JPS6311791A - Automatic excavation control method - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Industrial Field of Application] The present invention relates to a well drilling method, and in particular to an automatic drilling i! well drilling method that automatically adjusts the drilling load according to the depth of the well. ,lJ
This relates to the I11 method.

[Conventional technology] In drilling wells such as offshore oil drilling rigs, offshore mineral W source B drilling rigs, and land oil drilling rigs, a drilling bit at the tip of a drill pipe is rotated to drill underground and the drill pipe is rotated. It uses its own weight to dig down and descend. In this case, the drill pipe is supported by a wire, and by controlling the feeding speed of the wire, the descending speed of the bit is controlled.

When drilling this well, the underground layers are not uniform in the direction of the part, and the drill pipes are connected sequentially as the drilling progresses, and the load weight increases according to the drilling depth. [
1 or to control the descending speed of the pit commensurate with the rotational load.
I need to do it.

Conventionally, this descending speed was controlled manually by checking a load meter or the like.

[Problems to be solved by the invention] ゛However, since it is manual, it is difficult to accurately adjust the load on the drilling bit, which may cause overwear of the drilling bit or bending of the drill pipe. There are problems such as storage.

The present invention has been made in consideration of the above circumstances, and an object of the present invention is to provide a white rib cutting f, l control method that can automatically adjust the load weight or rotational load applied to an excavation bit.

[Means and effects for solving the problem] In order to achieve the above-mentioned object, the present invention suspends a drill pipe with a drilling bit at its tip by a wire and uses a drilling driving means to drive the wire. The drill vibrator is inserted into the ground while being fed out and the drilling bit is rotated by the rotary drive means.White! In the JJm drilling method, the load on the rotation drive means is detected, the tension of the wire is detected, and the depth of insertion of the drill vibrator is detected, and the weight of the drill pipe corresponding to this depth and the detected tension and rotation are detected. The wire feeding speed of the excavation driving means is controlled by the load of the driving means,
By detecting the load on the rotary drive means, the descending speed can be adjusted according to the cutting load. 1, and the weight load applied to the drilling bit can be determined from the detected insertion depth, ff1fft of the drill vibrator, and the detected tension, and the drilling bit can be adjusted according to the load.
Automatic load adjustment is possible by adjusting the descending speed of ~.

[Actual Flow Example] A preferred embodiment of the automatic vJ excavation Ll instant method according to the present invention will be described below with reference to the accompanying drawings.

FIG. 1 shows an apparatus for carrying out the method of the present invention, and in the figure, 1 is a tower, which is installed on the ground a 12 for excavation.

A drill pipe 3 is provided on the tower 1 so as to be movable up and down, and a drilling bit 4 is attached to the tip of the drill pipe 3. A wire 5 is connected to the upper end of the drill pipe 3, and the drill ear 5 is hung on a pulley 6 provided at the top of the tower 1 and connected to an excavation drive means 7, and a drill vibe 3 is suspended by the wire 5. .

The excavation driving means 7 includes, for example, a direct current motor 8 for drawworks and a drum 9 connected to the motor 8. The wire 5 is wound around the drum 9, and the wire 5 is unwound by the unwinding of the drum 9. drill pipe 3
is set to be lowered.

A rotation drive means 10 for rotating a drilling bit 4 via a drill pipe 3 is provided within the tower 1.

This rotational drive means 10 is composed of an internal combustion engine for a rotary machine, and rotates the drill vibrator 3 from its drive gear 11 via a VJ tooth width 12 provided on the drill pipe 3, thereby rotationally driving the drilling bit 4. It looks like this.

The drill vibrator 3 has a fixed length, and 3 to 30 drill vibrators are successively connected depending on the drilling insertion depth.

A depth gauge 13 for detecting the insertion depth of the drill pipe 3 is connected to the pulley 6, and a load cell 14 for detecting the tension of the wire V5 is connected to the wire 5 between the pulley 6 and the excavation driving means 7.
is connected.

The detection signals of the depth gauge 13 and the load cell 14 are input to the controller 15, and the rotational load of the rotary machine internal combustion engine of the rotation drive means 10 is input to the shaft torque-current converter 1.
6, and this detected value is input to the controller 15.

The controller 15 controls the rotation of the DC motor 9 of the excavation drive means 7 according to the rotational load of the rotation drive means 10 detected by the shaft 1 to the Leku current converter 16 and according to the detection signals of the depth gauge 13 and the load cell 14. A control signal is output to a DC motor control panel 17 that controls the number of motors, and in response to this signal, the control panel 17 supplies a drive current to the DC motor 9 to control its rotation speed.

A control circuit consisting of the depth gauge 13, the O-dossel 14, the shaft torque-current converter 16, and the controller 15 will be explained with reference to FIG.

First, the rotation of the pulley 6 is detected by the depth gauge 13 consisting of a Selshin motor, and this depth signal a is detected by the drill vibe 3.
Depth comparator for each number of connections (1 to n) 17.18.
19 is input. This depth comparator 17.18.19
There is a depth reference device 2 consisting of a variable resistor that outputs depth signals S, c, and d corresponding to the number (1 to n) of the drill vibrators 3.
0°21.22 is connected.

The depth comparators 20, 21.22 are configured to respectively excite 1 to n relay coils 23a, 24a, 25a and close their respective contacts 23b, 24b, 25b. Each contact 23b, 24b, 25b is connected in series, and each contact 23b, 24b.

1 to n resistors 26.27°28 are connected in parallel to 25b. The resistors 26, 27, and 28 are connected in series, with a DC positive power supply connected to the first stage resistor 2G, and a voltage dividing resistor 2 whose other end is grounded to the last stage n resistor 28.
9 is connected, and the final stage relay contact 25b is also connected, and the depth signal f at that connection point is input to a subtracter 30, which will be described later.

The load cell 14 is connected to the drill pipe 3 (M) ffl
ffi is detected by the tension of the wire 5, and this signal e is input to the subtracter 30. The subtracter 30 subtracts the signal f corresponding to the true weight measured by the depth gauge 13 from the signal e from the load cell 14, and calculates the load on the excavation bit 4! The voltage signal g corresponding to ffi is sent to an upper limit comparator 31 and a lower limit comparator 32.
Output to.

The upper limit comparator 31 is connected in advance to an upper limit reference device 33 consisting of a variable resistor connected to a positive power source that outputs an upper limit reference voltage No. 13 corresponding to the upper limit below the rated load of the excavation bit 4. Lower limit comparison i! In S32, a lower limit value l? corresponding to the lower limit value of the rated load weight of the drilling bit 4 is preliminarily set.
! A lower limit reference device 34 made of a variable resistor connected to a negative power supply that outputs a voltage signal i is connected.

The upper limit comparator 31 excites the relay coil 35a and closes the contact 35b, and similarly, the lower limit comparator 32 excites the relay coil 36a and closes the contact 35b.
6b is closed.

On the other hand, the current value detected by the shaft torque-current converter 16 is detected as a value proportional to the shaft torque of the internal combustion engine for the rotary machine, which is the rotational drive means 10, and this current value is converted into a voltage value by the resistor 37. Subtractor 38 as input signal @j
is input.

A torque reference device 39 consisting of a variable resistor connected to a positive power source is connected to the subtracter 38, and the torque reference device 39 determines a torque reference voltage corresponding to the load torque value at the rated load state of the internal combustion engine for the rotary machine. The signal k is input to the subtracter 38.

The subtracter 38 receives the input signal j of the shaft torque-current converter 16.
, and the torque reference signal k set by the torque reference device 39 is subtracted, and a signal β corresponding to the overload torque of the internal combustion engine for the rotary machine is output to the integrator 40.

The integrator 40 integrates the voltage signal corresponding to the overload current if the overload state of the internal combustion engine for low-removal machine continues.
If the load falls below the rated load, the output signal m is reduced by that amount and is input to the upper limit comparator 41 and the lower limit comparator 42.

An upper limit reference device 43 consisting of a variable resistor connected to a positive power supply is connected to the upper limit comparator 41, and the upper limit standard voltage is determined from the upper limit reference device 43 corresponding to a preset overload amount of the internal combustion engine for the rotary machine. (F1 No. n is input to the upper limit comparator 41. Similarly, a lower limit reference device 44 consisting of a variable resistor connected to a positive power supply is connected to the lower limit comparator 42. A lower limit reference voltage signal O corresponding to the rated load torque of the rotary machine internal combustion engine is input to the lower limit comparator 42.

The upper limit comparator 41 and the lower limit comparator 42 are connected to the relay coil 4, respectively.
5a, 46a, and the contacts 45b, 45b are opened and closed by the relay coils 45a, 46a.
is provided.

The upper limit contact 45b° on the rotating load side and the lower limit contact 36b on the temperature load side described above are connected in series, and the upper limit contact 35b on the depth load side and the lower limit contact 46b on the rotating load side are connected in series. and each connection point is connected to an integrator 47.
connected to. Each upper limit side contact 45b, 35b is connected to a charger 48 consisting of a variable resistor connected to a positive power supply, and each lower limit side contact 36b, 46b is connected to a negative power source. It is connected to a discharger 49 consisting of a variable resistor connected to lt'gA.

The integrator 47 integrates and constantly increases the potential of the charger 48 when either or both of the upper limit side contacts 45b, 35b are closed, and also increases the potential of the charger 48 constantly when the respective lower limit side contacts 36b, 46b are closed.
When either or both are closed, the negative potential of the discharger 49 is integrated and the potential is lowered in a fixed direction.

The signal q of this integrator 47 is input to the subtracter 5o.

A speed reference device 51 consisting of a variable compensation is connected to the σ reducer 5o, and a speed reference voltage signal p corresponding to the wire payout speed at the rated rotation speed of the DC motor 8 for drawworks is output from the speed reference device 51 to the subtractor 50. is input.

The subtracter 50 subtracts the signal q from which integrator 47 first from the signal @p of the speed reference device 51, outputs the result as a speed signal r to the DC power control panel 17, and outputs the result to the DC power control panel 17 for the draw works. The rotation speed of the electric motor 8 is controlled.

Next, an automatic excavation control 20 method using a control circuit consisting of a depth gauge 13, a load cell 14, a shaft torque-current converter 16, and a controller 15 will be described with reference to each signal a in FIGS. 2 and 3.
This will be explained using a flowchart of the voltage waveform of −r.

First, as described above, the drilling bit 4 is supported by the wire 5 on which the drill vibrator 3 is suspended, and the drilling drive means 7
This lowering speed is controlled and the rotational drive means 10T-excavation bit 4 is rotated at a wire payout speed of . Further, once the drilling bit 4 of the drill vibrator 3 has descended and advanced the length of one tree, the drill vibrator 3 is sequentially connected.

During excavation, the voltage of the depth gauge 13 (ffi number a) increases linearly as shown by graph A in FIG. 3, and this signal a is input to each depth comparator 17, 18, and 19. As shown in graph A, each depth comparator 17, 18.19 receives voltage signals S, c, d from each depth reference device 20.2L22 corresponding to the number of connected drill vibrators (1 to n). When the depth signal a reaches 8 signals @b, c, d, the depth comparators 17, 18, 19 sequentially excite each relay coil 23a, 24a, 25a, and each contact 23b, 24b, 25b= is sequentially opened.Therefore, the signal f divided by the resistors 25 to 27 outputs a stepped voltage corresponding to the true weight depending on the depth, as shown in graph B.

The subtracter 30 subtracts this voltage signal f from the voltage signal e corresponding to the load cell 14 as shown in graph B, and sets the voltage signal 9 corresponding to the load weight as the upper limit as shown in graph C. and lower limit comparator 31.
Output to 32. The upper and lower limit comparators 31.32 include
As shown in graph C from upper limit and lower limit single picture 33.34, the lower limit reference voltage signal and the lower limit reference signal i are input, and if the voltage signal exceeds the upper limit reference voltage signal, the upper limit comparison The charger 31 excites the relay coil 35a for the exceeding time t1 and closes the upper limit contact 35b.As a result, the voltage of the charger 48 is integrated by the integrator 47 as shown in graph G, and the signal q1 becomes 0. When the voltage becomes lower than the upper limit reference voltage signal, the contact 35b is opened, and the integrator 47 integrates the signal and outputs the signal q that remains above the upper limit. After 12 hours have passed, if the signal 9 falls below the lower limit reference voltage signal i as shown in graph C, the lower limit comparator 3
2, the relay coil 36a is energized for the time [3] until the signal g exceeds the signal 1 again, and the upper limit side contact 36b is closed. As a result, the integrator 47 integrates the potential of the signal q up to that point with the negative potential from the discharger 49 and lowers it.

When the signal q at the integrator 48 changes as shown in the graph G, the subtracter 50 subtracts the voltage signal q from the voltage signal p of the speed reference device 51 as shown in the graph , and controls the output signal r. !17, and its descending speed is controlled so that the load weight applied to the excavation bit 4 falls within a certain range.

Further, the rotational load of the excavation bit 4 is detected by the shaft torque-current converter 16 as a current corresponding to the load, and this is input to the subtracter 38 as a voltage signal @j as shown in graph D. The subtracter 38 subtracts the torque reference signal k from the rotating load signal j as shown in graph D, and outputs the signal shown in graph E to the integrator 40. The signal m integrated by the integrator 40 is sent to the upper limit comparator. 41 and a lower limit comparator 42.

As shown in graph F, the upper limit comparator 41 receives the signal @m from the integrator 40 as the upper limit l! of the upper limit reference unit 43! Contact 45 is excited by exciting relay coil 45a for the time t4 exceeding the semi-double signal.
Close b. The integral integrator 47 integrates the potential of the charger 48 and outputs to the subtracter 50 an output in which the output potential rises constantly at time t4. After that time, if the (No. 1 m) from the integrator 40 falls below the lower limit reference voltage signal 0 as shown in graph F, the lower limit comparator 42 excites the relay coil 46a for the time t6 during which it has fallen. The integration integrator 47 integrates the potential up to that point with the negative potential of the discharger 49 and outputs a signal r with the potential constantly lowered to the subtracter 50.

In this way, on the rotational load side as well as on the depth weight load side, the subtracter 50 controls the control I panel 17 to determine the rotational speed of the drawworks DC motor 8 so that it falls within the load range.

FIG. 4 shows another embodiment of the control circuit shown in FIG. 2, which is controlled by a computer 52.

The detection signals of the depth gauge 13, load cell 14, and shaft torque-current converter 16 are sent to analog-digital converters 5, respectively.
3.54. '55, the signals are converted into digital signals and input to the computer 52, respectively. The computer 52 inputs the various reference values and υ1tl using the keyboard 56.
l programs are input and they are displayed on the CRT display device 57.
will be displayed as appropriate. The computer 52 includes a depth meter 13,
The detected values of the load cell 14 and the shaft torque-current converter 16 are calculated, and the results are transferred to the digital-to-analog converter 58.
Output to and controlled by the converter 58! ! ! 17, the rotational speed of the draw works output DC current vJ machine 8 is controlled.

FIG. 5 shows another example of an apparatus for carrying out the automatic drilling control method of the present invention, which is basically the same as the apparatus shown in FIG. A claw VJ machine for a rotary machine is used as a rotary machine, and the rotating load is detected by the current detector 16a, and the rotation load is detected by the controller 15.
.

FIG. 6 shows the control circuit of FIG. This control circuit is basically the same as the circuit shown in FIG. Current reference voltage signal k corresponding to the load current value or current reference device 39a
This is the same as in FIG. 2 except that . A flowchart of the voltage waveforms of the signals a to r is shown in FIG. 7, but the same as described in FIG. 3 will be omitted.

FIG. 8 shows a configuration in which the control circuit of FIG.
The other information is as described in FIG. 4.

FIG. 9 shows still another example of an apparatus implementing the self-I7+excavation $ control method of the present invention. In this example, the accelerating drive means 7 is constructed by replacing the draw works direct current motor 8 shown in FIG. 1 with the draw works internal combustion engine 8a.

In this example, in order to control the rotational speed of the draw works internal combustion engine 8a, the controller 15 sends an air signal S.
The air signal S is used to control the governor and throttle valve of the air and fuel supply system of the internal combustion engine 8a to control the rotational speed.

FIG. 10 shows the control circuit of FIG. This control circuit is similar to the circuit explained in FIG. 88.

Further, a flowchart of voltage waveforms of each signal a to r in the circuit shown in FIG. 10 is as shown in FIG. 11. In addition, when controlling with a computer 52 as shown in FIG. 12, the output calculated by the computer 52 is converted into an analog signal by a digital-to-analog converter 58, and then,
The voltage-air pressure converter 59 converts the signal into an air pressure signal S, and controls the rotational speed of the internal combustion engine Ia for the drawer 9-axes 8a.

[Effects of the Invention] As is clear from the above detailed description, the present invention exhibits the following excellent effects.

(1) Since the load on the rotary drive means that rotates the excavation bit is detected and the excavation drive means that lowers the excavation bit is controlled in accordance with the detected load, overload can be prevented on its own.

(2) The excavation depth is detected, and the tension of the wire supporting the drill pipe is detected, and the excavation driving means is adjusted according to the weight of the drill pipe at the depth and the load on the wire, so that the drilling bit is not overloaded. Prevents wear and drill pipe bending.

(3) Wells can be drilled efficiently and safety is improved through automation.

[Brief explanation of the drawing]

Figure 1 shows the invention in action! 11! Fig. 2 is a diagram showing details of the control circuit in Fig. 1;
3 is a voltage waveform diagram of each signal in FIG. 2, FIG. 4 is a diagram showing another example of the circuit shown in FIG. 2, FIG. 5 is an overall diagram showing another example of the circuit shown in FIG. 1, and FIG. The figure is a detailed diagram of the control circuit in Figure 5, Figure 7 is a voltage waveform diagram of each signal in Figure 5, and Figure 8 is a diagram of the voltage waveform of each signal in Figure 6.
FIG. 9 is an overall diagram showing still another example of the circuit shown in FIG. 1, FIG. 10 is a detailed diagram of the control circuit shown in FIG. 9, and FIG. Voltage waveform diagram of each signal, 1st
FIG. 2 is a diagram showing another example of the circuit shown in FIG. 10. In the figure, 3 is a drill pipe, 4 is a drilling bit, 5 is a wire, 7 is an excavation drive means, 10 is a rotation drive means, 13 is a depth gauge, 14 is a load cell, and 15 is a controller. Patent Applicant: Ishikawajima-Harima Heavy Industries Co., Ltd. Representative Patent Attorney Nobuo Kinutani 15... ]> Troller Figure 2 Figure 6 Figure 7 Figure 8 Figure 10

Claims (1)

[Claims] Automatic excavation in which a drill pipe with a drilling bit at the tip is suspended by a wire, the wire is fed out by an excavation drive means, and the drill pipe is inserted into the ground while the drilling bit is rotated by a rotary drive means. In the control method,
detecting the load of the rotational drive means, detecting the tension of the wire and detecting the insertion depth of the drill pipe;
A self-help excavation control method characterized in that the wire payout speed of the excavation drive means is controlled according to the weight of the drill pipe, the detected tension, and the load of the rotation drive means according to the depth.