initial position of the suspension oil cylinder, and then calculating the difference value between the suspension displacement and the suspension initial position in real time to determine the suspension increment of the suspension oil cylinder. If the iron roughneck does not axially slip, the suspension increment should be uniform and stably changed and within a certain range, when the roughneck axially slips, the displacement of the suspension cylinder is larger than the suspension displacement of the drill rod, so that the calculated suspension increment can generate larger errors.

The embodiment also provides a clamping control device for an iron roughneck, which is used for realizing the embodiment and the preferred implementation mode, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

The present embodiment provides a clamping control device for an iron roughneck, as shown in fig. 4, including:

the data acquisition module 401 is used for acquiring the suspension displacement of a suspension oil cylinder in an iron roughneck and the rotation angle of a rotary motor, wherein the suspension oil cylinder is used for controlling the suspension movement of the main clamp, and the rotary motor is used for controlling the screwing movement of the main clamp. For details, refer to the related description of step S101 in the above method embodiment, and no further description is given here.

The speed calculation module 402 is used for calculating the rotating speed of the rotating motor through the rotating angle and calculating the levitation speed of the main clamp when in levitation motion through levitation displacement. For details, refer to the related description of step S102 in the above method embodiment, and no further description is given here.

And the slip identification module 403 is configured to calculate a theoretical pitch parameter of the drill rod according to the suspension speed and the rotation speed, and identify whether the iron roughneck rotates and slips according to a correspondence between an actual pitch parameter of the drill rod and the theoretical pitch parameter. For details, see the description of step S103 in the above method embodiment, and the details are not repeated here.

And the clamping control module 404 is used for adjusting the pressure of the clamping oil cylinder in the iron roughneck when the iron roughneck rotates and slips so as to increase the clamping force of the main clamp and/or the auxiliary clamp of the iron roughneck. For details, refer to the related description of step S104 in the above method embodiment, and no further description is given here.

An iron roughneck clamping control device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC circuit, a processor and memory executing one or more software or fixed programs, and/or other means for providing the above described functions.

Further functional descriptions of the above respective modules and units are the same as those of the above corresponding embodiments, and are not repeated here.

The embodiment of the invention also provides an iron roughneck, which is provided with the clamping control device of the iron roughneck shown in the figure 4.

Referring to fig. 5, fig. 5 is a schematic structural diagram of an iron roughneck according to an alternative embodiment of the present invention, as shown in fig. 5, including: a memory 01, a processor 02, a clamp cylinder 03, a clamp pressure sensor 04, a clamp control valve 05, a clamp control device 06, a suspension cylinder 07, a suspension displacement sensor 08, a suspension control valve 09, a suspension control device 10, a rotation motor 11, a rotation angle sensor 12, a rotation control valve 13, and a rotation control device 14;

the memory 01 and the processor 02 are in communication connection, computer instructions are stored in the memory 01, and the processor 02 executes the computer instructions, so as to execute the method provided by the method embodiment.

Wherein the processor 02 is in communication with the clamp control means 06, the levitation control means 10 and the rotation control means 14, respectively; the clamping control device 06 is in communication connection with the clamping control valve 05 and is used for controlling the rotation control valve 13 to act; the suspension control device 10 is in communication connection with the suspension control valve 09 and is used for controlling the suspension control valve 09 to act; the rotation control device 14 is in communication connection with the rotation control valve 13 and is used for controlling the rotation control valve 13 to act;

the clamping cylinder 03, the clamping pressure sensor 04 and the clamping control valve 05 are hydraulically connected; the suspension cylinder 07, the suspension displacement sensor 08 and the suspension control valve 09 are hydraulically connected; the rotation motor 11, the rotation angle sensor 12, and the rotation control valve 13 are hydraulically connected; the clamping pressure sensor 04, the suspension displacement sensor 08 and the rotation angle sensor 12 are also respectively in communication connection with a corresponding clamping control device 06, a corresponding suspension control device 10 and a corresponding rotation control device 14; the clamping control valve 05, the suspension control valve 09 and the rotation control valve 13 are used for controlling the actions of the clamping cylinder 03, the suspension cylinder 07 and the rotation motor 11 respectively; the clamping cylinder 03, the suspension cylinder 07 and the rotary motor 11 are respectively used for realizing the clamping of an iron roughneck, the suspension of a main clamp and the screwing of the main clamp. The clamp pressure sensor 04 is used for monitoring the pressure of the clamp cylinder, the suspension displacement sensor 08 is used for monitoring the displacement position of the suspension cylinder, and the rotation angle sensor 12 is used for monitoring the rotation angle of the rotation motor.

The processor 02 may process instructions for execution within the iron roughneck, including instructions stored in or on the memory 01 to display graphical information of the GUI on an external input/output device, such as a display apparatus coupled to an interface. In some alternative embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple computer devices may be connected, each providing a portion of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system). One processor is illustrated in fig. 5.

The processor 02 may be a central processor, a network processor, or a combination thereof. The processor 02 may further comprise a hardware chip, among others. The hardware chip may be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general-purpose array logic, or any combination thereof.

The memory 01 stores instructions executable by at least one processor to cause the at least one processor to perform a method as shown in implementing the above embodiments.

The memory 01 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for a function; the storage data area may store data created from the use of the computer device of the presentation of a sort of applet landing page, and the like. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory may optionally include memory located remotely from the processor, the remote memory being connectable to the computer device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

Memory 01 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk, or solid state disk; the memory may also comprise a combination of the above types of memories.

The clamping control valve 05, the suspension control valve 09 and the rotation control valve 13 are all electromagnetic directional valves of the hydraulic system. The clamp control means 06, the levitation control means 10 and the rotation control means 14 are embedded chips, for example 51 chips, STM32 chips, etc., capable of responding to instructions issued by the processor and forwarding corresponding control signals.

The embodiments of the present invention also provide a computer readable storage medium, and the method according to the embodiments of the present invention described above may be implemented in hardware, firmware, or as a computer code which may be recorded on a storage medium, or as original stored in a remote storage medium or a non-transitory machine readable storage medium downloaded through a network and to be stored in a local storage medium, so that the method described herein may be stored on such software process on a storage medium using a general purpose computer, a special purpose processor, or programmable or special purpose hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, a solid state disk or the like; further, the storage medium may also comprise a combination of memories of the kind described above. It will be appreciated that a computer, processor, microprocessor controller or programmable hardware includes a storage element that can store or receive software or computer code that, when accessed and executed by the computer, processor or hardware, implements the methods illustrated by the above embodiments.

Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as defined by the appended claims.

Claims (10)

1. A method of controlling clamping of an iron roughneck, the method comprising:

the method comprises the steps of obtaining suspension displacement of a suspension oil cylinder and a rotation angle of a rotation motor in an iron roughneck, wherein the suspension oil cylinder is used for controlling suspension movement of a main clamp, and the rotation motor is used for controlling screwing movement of the main clamp;

calculating the rotating speed of the rotating motor through the rotating angle, and calculating the suspension speed of the main clamp when in suspension movement through the suspension displacement;

calculating a theoretical pitch parameter of the drill rod according to the suspension speed and the rotating speed, and identifying whether the iron roughneck rotates and slips or not according to the corresponding relation between the actual pitch parameter of the drill rod and the theoretical pitch parameter;

when the iron driller rotates and skids, the pressure of the clamping oil cylinder in the iron driller is adjusted so as to increase the clamping force of the main clamp and/or the auxiliary clamp of the iron driller.

2. The method according to claim 1, wherein the method further comprises:

the method comprises the steps of obtaining the pressure of a clamping oil cylinder in an iron roughneck, and calculating the clamping force of a main clamp and/or an auxiliary clamp according to the pressure of the clamping oil cylinder;

recording a suspension initial position of the suspension cylinder according to the clamping force and the rotation angle;

Determining a suspension increment of a suspension cylinder according to the difference value between the suspension displacement and the suspension initial position;

judging whether the iron roughneck axially slips or not according to the size relation between the suspension increment and a preset increment threshold;

when the iron driller axially slips, the pressure of the clamping oil cylinder in the iron driller is adjusted so as to increase the clamping force of the main clamp and/or the auxiliary clamp of the iron driller.

3. A method according to claim 1 or 2, wherein said calculating theoretical pitch parameters of the drill rod from said levitation speed and said rotational speed comprises:

and calculating the ratio of the suspension speed to the rotating speed to obtain the theoretical pitch parameter.

4. A method according to claim 3, wherein said identifying whether rotational slip of the iron roughneck has occurred by correspondence of an actual pitch parameter of the drill rod and said theoretical pitch parameter comprises:

acquiring the pitch of the drill rod as the actual pitch parameter;

calculating a parameter difference value between the theoretical pitch parameter and the actual pitch parameter;

and when the parameter difference value is larger than a preset parameter threshold value, judging that the iron roughneck rotates and slips.

5. The method of claim 2, wherein said recording the levitation initial position of the levitation cylinder as a function of the clamping force and the rotation angle comprises:

Identifying an initial state in which the iron roughneck has clamped a drill rod and has not performed a stabbing based on the clamping force and the rotation angle;

and acquiring initial suspension displacement of the suspension cylinder when the iron roughneck is in the initial state, and taking the initial suspension displacement as the suspension initial position.

6. The method of claim 5, wherein the identifying an initial state in which the iron roughneck has gripped a drill pipe and is not making a stab based on the clamping force and the rotation angle comprises:

judging whether the clamping force is larger than a preset clamping force threshold value or not;

when the clamping force is larger than a preset clamping force threshold value, calculating the angular speed of the rotary motor through the rotation angle;

and when the angular speed is smaller than a preset angular speed threshold, recording the current state of the iron roughneck as the initial state.

7. The method of claim 2, wherein determining whether the iron roughneck has an axial slip based on the magnitude relationship of the levitation increment and a preset increment threshold comprises:

when the iron roughneck carries out turnbuckle, counting the suspension increment at preset time intervals;

sequentially comparing the suspension increment counted at each moment with a preset increment threshold corresponding to each moment;

And when the suspension increment at a certain moment is larger than a preset increment threshold value at a corresponding moment, judging that the iron roughneck axially slips.

8. A clamping control device for an iron roughneck, the device comprising:

the data acquisition module is used for acquiring the suspension displacement of a suspension oil cylinder and the rotation angle of a rotary motor in an iron roughneck, wherein the suspension oil cylinder is used for controlling the suspension movement of the main clamp, and the rotary motor is used for controlling the screwing movement of the main clamp;

the speed calculation module is used for calculating the rotating speed of the rotating motor through the rotating angle and calculating the suspension speed of the main clamp when in suspension movement through the suspension displacement;

the slip identification module is used for calculating theoretical pitch parameters of the drill rod according to the suspension speed and the rotating speed, and identifying whether the iron roughneck rotates and slips or not according to the corresponding relation between the actual pitch parameters of the drill rod and the theoretical pitch parameters;

and the clamping control module is used for adjusting the pressure of the clamping oil cylinder in the iron driller when the iron driller rotates and skids so as to increase the clamping force of the main clamp and/or the auxiliary clamp of the iron driller.

9. An iron roughneck, comprising: the device comprises a memory, a processor, a clamping oil cylinder, a clamping pressure sensor, a clamping control valve, a clamping control device, a suspension oil cylinder, a suspension displacement sensor, a suspension control valve, a suspension control device, a rotary motor, a rotary angle sensor, a rotary control valve and a rotary control device;

The memory and the processor are in communication with each other, the memory having stored therein computer instructions which, upon execution, cause the processor to perform the method of any of claims 1 to 7;

the processor is respectively in communication connection with the clamping control device, the suspension control device and the rotation control device; the clamping control device is in communication connection with the clamping control valve and is used for controlling the rotary control valve to act; the suspension control device is in communication connection with the suspension control valve and is used for controlling the suspension control valve to act; the rotation control device is in communication connection with the rotation control valve and is used for controlling the rotation control valve to act;

the clamping oil cylinder, the clamping pressure sensor and the clamping control valve are hydraulically connected; the suspension oil cylinder, the suspension displacement sensor and the suspension control valve are hydraulically connected; the rotary motor, the rotary angle sensor and the rotary control valve are hydraulically connected; the clamping pressure sensor, the suspension displacement sensor and the rotation angle sensor are also respectively in communication connection with the corresponding clamping control device, the corresponding suspension control device and the corresponding rotation control device; the clamping control valve, the suspension control valve and the rotation control valve are respectively used for controlling actions of the clamping oil cylinder, the suspension oil cylinder and the rotation motor; the clamping oil cylinder, the suspension oil cylinder and the rotary motor are respectively used for realizing the clamping of an iron roughneck, the suspension of a main clamp and the screwing of the main clamp.

10. A computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of any one of claims 1 to 7.