CN112145490A - Automatic control system for catwalk sliding shoes - Google Patents
Automatic control system for catwalk sliding shoes Download PDFInfo
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- CN112145490A CN112145490A CN202010917680.9A CN202010917680A CN112145490A CN 112145490 A CN112145490 A CN 112145490A CN 202010917680 A CN202010917680 A CN 202010917680A CN 112145490 A CN112145490 A CN 112145490A
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- 238000005553 drilling Methods 0.000 claims abstract description 65
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 35
- 230000005484 gravity Effects 0.000 claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 230000009471 action Effects 0.000 claims description 13
- 230000007935 neutral effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 24
- 230000008569 process Effects 0.000 abstract description 17
- 238000005452 bending Methods 0.000 abstract description 7
- 230000009191 jumping Effects 0.000 abstract description 7
- 239000003921 oil Substances 0.000 description 128
- 239000010720 hydraulic oil Substances 0.000 description 11
- 238000004519 manufacturing process Methods 0.000 description 7
- 239000000306 component Substances 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000006978 adaptation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
- E21B19/155—Handling between horizontal and vertical position
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/01—Locking-valves or other detent i.e. load-holding devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/0401—Valve members; Fluid interconnections therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/515—Pressure control characterised by the connections of the pressure control means in the circuit
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention relates to the technical field of oil and gas drilling, in particular to a catwalk sliding shoe automatic control system which comprises a bidirectional hydraulic motor, wherein a first oil way and a second oil way of the bidirectional hydraulic motor are communicated with a hydraulic station through a main oil way reversing valve, the pressure of the first oil way is P1, the pressure of the second oil way is P2, and the pressure difference delta P is P1-P2; the first oil circuit is connected with a first control module, the second oil circuit is connected with a second control module, and the second control module is respectively used for adjusting P1 and P2, so that delta P is controlled, the thrust F1 of the bidirectional hydraulic motor is smaller than or equal to the resistance F2 suffered by the catwalk slipper in the descending process, and the sum of F1 and the component F3 of the gravity G of the drilling tool in the moving direction of the catwalk slipper is larger than F2(F1+ F3 is larger than F2). The invention enables the movement of the catwalk sliding shoe to automatically adapt to the top drive lowering speed, and the clamping, bending, jumping and sliding out of the drilling tool can not occur due to factors such as the speed mismatching of two ends of the drilling tool or the sliding resistance of the catwalk sliding shoe, so that the labor intensity and the labor cost are reduced, and the safety is improved.
Description
Technical Field
The invention relates to the technical field of oil and gas drilling, in particular to an automatic control system for a catwalk sliding shoe.
Background
In order to improve the efficiency of taking off and putting down a drilling tool and reduce the labor intensity, the application of the power catwalk is gradually widened, and a catwalk sliding shoe is one of the core components of the power catwalk; when the drill is thrown, the top drive grips the female head of the drilling tool through the elevator and lowers, the male head of the drilling tool is placed in the catwalk sliding shoe, and the catwalk sliding shoe slides in the supporting beam of the power catwalk under the drive of the hydraulic motor; the lifting and lowering actions of the power catwalk are matched, so that the drilling tool is conveyed between the drilling floor and the ground, and the efficiency of conveying the drilling tool is greatly improved.
However, in actual operation, especially in the process of lowering the drilling tool by retracting the catwalk slipper, because the two ends of the drilling tool are respectively connected with the top drive and the catwalk slipper, when the drilling tool is lowered, the top drive and the catwalk slipper are required to be tightly matched in the movement speed, namely two workers are required, one operates to lower the top drive, one operates to move the slipper, and the two workers are required to be tightly matched to ensure the speed matching of the two ends of the drilling tool, so that the lowering action of the drilling tool is smoothly implemented. In actual operation, because the included angle between the top drive movement direction and the catwalk sliding shoe movement direction is changed continuously, the cooperation between workers is very difficult, and the operation efficiency is low; and the motion rate difference of the two ends of the drilling tool is easily caused by mismatching, so that the drilling tool is blocked, bent, jumped and even slipped out, and the operation safety is seriously influenced.
Disclosure of Invention
The invention provides an automatic control system for a catwalk sliding shoe, aiming at the technical defects that the catwalk sliding shoe is difficult to be tightly matched with a top drive in the motion rate and the operation difficulty of workers is high in the conventional power catwalk operation; the method controls the catwalk sliding shoe, so that the movement speed of the catwalk sliding shoe can automatically adapt to the top drive lowering speed, the clamping, bending, jumping and sliding-out of the drilling tool can be avoided due to the factors such as the speed mismatching of two ends of the drilling tool or the sliding resistance of the catwalk sliding shoe, only one worker needs to control the top drive lowering, the catwalk sliding shoe does not need to be controlled, the labor intensity and the labor cost are reduced, the safety is improved, and the production efficiency is improved.
In order to achieve the above purpose, the invention provides the following technical scheme:
a catwalk sliding shoe automatic control system comprises a bidirectional hydraulic motor, wherein a first oil circuit and a second oil circuit of the bidirectional hydraulic motor are communicated with a hydraulic station through a main oil circuit reversing valve, the pressure of the first oil circuit is P1, the pressure of the second oil circuit is P2, and the differential pressure delta P is P1-P2; a first pressure measuring device and a second pressure measuring device are respectively arranged on the first oil way and the second oil way;
the first oil way is connected with a first control module, the second oil way is connected with a second control module, the first control module and the second control module are respectively used for adjusting P1 and P2, so that delta P is controlled, the thrust F1 of the bidirectional hydraulic motor is smaller than or equal to the resistance F2 borne by the catwalk slipper in the descending process, and meanwhile the sum of F1 and the component F3 of the gravity G of the drilling tool in the movement direction of the catwalk slipper is larger than F2.
When the drilling tool is lowered, the hydraulic station conveys high-pressure hydraulic oil to the two-way hydraulic motor through the first oil way to drive the two-way hydraulic motor to rotate, the hydraulic oil returned by the hydraulic motor returns to the hydraulic station for recycling, the main oil way reversing valve is used for switching the high-pressure hydraulic oil between the first oil way and the second oil way to realize the forward and reverse rotation functions of the two-way hydraulic motor, and the pressure measuring device is used for observing or collecting the oil pressure in the first oil way and the second oil way;
in the process of lowering the drilling tool, the top drive lowers the drilling tool, and the catwalk sliding shoes retract; different from the traditional power catwalk, the catwalk sliding shoe can be automatically matched with the top drive to finish the lowering action of the drilling tool only by opening the first control module and the second control module, so that the drilling tool cannot be jammed, bent, jumped and slipped out due to the factors such as the speed mismatch of two ends of the drilling tool or the sliding resistance of the catwalk sliding shoe, and only one worker needs to control the top drive to lower;
the basic principle for realizing the functions is as follows: the first control module and the second control module convert the speed control of the catwalk sliding shoe into force balance control, so that the catwalk sliding shoe bearing the drilling tool is always in an approximate force balance state in the descending process, and the speed change in the top drive descending process is automatically matched;
the specific process for realizing the functions comprises the following steps: in the process of lowering the drilling tool by top drive, the first control module and the second control module respectively stabilize the pressure of the first oil way and the pressure of the second oil way within a certain range from the upper part to the lower part of P1 to the lower part of P2, so that a relatively stable delta P is obtained; due to the constant pressure difference deltap between the two oil paths of the bidirectional hydraulic motor, the bidirectional hydraulic motor constantly applies a thrust F1 to the catwalk sliding shoe connected with the bidirectional hydraulic motor; because the resistance F2 in the descending process of the catwalk sliding shoes is basically constant, P1 and P2 are set, F1 corresponding to delta P is smaller than or equal to F2(F1 is smaller than or equal to F2), the catwalk sliding shoes are in an approximate force balance state, namely a suspension state, and the catwalk sliding shoes cannot independently act when the top drive does not act; meanwhile, the sum of F1 and the component force F3 of the gravity G of the drilling tool along the movement direction of the catwalk slipper is larger than F2(F1+ F3 is larger than F2), so that when the top drive action is carried out, the catwalk slipper with approximately balanced force can move downwards along the track under the action of the gravity G of the drilling tool without manual control, and the automatic adaptation function of the top drive descending speed is realized;
the control of the first control module and the second control module on the delta P can be open-loop control or closed-loop control, and the control is selected according to actual working conditions; because the inherent characteristics of the pressure control valve can influence the precision of the delta P, when the gravity G of the drilling tool is far larger than the influence of the pressure control valve on the delta P, open-loop control can be selected so as to simplify equipment and reduce cost; when the gravity G of the drilling tool is far smaller than or close to the influence of the pressure control valve on the delta P, closed-loop control can be selected to improve the control precision and the response speed of the delta P, so that the approximate force balance state of the sliding shoe is more stable, and the working efficiency and the operation safety are ensured;
the method controls the catwalk sliding shoe, so that the movement speed of the catwalk sliding shoe can automatically adapt to the top drive lowering speed, the clamping, bending, jumping and sliding-out of the drilling tool can be avoided due to the factors such as the speed mismatching of two ends of the drilling tool or the sliding resistance of the catwalk sliding shoe, only one worker needs to control the top drive lowering, the catwalk sliding shoe does not need to be controlled, the labor intensity and the labor cost are reduced, the safety is improved, and the production efficiency is improved.
As a preferable scheme of the invention, the first control module comprises a first manual control oil way and/or a first automatic control oil way, an inlet of the first manual control oil way and/or the first automatic control oil way is connected with the first oil way, and an outlet of the first manual control oil way and/or the first automatic control oil way is communicated with the hydraulic station;
the second control module comprises a manual control oil way II and/or an automatic control oil way II; the inlet of the manual control oil way II and/or the automatic control oil way II is connected with the second oil way, and the outlet of the manual control oil way II and/or the automatic control oil way II is communicated with the hydraulic station;
the manual control oil circuit I and/or the automatic control oil circuit I are/is used for being combined with the manual control oil circuit II and/or the automatic control oil circuit II to match different control precision requirements.
The combination of the automatic control oil circuit and the manual control oil circuit is used for adapting to the actual working condition requirement, and the automatic control oil circuit and the manual control oil circuit can realize corresponding control precision in different forms; specifically, the first control module and the second control module may both adopt a manual control oil path or an automatic control oil path, or may both adopt control oil paths with different accuracies.
As a preferable scheme of the invention, the first manual control oil path comprises a first reversing valve, an inlet of the first reversing valve is connected with the first oil path, an outlet of the first reversing valve is connected with an inlet of a first manual pressure control valve, and an outlet of the first manual pressure control valve is communicated with the hydraulic station;
the first automatic control oil way comprises a first reversing valve, an inlet of the first reversing valve is connected with the first oil way, an outlet of the first reversing valve is connected with an inlet of a first automatic pressure control valve, an outlet of the first automatic pressure control valve is communicated with the hydraulic station, and the first automatic pressure control valve is connected with a first proportional valve in a matched mode;
the manual control oil way II comprises a manual pressure control valve II, an inlet of the manual pressure control valve II is connected with the second oil way through a hydraulic control one-way valve, an outlet of the manual pressure control valve II is communicated with the hydraulic station, and the opening and closing action of the hydraulic control one-way valve is controlled by the oil pressure of an outlet of the reversing valve I;
the automatic control oil way II comprises a second reversing valve, the inlet of the second reversing valve is connected with the second oil way, the outlet of the second reversing valve is connected with the inlet of the second automatic pressure control valve, the outlet of the second automatic pressure control valve is communicated with the hydraulic station, and the second automatic pressure control valve is connected with a second proportional valve in a matched mode.
The manual pressure control valve I and the manual pressure control valve II are used for corresponding low-precision control when the gravity G of the drilling tool is far larger than the influence of the pressure control valve on delta P, namely the automatic pressure control valve I, the proportional valve I, the automatic pressure control valve II and the proportional valve II do not work at the moment, and workers can adjust the control pressure of the manual pressure control valve I and the manual pressure control valve II to be P1 and P2 in advance to start operation;
the automatic pressure control valve I, the proportional valve I, the automatic pressure control valve II and the proportional valve II are used for corresponding high-precision control when the gravity G of the drilling tool is far smaller than or close to the influence of the pressure control valve on the delta P, and correspondingly, the manual pressure control valve I and the manual pressure control valve II do not work; open-loop control or closed-loop control may be employed at this time:
during open-loop control, according to the measured and calculated delta P theoretical value, an operator controls the pressure of the first automatic pressure control valve and the second automatic pressure control valve through the first proportional valve and the second proportional valve according to real-time data provided by the pressure measuring device, and therefore P1 and P2 with high accuracy are obtained;
during closed-loop control, inputting the measured and calculated delta P theoretical value into a control system, and continuously and automatically adjusting the first proportional valve and the second proportional valve by the control system according to real-time data provided by the collected pressure measuring device so as to control the pressure of the first automatic pressure control valve and the second automatic pressure control valve, thereby obtaining P1 and P2 with higher precision;
the manual pressure control valve realizes linkage control through a hydraulic control one-way valve; after a worker opens the first reversing valve to activate the first control module, the hydraulic control one-way valve is opened by the oil pressure at the outlet of the first reversing valve, so that the manual pressure control valve in the second control module enters a starting controllable state; the hydraulic control one-way valve is used for replacing the function of the reversing valve, so that the equipment cost is reduced.
As a preferable scheme of the invention, the first reversing valve is a two-position two-way electromagnetic reversing valve.
The reversing valve I is used for communicating or cutting off the first control module and the first oil way, and the communication and cutting-off functions can be replaced by other valves or structures under different working conditions; the two-position two-way electromagnetic directional valve has the advantages of mature structure, simple and reliable operation and low cost, and is the preferred scheme of the invention.
As a preferable scheme of the invention, the second reversing valve is a two-position two-way electromagnetic reversing valve.
The reversing valve is used for communicating or cutting off the second control module and the second oil way, and the communicating and cutting-off functions can be replaced by other valves or structures under different working conditions; the two-position two-way electromagnetic directional valve has the advantages of mature structure, simple and reliable operation and low cost, and is the preferred scheme of the invention.
As a preferable scheme of the present invention, the first manual pressure control valve and the second manual pressure control valve are both manual overflow valves.
As a pressure control element, under different working conditions, the manual pressure control function of the manual overflow valve can be replaced by other valves or structures; the manual overflow valve has the advantages of mature structure, simple and reliable operation and low cost, is suitable for corresponding low-precision control when the weight of the drilling tool is larger, and is the preferred scheme of the invention.
As a preferable scheme of the invention, the first automatic pressure control valve and the second automatic pressure control valve are pilot-operated electromagnetic overflow valves.
As an automatic pressure control element, under different working conditions, the automatic pressure control function of the pilot electromagnetic overflow valve can be replaced by other valves or structures; the pilot-operated electromagnetic overflow valve has a mature structure, is simple and reliable to operate, is suitable for corresponding high-precision control when the weight of the drilling tool is small, and is the preferred scheme of the invention.
As a preferable scheme of the present invention, the main oil passage directional control valve is a three-position four-way solenoid valve.
The main oil circuit reversing valve is used for switching high-pressure hydraulic oil between the first oil circuit and the second oil circuit so as to realize the forward and reverse rotation functions of the bidirectional hydraulic motor, in the hydraulic oil circuit, the three-position four-way electromagnetic valve can meet the operation requirements, and related products are mature in structure, simple and reliable in operation and low in cost, so that the main oil circuit reversing valve is the preferred scheme of the invention; other valves or structures may be used instead, depending on the operating conditions.
As a preferable aspect of the present invention, the automatic control system for a catwalk shoe is provided with a brake for stopping the movement of the catwalk shoe when the oil passage is depressurized;
the brake is matched with a brake module, the brake module comprises a shuttle valve connected between a first oil path and a second oil path, an outlet of the shuttle valve is connected with an inlet of a pressure reducing valve, and an outlet of the pressure reducing valve is connected with the brake; the outlet of the shuttle valve is also connected with the inlet of a first check valve, and the outlet of the first check valve is connected with the brake.
The hydraulic motor system is generally matched with a brake mechanism and a control module; the basic principle is that the brake keeps a normally closed state, and the hydraulic motor is ensured to be in a braking state; only when the work is started and the pressure in the main oil way is increased to a certain value, the brake can be opened, and the hydraulic motor starts to operate; when the pressure in the main oil way is reduced to a certain value, the brake is recovered to be in a closed state, so that the hydraulic motor stops running, and the production safety is ensured;
according to the hydraulic control system, the output end of the hydraulic motor is connected with the catwalk sliding shoe, when the pressure in the first oil path or the second oil path is increased, the shuttle valve is opened, high-pressure hydraulic oil is injected into the brake through the pressure reducing valve, the brake is opened, and the hydraulic motor starts to operate; the pressure reducing valve has the functions of stabilizing and reducing pressure, and the stability of the oil pressure injected into the brake is ensured.
As a preferable aspect of the present invention, the automatic catwalk shoe control system is provided with a position locking module, which is connected in series in the second oil passage, and which stops the bidirectional hydraulic motor when the main oil passage directional control valve is switched to a neutral position, and allows the bidirectional hydraulic motor to move smoothly even when a load is changed;
the position locking module is a balanced valve.
The position locking module is a common safety module in a hydraulic motor system, and when the main oil circuit reversing valve is switched to a middle position, the position locking module can enable the hydraulic motor to stop immediately, so that safety risks caused by misoperation are avoided; when the load of the hydraulic motor changes, particularly the movement direction of the actuating mechanism is consistent with the gravity direction or inertia exists, the position locking module can establish back pressure for the hydraulic motor, prevent the hydraulic motor from suddenly rising greatly in rotation speed under the action of gravity or inertia, and prevent a hydraulic system from being damaged;
specifically, when the catwalk sliding shoe retracts under the shutdown state of the first control module and the second control module, when the main oil circuit reversing valve returns to the middle position, the backpressure provided by the balance valve stops the rotation of the bidirectional hydraulic motor, and the safety accident or equipment damage caused by the fact that the bidirectional hydraulic motor continues to move downwards under the inertia effect is avoided.
The invention has the beneficial effects that: the method controls the catwalk sliding shoe, so that the movement speed of the catwalk sliding shoe can automatically adapt to the top drive lowering speed, the clamping, bending, jumping and sliding-out of the drilling tool can be avoided due to the factors such as the speed mismatching of two ends of the drilling tool or the sliding resistance of the catwalk sliding shoe, only one worker needs to control the top drive lowering, the catwalk sliding shoe does not need to be controlled, the labor intensity and the labor cost are reduced, the safety is improved, and the production efficiency is improved.
Description of the drawings:
fig. 1 is a schematic structural view of an automatic control initial position of a power catwalk.
Fig. 2 is a schematic view of the structure and force of the catwalk sliding shoe.
Fig. 3 is a schematic structural view of the power catwalk automatic control end position.
Fig. 4 is a hydraulic schematic diagram of an automatic control system for a catwalk shoe of the present invention.
Wherein the reference numerals are: 1-a first oil path, 11-a first pressure measuring device, 2-a second oil path, 21-a second pressure measuring device, 3-a first control module, 31-a first manual control oil path, 311-a first reversing valve, 312-a first manual pressure control valve, 32-a first automatic control oil path, 321-a first automatic pressure control valve, 322-a first proportional valve, 4-a second control module, 41-a second manual control oil path, 411-a hydraulic control check valve, 412-a second manual pressure control valve, 42-a second automatic control oil path, 421-a second reversing valve, 422-a second automatic pressure control valve, 423-a second proportional valve, 5-a main oil path reversing valve, 6-a hydraulic station, 7-a bidirectional hydraulic motor, 8-a brake, 81-a brake module, 811-a shuttle valve and 812-a pressure reducing valve, 813-one-way valve one, 9-position locking module, 101-top drive, 102-drilling tool, 103-power catwalk, 1031-catwalk slipper.
Detailed Description
The present invention will be described in further detail with reference to test examples and specific embodiments. It should be understood that the scope of the above-described subject matter is not limited to the following examples, and any techniques implemented based on the disclosure of the present invention are within the scope of the present invention.
As shown in fig. 1-3, the present invention is used to lower a drilling tool 102. The top drive 101 is connected with the female end of the drilling tool 102 through an elevator and is lowered, and the male end of the drilling tool 102 is placed in the catwalk slipper 1031; the top drive 101 moves downwards, and the catwalk skid shoe 1031 with approximately balanced force automatically adapts to the descending speed of the top drive 101 and slides downwards along the track under the action of the gravity G of the drilling tool 102, so that the lowering purpose is achieved.
As shown in fig. 2 and 4, an automatic control system for a catwalk sliding shoe comprises a bidirectional hydraulic motor 7, wherein a first oil path 1 and a second oil path 2 of the bidirectional hydraulic motor 7 are both communicated with a hydraulic station 6 through a main oil path reversing valve 5 to form a main hydraulic circuit of the invention; the pressure of the first oil passage 1 is P1, the pressure of the second oil passage is P2, and the differential pressure delta P is P1-P2; a first pressure measuring device 11 and a second pressure measuring device 21 are respectively arranged on the first oil way 1 and the second oil way 2;
the first oil path 1 is connected with a first control module 3, the second oil path 2 is connected with a second control module 4, the first control module 3 and the second control module 4 are respectively used for adjusting P1 and P2, so that delta P is controlled, the thrust F1 generated by the bidirectional hydraulic motor 7 on the catwalk slipper 1031 is smaller than or equal to the resistance F2(F1 is less than or equal to F2) borne by the catwalk slipper 1031 in the descending process, and meanwhile, the sum of component forces F3 of gravity G in the moving direction of the catwalk slipper 1031 is larger than F2(F1+ F35 3 is larger than F2);
the first control module 3 comprises a first manual control oil way 31 and a first automatic control oil way 32; specifically, the hydraulic system comprises a first reversing valve 311, wherein the inlet of the first reversing valve 311 is connected with a first oil way 1, the outlet of the first reversing valve 311 is connected with the inlet of a first manual pressure control valve 312, and the outlet of the first manual pressure control valve 312 is communicated with a hydraulic station 6; the outlet of the first reversing valve 311 is also connected with the inlet of a first automatic pressure control valve 321, the outlet of the first automatic pressure control valve 321 is communicated with the hydraulic station 6, and the first automatic pressure control valve 321 is matched and connected with a first proportional valve 322;
the second control module 4 comprises a second manual control oil way 41 and a second automatic control oil way 42; specifically, the hydraulic control system comprises a second manual pressure control valve 412, wherein the inlet of the second manual pressure control valve 412 is connected with the second oil way 2 through a hydraulic control one-way valve 411, the outlet of the second manual pressure control valve 412 is communicated with the hydraulic station 6, and the opening and closing actions of the hydraulic control one-way valve 411 are controlled by the outlet oil pressure of a first reversing valve 311; the inlet of the second reversing valve 421 is connected with the second oil path 2, the outlet of the second reversing valve 421 is connected with the inlet of the second automatic pressure control valve 422, the outlet of the second automatic pressure control valve 422 is communicated with the hydraulic station 6, and the second automatic pressure control valve 422 is connected with the second proportional valve 423 in a matched mode.
When the drilling tool 102 is lowered, the hydraulic station 6 conveys high-pressure hydraulic oil to the two-way hydraulic motor 7 through the first oil way 1 to drive the two-way hydraulic motor 7 to rotate, the hydraulic oil returned by the two-way hydraulic motor 7 returns to the hydraulic station 6 through the second oil way 2 for recycling, the main oil way reversing valve 5 is used for switching the high-pressure hydraulic oil between the first oil way 1 and the second oil way 2 to realize the forward and reverse rotation function of the two-way hydraulic motor 7, and the pressure measuring device I11 and the pressure measuring device II 21 are respectively used for observing or collecting the oil pressure in the first oil way 1 and the second oil way 2;
in the process of lowering the drilling tool 102, the top drive 101 lowers the drilling tool 102, and the catwalk sliding shoe 1031 retracts; different from the traditional operation, the catwalk slipper 1031 can be automatically matched with the top drive 101 to finish the lowering action of the drilling tool 102 only by opening the first control module 3 and the second control module 4, so that the clamping, bending, jumping and sliding of the drilling tool due to factors such as the speed mismatch of the two ends of the drilling tool 102 or the sliding resistance of the catwalk slipper 1031 are avoided, and only one worker is required to control the lowering of the top drive 101;
the basic principle for realizing the functions is as follows: the first control module 3 and the second control module 4 convert the speed control of the catwalk slipper 1031 into force balance control, so that the catwalk slipper 1031 bearing the drilling tool 102 is always in an approximate force balance state in the descending process, and the speed change in the descending process of the top drive 101 is automatically matched;
the specific process for realizing the functions comprises the following steps: in the process of lowering the drilling tool 102 by the top drive 101, the first control module 3 and the second control module 4 respectively stabilize the pressure of the first oil way 1 and the pressure of the second oil way 2 within a certain range from the upper part to the lower part of P1 and P2, so that a relatively stable delta P is obtained; due to the constant pressure difference Δ P between the two oil paths of the bidirectional hydraulic motor 7, the bidirectional hydraulic motor 7 constantly applies a thrust force F1 to the catwalk shoe 1031 connected thereto; because the resistance F2 of the catwalk sliding shoe 1031 in the descending process is basically constant, P1 and P2 are set, the F1 corresponding to delta P is smaller than or equal to F2(F1 is smaller than or equal to F2), and the catwalk sliding shoe 1031 is in an approximate force balance state, namely a suspension state, so that the catwalk sliding shoe 1031 cannot act alone when the top drive 101 does not act; meanwhile, the sum of the component force F3 of the F1 and the gravity G of the drilling tool 102 along the moving direction of the catwalk slipper 1031 is larger than F2(F1+ F3 is larger than F2), so that when the top drive 101 acts, the catwalk slipper 1031 with approximately balanced force can move downwards along the track under the action of the gravity G of the drilling tool 102 without manual control, and the automatic adaptation function of the descending speed of the top drive 101 is realized;
the control of the first control module 3 and the second control module 4 on the Δ P can be open-loop control or closed-loop control, and because the inherent characteristics of the pressure control valve can influence the accuracy of the Δ P, when the gravity G of the drilling tool 102 is far greater than the influence of the pressure control valve on the Δ P, the open-loop control can be selected to simplify equipment and reduce cost; when the gravity G of the drilling tool 102 is far less than or close to the influence of the pressure control valve on the Δ P, closed-loop control can be selected to improve the control accuracy and response speed of the Δ P, so that the approximate force balance state of the catwalk skid 1031 is more stable, and the operation efficiency and the operation safety are guaranteed.
By using the method for controlling the catwalk sliding shoe 1031, the movement speed of the catwalk sliding shoe 1031 can automatically adapt to the lowering speed of the top drive 101, the clamping, bending, jumping and sliding-out of the drilling tool 102 due to factors such as the speed mismatching of two ends of the drilling tool 102 or the sliding resistance of the catwalk sliding shoe 1031 can be avoided, only one worker needs to control the top drive 101 to lower, the catwalk sliding shoe 1031 does not need to be controlled, the labor intensity and the labor cost are reduced, the safety is increased, and the production efficiency is improved.
The first manual pressure control valve 312 and the second manual pressure control valve 412 realize linkage control through the hydraulic control one-way valve 411; after a worker opens the first reversing valve 311 to activate the first control module 3, the outlet oil pressure of the first reversing valve 311 opens the hydraulic control one-way valve 411, so that the second manual pressure control valve 412 of the second control module 4 enters a starting controllable state;
the first manual pressure control valve 312 and the second manual pressure control valve 412 are used for corresponding low-precision control when the gravity G of the drilling tool 102 is far greater than the influence of the pressure control valves on delta P, namely the first automatic pressure control valve 321, the first proportional valve 322, the second automatic pressure control valve 422 and the second proportional valve 423 do not work at the moment, and workers adjust the control pressure of the first manual pressure control valve 312 and the second manual pressure control valve 412 to be P1 and P2 in advance, so that the operation can be started;
the first automatic pressure control valve 321, the first proportional valve 322, the second automatic pressure control valve 422 and the second proportional valve 423 are used for corresponding high-precision control when the gravity G of the drilling tool 102 is far smaller than or close to the influence of the pressure control valves on the delta P, and correspondingly, the first manual pressure control valve 312 and the second manual pressure control valve 412 do not work; open-loop control or closed-loop control may be employed at this time:
during open-loop control, according to the measured and calculated delta P theoretical value, an operator controls the pressure of the first automatic pressure control valve 321 and the pressure of the second automatic pressure control valve 422 through the first proportional valve 322 and the second proportional valve 423 according to real-time data provided by the first pressure measuring device 11 and the second pressure measuring device 21, so that P1 and P2 with high precision are obtained;
during closed-loop control, the measured delta P theoretical value is input into the control system, and the control system continuously and automatically adjusts the first proportional valve 322 and the second proportional valve 423 according to real-time data provided by the first pressure measuring device 11 and the second pressure measuring device 21 so as to control the pressure of the first automatic pressure control valve 321 and the second automatic pressure control valve 422, so that P1 and P2 with high precision are obtained.
In this embodiment, the first reversing valve 311 and the second reversing valve 421 are both two-position two-way electromagnetic reversing valves; the first manual pressure control valve 312 and the second manual pressure control valve 412 are both manual overflow valves; the first automatic pressure control valve 321 and the second automatic pressure control valve 422 are pilot-operated electromagnetic overflow valves; the first pressure measuring device 11 and the second pressure measuring device 21 are both pressure sensors; the main oil path reversing valve 5 is a three-position four-way electromagnetic valve.
The first reversing valve 311 and the second reversing valve 421 are respectively used for communicating or cutting off the first control module 3 and the second control module 4, and the communication and cutting-off functions can be replaced by other valves or structures under different working conditions; the two-position two-way electromagnetic directional valve has mature structure, simple and reliable operation and low cost, and is the preferred scheme of the invention;
when an automatic pressure control mode is used, the control system needs to record the real-time pressure of the first oil way 1 and the second oil way 2 and takes the real-time pressure as pressure control data, so that a pressure measuring device with data acquisition and transmission is needed; the pressure sensor is a mature data acquisition element and is suitable for an automatic pressure control mode;
the main oil path directional control valve 5 is used for switching high-pressure hydraulic oil between the first oil path 1 and the second oil path 2 to realize the forward and reverse rotation function of the bidirectional hydraulic motor 7.
In addition, the automatic control system for the catwalk shoes of the embodiment is provided with a brake 8 and a position locking module 9; the brake 8 is matched with a brake module 81 for stopping the movement of the catwalk sliding shoe 1031 when the oil path is decompressed; the position locking module 9 is connected in the second oil path 2 in series and is used for enabling the bidirectional hydraulic motor 7 to stop and move stably in time when the oil path is switched or the load is changed;
the brake module 81 includes a shuttle valve 811 connected between the first oil passage 1 and the second oil passage 2, an outlet of the shuttle valve 811 is connected to an inlet of a pressure reducing valve 812, and an outlet of the pressure reducing valve 812 is connected to the brake 8; the outlet of the shuttle valve 811 is also connected with the inlet of a one-way valve 813, and the outlet of the one-way valve 813 is connected with the brake 8; the function of the brake module 81 can be replaced by other valve combinations;
the position locking module 9 is a balanced valve, the function of which can be replaced by other valve combinations.
The hydraulic motor system is generally matched with a brake mechanism and a control module; the basic principle is that the brake 8 keeps a normally closed state to ensure that the hydraulic motor is in a braking state; only when the work is started and the pressure in the main oil circuit rises to a certain value, the brake 8 can be opened, and the hydraulic motor starts to operate; when the pressure in the main oil way is reduced to a certain value, the brake 8 is recovered to be in a closed state, so that the hydraulic motor stops running, and the production safety is ensured;
in this embodiment, the output end of the bidirectional hydraulic motor 5 is connected to the catwalk shoe 1031, when the pressure in the first oil path 1 or the second oil path 2 increases, the shuttle valve 811 is opened, high-pressure hydraulic oil is injected into the brake 8 through the pressure reducing valve 812, the brake 8 is opened, and the bidirectional hydraulic motor 5 starts to operate; the pressure reducing valve 812 has the functions of stabilizing and reducing pressure, and ensures that the oil pressure injected into the brake 8 is stable;
the position locking module 9 is a common safety module in a hydraulic motor system, and when the main oil circuit reversing valve 5 is switched to a middle position, the position locking module 9 can enable the bidirectional hydraulic motor 7 to stop rotating immediately, so that safety risks caused by misoperation are avoided; when the load of the bidirectional hydraulic motor 7 changes, particularly the movement direction of the actuating mechanism is consistent with the gravity direction or inertia exists, the position locking module 9 can establish back pressure for the bidirectional hydraulic motor 7, prevent the bidirectional hydraulic motor 7 from suddenly rising greatly in rotation speed under the action of gravity or inertia, and prevent the hydraulic system from being damaged;
in this embodiment, when the power catwalk 103 retracts when the first control module 3 and the second control module 4 are in a shutdown state, and the main oil circuit directional control valve 5 returns to the neutral position, the backpressure provided by the balance valve stops the rotation of the bidirectional hydraulic motor 7, so as to avoid safety accidents or equipment damage caused by the fact that the bidirectional hydraulic motor continues to move downwards under the inertia effect.
By using the method for controlling the catwalk sliding shoe 1031, the movement speed of the catwalk sliding shoe 1031 can automatically adapt to the lowering speed of the top drive 101, the clamping, bending, jumping and sliding-out of the drilling tool 102 due to factors such as the speed mismatching of two ends of the drilling tool 102 or the sliding resistance of the catwalk sliding shoe 1031 can be avoided, only one worker needs to control the top drive 101 to lower, the catwalk sliding shoe 1031 does not need to be controlled, the labor intensity and the labor cost are reduced, the safety is increased, and the production efficiency is improved.
All of the features disclosed above, or all of the steps in any method or process disclosed, may be combined in any combination, except features and/or steps that are mutually exclusive.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The automatic catwalk sliding shoe control system is characterized by comprising a bidirectional hydraulic motor (7), wherein a first oil path (1) and a second oil path (2) of the bidirectional hydraulic motor (7) are communicated with a hydraulic station (6) through a main oil path reversing valve (5), the pressure of the first oil path (1) is P1, the pressure of the second oil path (2) is P2, and the differential pressure delta P is P1-P2;
a first pressure measuring device (11) and a second pressure measuring device (21) are respectively arranged on the first oil way (1) and the second oil way (2);
the first oil path (1) is connected with a first control module (3), the second oil path (2) is connected with a second control module (4), the first control module (3) and the second control module (4) are respectively used for adjusting P1 and P2, so that delta P is controlled, the thrust F1 of the bidirectional hydraulic motor (7) is smaller than or equal to the resistance F2 of a catwalk slipper (1031), and meanwhile the sum of F1 and the component F3 of the gravity G of a drilling tool (102) in the movement direction of the catwalk slipper (1031) is larger than F2.
2. The automatic catwalk slipper control system according to claim 1, wherein the first control module (3) comprises a first manual control oil path (31) and/or a first automatic control oil path (32), an inlet of the first manual control oil path (31) and/or the first automatic control oil path (32) is connected with the first oil path (1), and an outlet of the first manual control oil path (31) and/or the first automatic control oil path (32) is communicated with the hydraulic station (6);
the second control module (4) comprises a second manual control oil way (41) and/or a second automatic control oil way (42); the inlet of the manual control oil way II (41) and/or the automatic control oil way II (42) is connected with the second oil way (2), and the outlet is communicated with the hydraulic station (6);
the manual control oil way I (31) and/or the automatic control oil way I (32) are used for being mutually combined with the manual control oil way II (41) and/or the automatic control oil way II (42) so as to match different control requirements.
3. The automatic catwalk slipper control system according to claim 2, wherein the first manual control oil path (31) comprises a first reversing valve (311), an inlet of the first reversing valve (311) is connected with the first oil path (1), an outlet of the first reversing valve (311) is connected with an inlet of a first manual pressure control valve (312), and an outlet of the first manual pressure control valve (312) is communicated with the hydraulic station (6);
the automatic control oil way I (32) comprises a first reversing valve (311), the inlet of the first reversing valve (311) is connected with the first oil way (1), the outlet of the first reversing valve (311) is connected with the inlet of a first automatic pressure control valve (321), the outlet of the first automatic pressure control valve (321) is communicated with the hydraulic station (6), and the first automatic pressure control valve (321) is matched and connected with a first proportional valve (322);
the second manual control oil way (41) comprises a second manual pressure control valve (412), an inlet of the second manual pressure control valve (412) is connected with the second oil way (2) through a second hydraulic control check valve (411), an outlet of the second manual pressure control valve (412) is communicated with the hydraulic station (6), and the opening and closing action of the second hydraulic control check valve (411) is controlled by the outlet oil pressure of the first reversing valve (311);
the automatic control oil circuit II (42) comprises a reversing valve II (421), the inlet of the reversing valve II (421) is connected with the second oil circuit (2), the outlet of the reversing valve II (421) is connected with the inlet of an automatic pressure control valve II (422), the outlet of the automatic pressure control valve II (422) is communicated with the hydraulic station (6), and the automatic pressure control valve II (422) is connected with a proportional valve II (423) in a matched mode.
4. The automatic catwalk slipper control system of claim 3, wherein the first reversing valve (311) is a two-position, two-way electromagnetic reversing valve.
5. The automatic catwalk slipper control system of claim 3, wherein the second reversing valve (421) is a two-position, two-way electromagnetic reversing valve.
6. The automatic control system for a catwalk slipper according to claim 3, wherein the first manual pressure control valve (312) and the second manual pressure control valve (412) are both manual overflow valves.
7. The automatic catwalk slipper control system of claim 3, wherein the first automatic pressure control valve (321) and the second automatic pressure control valve (422) are pilot-operated electromagnetic overflow valves.
8. The automatic control system of a catwalk shoe according to claim 1, wherein the main oil-way selector valve (5) is a three-position four-way solenoid valve.
9. An automatic control system for a catwalk shoe according to claim 1, characterized in that it is equipped with a brake (8), said brake (8) being adapted to stop the movement of the catwalk shoe (1031) when the oil circuit is vented;
the brake (8) is matched with a brake module (81), the brake module (81) comprises a shuttle valve (811) connected between a first oil path (1) and a second oil path (2), an outlet of the shuttle valve (811) is connected with an inlet of a reducing valve (812), and an outlet of the reducing valve (812) is connected with the brake (8); the outlet of the shuttle valve (811) is also connected with the inlet of a one-way valve I (813), and the outlet of the one-way valve I (813) is connected with the brake (8).
10. An automatic catwalk slipper control system according to claim 1, characterized in that the automatic catwalk slipper control system is equipped with a position locking module (9), the position locking module (9) being connected in series in the second oil passage (2) to stop the bidirectional hydraulic motor (7) when the main oil passage directional control valve (5) is switched to the neutral position, and to allow the bidirectional hydraulic motor (7) to move smoothly even when a load is changed;
the position locking module (9) is a balanced valve.
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| CN202010917680.9A CN112145490B (en) | 2020-09-03 | 2020-09-03 | Automatic control system for catwalk sliding shoes |
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| CN112145490B (en) | 2022-01-11 |
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