CN117514039A - Drilling tool setting and breaking-out device and method, hydraulic drilling machine and rod replacing system thereof - Google Patents

Abstract

The invention discloses a drilling tool screwing and unscrewing device and method, a hydraulic drilling machine and a rod replacing system thereof, wherein the drilling tool screwing and unscrewing device comprises a mounting seat and two clamping devices, the two clamping devices are arranged along the upper and lower directions, each clamping device comprises a clamping seat arranged on the mounting seat, a clamping part is movably arranged on each clamping seat, the clamping part at the upper part is used for clamping a drilling tool at the upper part, the clamping part at the lower part is used for clamping a drilling tool at the lower part, and the two clamping seats can relatively rotate along an axis extending along the upper and lower directions.

Description

Drilling tool setting and breaking-out device and method, hydraulic drilling machine and rod replacing system thereof

Technical Field

The invention relates to the technical field of petroleum and natural gas drilling, in particular to a drilling tool setting and breaking device and method, a hydraulic drilling machine and a rod replacing system thereof.

Background

The hydraulic drilling machine controls the drilling tool to perform drilling operation and comprises a power head, a derrick, a chassis, a power system, a hydraulic system, a circulating system, a feeding system, an operation control system and the like; the drilling tool consists of a plurality of sub-drilling tools which are connected end to end, a power head is connected to the top of the drilling tool, and the power head is a rotary power output device for driving the drilling tool and the drill bit to rotate; the feeding system mainly lifts and lowers the power head to lift and lower the drilling tool, and meanwhile controls the lifting and lowering speed of the power head to realize the functions of tripping, throwing, receiving, unloading and the like.

The step of throwing the drill is to execute the processes of manually punching, screwing, resetting the screwing-on and unscrewing device, self-adapting drill unloading and the like when the power head lifts the drilling tool to the height H (data are obtained through the displacement sensor). In the process of executing the punching, a worker is required to hold the tool to unlock the two uppermost drilling tools in the drilling tools, so that time and labor are consumed.

Disclosure of Invention

The invention mainly aims to provide a drilling tool screwing and unscrewing device and method, a hydraulic drilling machine, a rod replacing system thereof, a self-adaptive rod unloading method and a rod loading method, and aims to solve the problems that in the process of executing punching, workers are required to hold tools to unscrew two connected drilling tools positioned at the uppermost part in the drilling tools, and time and labor are consumed.

In order to achieve the above purpose, the invention provides a drilling tool screwing-unscrewing device, which is used for a hydraulic drilling machine and comprises a mounting seat and two clamping devices, wherein the two clamping devices are arranged along the up-down direction, each clamping device comprises a clamping seat arranged on the mounting seat, each clamping seat is movably provided with a clamping part, the clamping part positioned above is used for clamping a drilling tool positioned above, the clamping part positioned below is used for clamping a drilling tool positioned below, and the two clamping seats can rotate relatively along the axis extending along the up-down direction.

Optionally, at least one of the two clamping seats is a movable clamping seat, and the movable clamping seat is rotatably installed on the installation seat along an axis extending in the up-down direction; the drilling tool screwing-on and unscrewing device further comprises two first linear driving devices, and each first linear driving device is respectively and drivingly connected with two ends of the movable clamping seat in the horizontal direction and used for jointly driving the movable clamping seat to move.

Optionally, a containing notch is formed on the side part of each clamping seat for guiding the drilling tool laterally; the clamping part comprises two clamping blocks which are oppositely arranged, the two clamping blocks can move linearly relatively and extend into the accommodating notch so as to clamp the corresponding drilling tool.

Optionally, a second linear driving device is disposed on each clamping seat, so as to drive each clamping block to move respectively.

Optionally, the mount pad can rotate the installation along the axis that upper and lower direction extends, and have the operating position on its movable stroke and dodge the position two clamping device can be counterpoint and centre gripping drilling tool dodge the position two clamping device can dodge the drilling tool setting.

Optionally, the drilling tool screwing and unscrewing device further comprises a swing driving device, wherein the swing driving device comprises a hydraulic driving device, an inner swing electromagnetic valve, an outer swing electromagnetic valve and a worm gear reducer, and the hydraulic driving device is connected with an oil way; the inner swing electromagnetic valve and the outer swing electromagnetic valve are both arranged on the oil path; the worm gear reducer is in driving connection with the hydraulic driving device; wherein, the mounting seat is in driving connection with an output shaft of the worm gear reducer; the inner swing electromagnetic valve is powered on, the worm gear reducer drives the mounting seat to swing inwards from the avoidance position to the working position, the outer swing electromagnetic valve is powered on, and the worm gear reducer drives the mounting seat to swing outwards from the working position to the avoidance position.

Optionally, the device further comprises an inner swing travel switch and/or an outer swing travel switch, wherein: the inner swing travel switch is arranged on a control circuit of the inner swing electromagnetic valve and used for switching off the inner swing electromagnetic valve when the mounting seat is detected to be in the working position; the outward swing travel switch is arranged on a control circuit of the outward swing electromagnetic valve and is used for disconnecting the outward swing electromagnetic valve when the mounting seat is detected to be in the avoidance state.

The invention provides a method for controlling the on-off of a drilling tool, which is based on the drilling tool on-off device, wherein the drilling tool on-off device also comprises a swing driving device, the swing driving device comprises a hydraulic driving device, an inner swing electromagnetic valve, an outer swing electromagnetic valve and a worm gear reducer, and the hydraulic driving device is connected with an oil way; the inner swing electromagnetic valve and the outer swing electromagnetic valve are both arranged on the oil path; the worm gear reducer is in driving connection with the hydraulic driving device; wherein, the mounting seat is in driving connection with an output shaft of the worm gear reducer; the inner swing electromagnetic valve is electrified, the worm gear reducer drives the mounting seat to swing inwards from the avoiding position to the working position, the outer swing electromagnetic valve is electrified, the worm gear reducer drives the mounting seat to swing outwards from the working position to the avoiding position, the two clamping seats can be rotatably installed, and the drilling tool screwing-on and unscrewing device further comprises two first linear driving devices for respectively driving the two clamping seats to rotate; the clamping part comprises two clamping blocks which are oppositely arranged, and a second linear driving device is arranged on each clamping seat and used for driving each clamping block to move respectively;

The method for controlling the make-up and break-out of the drilling tool comprises the following steps:

after the drilling tool is lifted to a first preset position, controlling the inward swing electromagnetic valve to be electrified so as to enable the mounting seat to be inward swung to the working position;

controlling the two first linear driving devices at the upper part, the two first linear driving devices at the lower part, the two second linear driving devices at the upper part and the two second linear driving devices at the lower part to cooperatively work so as to complete the punching operation;

after the punching operation is finished, controlling the two first linear driving devices at the upper part and the two second linear driving devices at the upper part to work, and after a power head of a drilling tool connected at the upper part in a driving way is controlled to rotate anticlockwise, finishing the screwing operation;

after the turnbuckle operation is completed, controlling the two second linear driving devices below to work so as to loosen the drilling tool below;

and finally, controlling the outward swing electromagnetic valve to be electrified so that the mounting seat swings outward to the avoidance position.

Optionally, the controlling the two first linear driving devices located above, the two first linear driving devices located below, the two second linear driving devices located above, and the two second linear driving devices located below cooperate to complete the punching operation, including:

Controlling the second linear driving devices at the lower part to work so as to enable the two clamping blocks at the lower part to clamp the drilling tool at the lower part;

after a first preset time period passes, controlling the two upper first linear driving devices to work so that the upper clamping seat rotates clockwise;

after a second preset time period, controlling the two second linear driving devices at the upper part to work so that the two clamping blocks at the upper part clamp the drilling tool at the upper part;

after a third preset time period, controlling the two first linear driving devices positioned above to work so that the clamping seat positioned above rotates anticlockwise to finish the punching operation.

Optionally, after the button punching operation is completed, the two first linear driving devices located above and the two second linear driving devices located above are controlled to work, and after the power head of the drilling tool connected above is controlled to rotate anticlockwise, the method further includes:

after the punching operation is completed, controlling the two second linear driving devices at the upper part to work so as to enable the two clamping blocks at the upper part to loosen the drilling tool at the upper part;

After a fourth preset time period, controlling the two first linear driving devices at the upper part to work so as to enable the clamping seat at the upper part to rotate clockwise;

after the power head of the drilling tool connected above is controlled to rotate anticlockwise for a fifth preset time period, the screwing operation is completed.

Optionally, after the screwing operation is completed, the two second linear driving devices below are controlled to work so as to loosen the drilling tool below, and the method comprises the following steps:

and after the turnbuckle operation is completed for a sixth preset time period, controlling the two second linear driving devices positioned below to work so as to loosen the drilling tool positioned below.

The invention provides a hydraulic drilling machine, which comprises the drilling tool screwing-on and unscrewing device.

The invention provides a rod replacing system of a hydraulic drilling machine, which comprises the hydraulic drilling machine.

The invention provides a self-adaptive pole loading method, which is based on a pole changing system of a hydraulic drilling machine, wherein the pole changing system of the hydraulic drilling machine further comprises a power catwalk device and a control device; the power catwalk device comprises a catwalk main body, a running arm arranged on the catwalk main body, a jacking cylinder for driving the running arm to rotate and a pushing cylinder for driving the running arm to linearly move; the hydraulic drilling machine further comprises a drilling machine main body, a power head lifting frame movably mounted on the drilling machine main body along the up-down direction, a power head swing arm arranged on the power head lifting frame in a swinging mode, a power head arranged on the power head swing arm and connected with a drilling tool in a driving mode, and a tilting oil cylinder connected with the power head swing arm in a driving mode; the control device is electrically connected with the jacking cylinder, the pushing cylinder and the tilting cylinder, and comprises the following steps:

After the current drilling tool to be lifted is positioned on the running arm, controlling the jacking oil cylinder and the pushing oil cylinder to stretch out and draw back;

acquiring a second telescopic movable stroke of the jacking oil cylinder and a third telescopic movable stroke of the pushing oil cylinder;

determining a second target expansion amount of the tilting cylinder according to the second movable stroke and the third movable stroke;

controlling the tilting oil cylinder to work according to the second target expansion amount so that a matching structure of the power head and the drilling tool is parallel to the running arm;

after the power head is combined with the current drilling tool to be put on the rod, controlling the power head to carry out the fastening operation;

and after the button-up operation is completed, controlling the power head to lift the drilling tool upwards until the current height of the power head is larger than the length of the drilling tool to be lifted currently.

According to the technical scheme, the drilling tools are connected together through threads, when two connected drilling tools are required to be disassembled, the drilling tool screwing-on and unscrewing device is driven to operate, the upper clamping part clamps the upper drilling tools, the lower clamping part clamps the lower drilling tools, after the two connected drilling tools are clamped, the two clamping seats rotate relatively along the axes extending in the vertical direction, so that the two connected drilling tools are unscrewed and unscrewed, the drilling tool screwing-on and unscrewing device loosens the drilling tools, and the drilling tools continue to perform subsequent actions.

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 required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of an embodiment of a tool trip device of the present invention showing both a working position and a setting-out position;

FIG. 2 is a schematic perspective view of a part of the structure of the tool holder of FIG. 1;

FIG. 3 is a schematic structural view of an embodiment of a rod changing system of a hydraulic drilling machine according to the present invention in a first state;

FIG. 4 is a schematic view of the rod changing system of the hydraulic drilling machine in a second state relative to that of FIG. 3;

FIG. 5 is a schematic view of the rod changing system of the hydraulic drilling machine in a third state relative to that of FIG. 4;

FIG. 6 is an enlarged view of A in FIG. 5;

FIG. 7 is a schematic view of a portion of the structure shown in FIG. 6;

FIG. 8 is a schematic view of the rod changing system of the hydraulic drilling machine in a fourth state relative to FIG. 5;

Fig. 9 is a schematic flow chart of an embodiment of a method for controlling the tripping of a drilling tool according to the present invention;

FIG. 10 is a flow chart of an embodiment of an adaptive rod unloading method according to the present invention;

fig. 11 is a flow chart of an embodiment of the adaptive pole loading method according to the present invention.

Description of the embodiments of the invention the reference numerals:

reference numerals	Name of the name	Reference numerals	Name of the name
				10000	Rod replacing system of hydraulic drilling machine	6	Swing driving device
1000	Hydraulic drilling machine	61	Worm gear reducer
				100	Drilling tool screwing-on and unscrewing device	200	Drilling machine main body
1	Mounting base	300	Power head
				2	Clamping device	400	Tilting oil cylinder
21	Clamping seat	2000	Power catwalk device
				22	Clamping part	201	Catwalk main body
221	Clamping block	202	Running arm
				3	Drilling tool	203	Jacking cylinder
4	First linear driving device	204	Thrust cylinder
				5	Second linear driving device

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the 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.

It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present invention, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" as it appears throughout includes three parallel schemes, for example "A and/or B", including the A scheme, or the B scheme, or the scheme where A and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

The hydraulic drilling machine controls the drilling tool to perform drilling operation and comprises a power head, a derrick, a chassis, a power system, a hydraulic system, a circulating system, a feeding system, an operation control system and the like; the drilling tool consists of a plurality of sub-drilling tools which are connected end to end, a power head is connected to the top of the drilling tool, and the power head is a rotary power output device for driving the drilling tool and the drill bit to rotate; the feeding system mainly lifts and lowers the power head to lift and lower the drilling tool, and meanwhile controls the lifting and lowering speed of the power head to realize the functions of tripping, throwing, receiving, unloading and the like. The step of throwing the drill is to execute the processes of automatic punching, screwing, resetting of a screwing-on and unscrewing device, self-adapting drill unloading and the like when the power head lifts the drilling tool to the height H (data are obtained through a displacement sensor). In the process of executing the punching, a worker is required to hold the tool to unlock the two uppermost drilling tools in the drilling tools, so that time and labor are consumed.

In view of the above, the invention provides a drilling tool screwing-on and unscrewing device and method, a hydraulic drilling machine, a rod replacing system thereof, a self-adaptive rod unloading method and a rod loading method, which can be used for unscrewing and unscrewing two connected drilling tools positioned at the uppermost part of the drilling tools through the drilling tool screwing-on and unscrewing device in the process of executing punching by replacing a manual work by a machine, and are convenient, quick, time-saving and labor-saving. FIG. 1 is a schematic view of an embodiment of a tool trip device of the present invention showing both a working position and a setting-out position; FIG. 2 is a schematic perspective view of a part of the structure of the tool holder of FIG. 1; FIG. 3 is a schematic structural view of an embodiment of a rod changing system of a hydraulic drilling machine according to the present invention in a first state; FIG. 4 is a schematic view of the rod changing system of the hydraulic drilling machine in a second state relative to that of FIG. 3; FIG. 5 is a schematic view of the rod changing system of the hydraulic drilling machine in a third state relative to that of FIG. 4; FIG. 6 is an enlarged view of A in FIG. 5; FIG. 7 is a schematic view of a portion of the structure shown in FIG. 6; FIG. 8 is a schematic view of the rod changing system of the hydraulic drilling machine in a fourth state relative to FIG. 5; fig. 9 is a schematic flow chart of an embodiment of a method for controlling the tripping of a drilling tool according to the present invention;

FIG. 10 is a flow chart of an embodiment of an adaptive rod unloading method according to the present invention; FIG. 11 is a schematic flow chart of an embodiment of the adaptive stem feeding method according to the present invention, wherein the first state shown in FIG. 3 is a state in which the power head is connected to the drilling tool located above; the second state illustrated in fig. 4 is when the upper drill is lifted; the third state in fig. 5 is a state in which the drilling tool is located on the running arm; the fourth state in fig. 8 is a state in which the power head is connected to another upward-located drilling tool.

In the embodiment of the present invention, referring to fig. 1, the tool setting and breaking-out device 100 is used for a hydraulic drilling machine 1000, and includes a mounting seat 1 and two clamping devices 2, wherein the two clamping devices 2 are arranged along an up-down direction, each clamping device 2 includes a clamping seat 21 provided on the mounting seat 1, a clamping portion 22 is movably mounted on each clamping seat 21, the upper clamping portion 22 is used for clamping the upper drilling tool 3, the lower clamping portion 22 is used for clamping the lower drilling tool 3, and the two clamping seats 21 can relatively rotate along an axis extending along the up-down direction.

In the above technical solution, the structure of the mounting base 1 is not limited, and the main function of the mounting base is to mount and limit the two clamping devices 2, as shown in fig. 1 and 2, since the drilling tools 3 are vertical rods connected end to end, in order to be able to detach two adjacent drilling tools 3, the two clamping devices 2 are arranged along the up-down direction, each clamping device 2 includes a clamping base 21, the clamping base 21 is mounted on the clamping device 2, and further includes a clamping portion 22, the clamping portion 22 is mounted on the clamping base 21, and the application is not limited to the specific structure of the clamping portion 22, for example, it may be a structure of a clamping jaw, two clamping blocks, etc., as long as the drilling tools 3 can be clamped or unclamped, the clamping portion 22 located above is used to clamp the drilling tools 3 located above, the clamping portion 22 located below is used to clamp the drilling tools 3 located below, and the two connected drilling tools 3 are relatively rotated along the axis extending along the up-down direction by the two clamping bases 21.

The present invention is not limited to a specific process of rotating the two clamping bases 21 relative to each other, so long as the two connected drilling tools 3 can be unwound, for example, the upper clamping base 21 rotates along an axis extending in the up-down direction, and the lower clamping base 21 keeps clamping, so that the two connected drilling tools 3 can be unwound; or the clamping seat 21 positioned above is clamped and fixed, and the clamping seat 21 positioned below rotates along the axis extending in the up-down direction, so that the two connected drilling tools 3 can be unscrewed; the clamping seats 21 located above and below are rotated along the axes extending in the vertical direction, and the rotation directions are opposite, so that the two connected drilling tools 3 can be unscrewed in all the three modes.

In the use process, when two connected drilling tools 3 need to be disassembled, the drilling tool screwing-on and unscrewing device 100 is driven to operate, the upper clamping part 22 clamps the upper drilling tools 3, the lower clamping part 22 clamps the lower drilling tools 3, after the two connected drilling tools 3 are clamped, the two clamping seats 21 rotate relatively along the axes extending in the vertical direction, so that the two connected drilling tools 3 are unscrewed, the drilling tool screwing-on and unscrewing device 100 loosens the drilling tools 3, and the drilling tools 3 continue to perform subsequent actions.

In the technical solution of the present invention, in order to realize that at least one of the two clamping bases 21 may be rotatably mounted on the mounting base 1 along an axis extending in the up-down direction, that is, at least one of the two clamping bases 21 is provided as a movable clamping base, and the movable clamping base is rotatably mounted on the mounting base 1 along an axis extending in the up-down direction; the tool setting and breaking device 100 further includes two first linear driving devices 4, where each first linear driving device 4 is respectively connected to two ends of the movable clamping seat in the horizontal direction in a driving manner, so as to jointly drive the movable clamping seat to move.

The present invention is not limited to the specific structure of the two first linear driving devices 4, for example, the first linear driving devices 4 may be a telescopic structure formed by a cylinder, a telescopic motor, a screw rod and a nut, and the two telescopic structures are matched to drive the movable clamping seat to rotate along an axis extending in the up-down direction. When the two clamping bases 21 are movable clamping bases, each movable clamping base is driven to move by the corresponding two first linear driving devices 4, in order to enable the two movable clamping bases to unscrew and rotate the two drilling tools 3 connected with each other relatively under the driving of the corresponding two first linear driving devices 4, when only one clamping base 21 is the movable clamping base, the rotating direction of the movable clamping base is not limited, and only the other clamping base 21 rotates relatively.

Further, as shown in fig. 1 and 2, a receiving notch is formed at a side portion of each clamping seat 21 for guiding the drilling tool 3 laterally, and the receiving notch plays a role of guiding and limiting, so that the drilling tool 3 can be conveniently and quickly placed into the receiving notch, and in some embodiments, the receiving notch is semicircular and is adapted to the drilling tool 3, so that the drilling tool 3 can be conveniently placed into the receiving notch; the clamping portion 22 comprises two clamping blocks 221 which are oppositely arranged, the two clamping blocks 221 can move linearly relatively and stretch into the accommodating notch so as to hold the corresponding drilling tool 3, after the accommodating notch guides and limits, the two clamping blocks 221 clamp the drilling tool 3 by shortening the distance, and under the clamping effect of the two clamping blocks 221 and the matching of the limiting accommodating notch, the drilling tool 3 is firmly grasped and is not easy to slide out from the clamping portion 22.

The clamping seat 21 includes two clamping blocks 221, each clamping block 221 is provided with a second linear driving device 5, the clamping blocks 221 are driven to move linearly by the second linear driving devices 5, the application is not limited to specific structures of the second linear driving devices 5, for example, the structures of the second linear driving devices 5 may be cylinders, telescopic motors, and the like, and the structures of the second linear driving devices 5 on the two clamping seats 21 may be the same or different, so that the structures of the second linear driving devices 5 on the two clamping seats 21 are preferably the same for convenience in manufacturing.

In the technical solution of the present application, the mounting base 1 may be rotatably mounted along an axis extending in an up-down direction, and has a working position and an avoiding position on a moving stroke, that is, the mounting base 1 may be moved, since two clamping devices 2 are disposed on the mounting base 1, the mounting base 1 may be moved to drive the clamping devices 2 to move, when the mounting base 1 needs to be unscrewed and two adjacent drilling tools 3, the mounting base 1 is driven to the working position, when the mounting base 1 is driven to the working position, the two clamping devices 2 may align and clamp the drilling tools 3 to fix the drilling tools 3, when the two connected drilling tools 3 are unscrewed and then loosen the unscrewed drilling tools 3, the mounting base 1 is moved to a position away from the drilling tools 3, so as to avoid affecting a subsequent operation of the drilling tools 3, that is, the mounting base 1 is moved to the avoiding position away from the drilling tools 3, where, in some embodiments, the mounting base 1 may be manually rotated to the working position or the avoiding position; in some embodiments, the mount 1 is moved to the working or stowed position by mechanically driving the mount 1 to move, such as by a worm gear 61 to rotate, by a rotating motor to rotate, or the like.

As shown in fig. 1, specifically, the tool setting and breaking out device 100 further includes a swing driving device 6, where the swing driving device 6 includes a hydraulic driving device, an inner swing electromagnetic valve, an outer swing electromagnetic valve, and a worm gear reducer 61, and the hydraulic driving device is connected with an oil path; the inner swing electromagnetic valve and the outer swing electromagnetic valve are both arranged on the oil path; the worm gear reducer 61 is in driving connection with the hydraulic driving device, wherein the mounting seat 1 is in driving connection with an output shaft of the worm gear reducer 61; the swing driving device 6 is operated in a specific process that when the mounting seat 1 needs to be moved to the working position, the internal swing electromagnetic valve is powered on, a control oil way is opened, the oil way provides power for the hydraulic driving device, the hydraulic driving device provides power for the worm gear reducer 61 to enable the worm gear reducer 61 to rotate after power is provided for the hydraulic driving device, the worm gear reducer 61 rotates to drive the mounting seat 1 to rotate so as to enable the mounting seat 1 to rotate to the working position, and when the mounting seat 1 moves to the working position, the internal swing electromagnetic valve is powered off to stop providing power for the hydraulic driving device, namely the worm gear reducer 61 loses power and stops rotating; when the mounting seat 1 needs to be moved to the avoiding position, the outward swing electromagnetic valve is powered on, the outward swing electromagnetic valve control oil way is opened to provide power for the hydraulic driving device, the hydraulic driving device provides opposite driving force for the worm gear reducer 61, so that the worm gear reducer 61 rotates in opposite directions to drive the mounting seat 1 to rotate towards the avoiding position, when the mounting seat 1 rotates to the avoiding position, the outward swing electromagnetic valve is powered off, the worm gear reducer 61 loses power and stops rotating, and the swing driving device 6 can accurately control the rotation of the mounting seat 1.

Further, the device also comprises an inward swing travel switch and/or an outward swing travel switch (not shown in the drawings), wherein: the inward swing travel switch is arranged on a control circuit of the inward swing electromagnetic valve and is used for switching off the inward swing electromagnetic valve when the mounting seat 1 is detected to be in the working position; the outer pendulum travel switch is arranged on a control circuit of the outer pendulum electromagnetic valve, and is used for disconnecting the outer pendulum electromagnetic valve when detecting that the mounting seat 1 is in avoidance, judging whether the mounting seat 1 reaches a required position or not through the stroke formed by the inner pendulum travel switch and the outer pendulum, judging accurately and not easily causing deviation.

The invention provides a method for controlling the break-out, the flow chart is as shown in figure 9, based on the said drilling tool break-out device 100, the said drilling tool break-out device 100 includes mount pad 1 and two clamp devices 2, said two clamp devices 2 are laid along the up-down direction, each said clamp device 2 includes locating the clamp pad 21 of the said mount pad 1, each said clamp pad 21 is movably fitted with the clamp part 22, the said clamp part 22 located above is used for holding the drilling tool 3 located above, the said clamp part 22 located below is used for holding the drilling tool 3 located below, two said clamp pads 21 can rotate relatively along the axis that extends in the up-down direction; the drilling tool screwing and unscrewing device 100 further comprises a swing driving device 6, wherein the swing driving device 6 comprises a hydraulic driving device, an inner swing electromagnetic valve, an outer swing electromagnetic valve and a worm gear reducer 61, and the hydraulic driving device is connected with an oil circuit; the inner swing electromagnetic valve and the outer swing electromagnetic valve are both arranged on the oil path; the worm gear reducer 61 is in driving connection with the hydraulic driving device, wherein the mounting seat 1 is in driving connection with an output shaft of the worm gear reducer 61, the two clamping seats 21 can be rotatably mounted, and the drilling tool screwing-on and unscrewing device 100 further comprises two first linear driving devices 4 for respectively driving the two clamping seats 21 to rotate; the clamping part 22 comprises two clamping blocks 221 which are oppositely arranged, and a second linear driving device 5 is arranged on each clamping seat 21 and is used for driving each clamping block 221 to move respectively; the method for controlling the make-up and break-out of the drilling tool 3 comprises the following steps:

S10, after the drilling tool 3 is lifted to a first preset position, controlling the inward swing electromagnetic valve to be electrified so as to enable the mounting seat 1 to be inward swung to the working position;

specifically, the first preset positions are set according to the lengths of the corresponding drilling tools 3, the drilling tools 3 with different heights are not identical, the drilling tools 3 are lifted to the first preset positions, the drilling tools 3 are lifted out of the oil well to a certain height, so that the upper two connected drilling tools 3 of the drilling tools 3 are exposed, the screwing-on and unscrewing device 100 of the drilling tools can clamp the two drilling tools 3 above and below conveniently, in some embodiments, after the drilling tools 3 are lifted to the first preset positions under the action of the power head 300, the drilling tools 3 need to be subjected to a punching operation (even if the two connected drilling tools 3 are unscrewed and combined), the inner swing electromagnetic valve is controlled to obtain electricity, and after the inner swing electromagnetic valve is electrified, the swing driving device 6 drives the mounting seat 1 to move to the rotating position according to the operation principle described above.

S20, controlling the two first linear driving devices 4 at the upper part, the two first linear driving devices 4 at the lower part, the two second linear driving devices 5 at the upper part and the two second linear driving devices 5 at the lower part to work cooperatively so as to complete the punching operation;

In particular, since the two first linear driving devices 4 and the two second linear driving devices 5 are used for driving the clamping devices 2, specific movement tracks of the two clamping devices 2 are not limited herein, for example, the two clamping devices 2 may clamp the drilling tool 3 first and then rotate; either one of the two is clamped first, the other is rotated and then clamped, or both of the two are rotated first, then clamped and then rotated, no matter what motion track is, the punching operation can be completed.

S30, after the punching operation is finished, controlling the two first linear driving devices 4 at the upper part and the two second linear driving devices 5 at the upper part to work, and after the power head 300 of the drilling tool 3 at the upper part is driven to rotate anticlockwise, finishing the screwing operation;

specifically, after completing the punching operation, the two connected drilling tools 3 are unscrewed and not completely separated, but a screwing operation is required, at this time, the power head 300 is required to apply an upward lifting force and simultaneously apply a rotating force to separate the two connected drilling tools 3, in this process, the two clamping devices 2 are required to be matched with the power head 300, since a rotating force is required to be applied to the drilling tool 3 positioned above and simultaneously apply an upward force, the clamping part 22 in the clamping seat 21 positioned above needs to release the drilling tool 3 positioned above, and the clamping part 22 in the clamping seat 21 positioned below needs to clamp the drilling tool 3 positioned below, so that the power head 300 can keep the drilling tool 3 positioned below and rotate relatively when the drilling tool 3 positioned above rotates, wherein the power head 300 can rotate, but the rotating force is not enough to complete the punching operation instead of the drilling tool 300, so that the punching operation cannot be performed by the power head 300.

S40, after the turnbuckle operation is completed, controlling the two second linear driving devices 5 below to work so as to loosen the drilling tool 3 below;

and S50, finally, controlling the outward swing electromagnetic valve to be electrified so that the mounting seat 1 swings outward to the avoidance position.

Specifically, according to the working principle of the swing driving device 6, the mounting seat 1 is driven to swing outwards to the avoiding position, so that the subsequent operation of the drilling tool 3 is prevented from being delayed.

In the above technical scheme, in the process of executing the punching operation, the punching operation is performed on the drilling tool 3 through the fastening and unfastening device 100 of the drilling tool, instead of manually performing the punching operation, the method is convenient and quick, and is time-saving and labor-saving.

The method for controlling the shackle has all the technical schemes of the device for controlling the shackle 100 of the drilling tool, so that the method has all the beneficial effects brought by the technical schemes, and will not be described in detail herein.

In the technical solution of the present invention, the controlling the two first linear driving devices 4 located above, the two first linear driving devices 4 located below, the two second linear driving devices 5 located above, and the two second linear driving devices 5 located below cooperate to complete the punching operation, including:

S21, controlling the two second linear driving devices 5 at the lower part to work so that the two clamping blocks 221 at the lower part clamp the drilling tool 3 at the lower part;

s22, after a first preset time period passes, controlling the two upper first linear driving devices 4 to work so as to enable the upper clamping seat 21 to rotate clockwise;

in particular, the purpose of the first preset time period is to establish when the two lower gripping blocks 221 grip the lower drilling tool 3The pressure process is used to ensure that the drilling tool 3 below can be clamped for a sufficient time, wherein the first preset time period can be a fixed value set according to the specific situation, for example, the first preset time period is T ₁ ，T ₁ The delay time is included, that is, after the two clamping blocks 221 clamp the lower drilling tool 3, the delay is for example several seconds or several milliseconds, and then the pressure is maintained for several seconds or several millimeters seconds, so as to ensure that the drilling tool 3 is clamped in a sufficient time, and after the lower drilling tool 3 is clamped, the two upper first linear driving devices 4 are controlled to work, so that the upper clamping seat 21 rotates clockwise, and before the upper drilling tool 3 is clamped, the corresponding clamping seat 21 rotates for a larger rotation movement stroke, and a rotation stroke is large enough to enable the two connected drilling tools 3 to be unscrewed.

S23, after a second preset time period passes, controlling the two second linear driving devices 5 at the upper part to work so that the two clamping blocks 221 at the upper part clamp the drilling tool 3 at the upper part;

specifically, after the clockwise rotation of the upper clamping seat 21, the second preset time period is used to ensure that the clockwise motion of the clamping seat 21 is completely completed, the second preset time period may be, for example, several seconds or several milliseconds, and the second preset time period may be determined according to a specific situation, and after the clockwise rotation of the upper clamping seat 21 is determined to be completed, the two upper second linear driving devices 5 are controlled to operate, so that the two upper clamping blocks 221 clamp the upper drilling tool 3.

And S24, after a third preset time period, controlling the two upper first linear driving devices 4 to work so that the upper clamping seat 21 rotates anticlockwise to finish the punching operation.

Specifically, the purpose of the third preset duration is to ensure that the clamping seat 21 completely clamps the drilling tool 3 located above, where the third preset duration may be, for example, several seconds or several milliseconds, and the third preset duration may be determined according to a specific situation, where the clamping seat 21 located above rotates counterclockwise, and the clamping seat 21 located below keeps clamping stationary, so that the two clamping seats 21 rotate relatively, and thus the two drilling tools 3 can be unscrewed and combined.

In the above technical solution, the two first linear driving devices 4 located at the upper side, the two first linear driving devices 4 located at the lower side, the two second linear driving devices 5 located at the upper side and the two second linear driving devices 5 located at the lower side cooperate to complete the punching operation, thereby being convenient and fast, time-saving and labor-saving.

Further, after the button punching operation is completed, the two first linear driving devices 4 located above and the two second linear driving devices 5 located above are controlled to operate, and after the power head 300 of the drilling tool 3 located above is driven to rotate anticlockwise, the method further comprises:

s31, after the punching operation is completed, controlling the upper two second linear driving devices 5 to work so that the upper two clamping blocks 221 loosen the upper drilling tool 3;

specifically, since the device 100 for screwing and unscrewing the drilling tools can only unscrew the two drilling tools 3, but the two drilling tools 3 after unscrewing and unscrewing are still connected, but are only loosely connected, so that the two drilling tools 3 need to be further disassembled, when the drilling tools 3 are disassembled, generally, one drilling tool 3 is fixed, the other drilling tool 3 rotates, so that the two drilling tools 3 rotate relatively, and since the top of the drilling tool 3 above is connected with the power head 300, the power head 300 can provide a rotating force, the drilling tool 3 below can be fixed to rotate the drilling tool 3 above, and in order to rotate the drilling tool 3 above, the two clamping blocks 221 above need to loosen the drilling tool 3 above.

S32, after a fourth preset time period, controlling the two upper first linear driving devices 4 to work so as to enable the upper clamping seat 21 to rotate clockwise;

in particular, the purpose of the fourth preset time period is to ensure that the two upper clamping blocks 221 have completely released the upper drilling tool 3, and to control the two upper first linear drives 4 to operate so that the upper clamping seats 21 rotate clockwise in order to return the upper clamping seats 21.

And S33, after the power head 300 of the drilling tool 3 which is in driving connection with the upper part is controlled to rotate anticlockwise for a fifth preset time period, the screwing operation is completed.

Specifically, since the power head 300 is connected with the drilling tool 3 located above, the drilling tool 3 located above is rotated anticlockwise by the power head 300, and meanwhile, since the power head 300 lifts the drilling tool 3 located above upwards, the upper and lower drilling tools 3 can complete screwing and disassembling, and the power head 300 is not tightly connected with the drilling tool 3, so that the power applied by the power head 300 to the drilling tool 3 is limited, and the screwing and unscrewing operation of the drilling tool 3 cannot be performed instead of the screwing and unscrewing device 100 of the drilling tool.

In the above technical solution, the upper and lower drilling tools 3 are first fastened by the fastening and unfastening device 100 of the drilling tools, and then the power head 300 is used for assisting in fastening, so as to replace manual fastening and fastening operation for the drilling tools 3, which is convenient and fast, and saves time and labor.

Further, after the turnbuckle operation is completed, the two second linear driving devices 5 below are controlled to work so as to loosen the drilling tool 3 below, and the method comprises the following steps:

after the screwing operation is completed for a sixth preset time period, the two second linear driving devices 5 below are controlled to work so as to loosen the drilling tool 3 below.

In the above technical solution, the purpose of completing the screwing operation to the sixth preset time period is to ensure that the screwing operation is completed, where the sixth preset time period is determined according to a specific situation, for example, it may be several seconds or several milliseconds.

The invention provides a hydraulic drilling machine 1000, which comprises the drilling tool setting and breaking device 100.

The hydraulic drilling machine 1000 has all the technical solutions of the device 100 for setting and setting the drilling tool, so that the same has all the beneficial effects brought by the technical solutions, and will not be described in detail here.

The invention provides a rod replacing system 10000 of a hydraulic drilling machine, which comprises the hydraulic drilling machine 1000.

The rod replacing system 10000 of the hydraulic drilling machine has all the technical schemes of the hydraulic drilling machine 1000, so that the hydraulic drilling machine has all the beneficial effects brought by the technical schemes, and the description is omitted.

In the technical scheme of the invention, the rod replacing system 10000 of the hydraulic drilling machine further comprises a power catwalk device 2000 and a control device; the power catwalk device 2000 comprises a catwalk main body 201, a running arm 202 arranged on the catwalk main body 201, a jacking cylinder 203 for driving the running arm 202 to rotate, and a pushing cylinder 204 for driving the running arm 202 to linearly move; the hydraulic drilling machine 1000 further comprises a drilling machine main body 200, a power head lifting frame movably mounted on the drilling machine main body 200 along the up-down direction, a power head swing arm arranged on the power head lifting frame in a swinging manner, a power head 300 arranged on the power head swing arm and in driving connection with the drilling tool 3, and a raising oil cylinder 400 in driving connection with the power head swing arm; the control device is electrically connected to the lift cylinder 203, the push cylinder 204, and the tilt cylinder 400.

In the above technical solution, the power catwalk device 2000 is a device capable of mechanically conveying the drilling tool 3, the power catwalk conveys the drilling tool 3 to the hydraulic drilling machine 1000, and may also receive the drilling tool 3 sent by the hydraulic drilling machine 1000, the power catwalk device 2000 includes a catwalk main body 201, an operation arm 202, a lifting cylinder 203 and a pushing cylinder 204, the operation arm 202 is a platform for receiving the drilling tool 3, during conveying the drilling tool 3, the operation arm 202 is in an inclined state, as shown in fig. 4, a high end of the operation arm 202 faces the hydraulic drilling machine 1000, or faces the drilling tool 3 to be received, a low end is far away from the drilling tool 3, the lifting cylinder 203 can adjust a height and an inclination angle of the operation arm 202, in some embodiments, the connection mode between the lifting cylinder 203 and the operation arm 202 is that the lifting cylinder 203 is arranged in the catwalk main body 201, and a mounting seat of the lifting cylinder 203 is hinged with the catwalk main body 201; the two ends of the operation arm 202 are provided with connecting rods, one end of each connecting rod is hinged with the bottom of the operation arm 202, the other end of each connecting rod is hinged with the power catwalk main body 201, and the length of the connecting rod close to the drilling tool 3 is larger than that of the connecting rod far away from the drilling tool 3, the main shaft of the jacking cylinder 203 is hinged with the longer connecting rod, and when the jacking cylinder 203 stretches, the connecting rod supports the operation arm 202, and the angle of the connecting rod is changed while the height of the operation arm 202 is changed; the thrust cylinders 204 thrust the boom 202 such that the boom 202 is adjacent to the drill 3 or the hydraulic drill 1000.

Further, the hydraulic drilling machine 1000 includes a drilling machine main body 200, a power head lifting frame, a power head swing arm, a power head 300 and a raising oil cylinder 400, wherein the power head swing arm, the power head 300 and the raising oil cylinder 400 are all installed on the power head lifting frame, and rise and fall along with rising and falling of the power head lifting frame, the relation between the raising oil cylinder 400 and the power head 300 is shown in fig. 6, and the swing of the power head 300 can be controlled by the expansion and contraction of the raising oil cylinder 400, namely, under the action of the power head lifting frame and the raising oil cylinder 400, the power head 300 can rise, fall and raise.

The specific structure of the control device is not limited, and for example, the control device may include a processor, where the processor is electrically connected to the lift cylinder 203, the push cylinder 204, and the lift cylinder 400, and the processor controls the movements of the lift cylinder 203, the push cylinder 204, and the lift cylinder 400.

The invention provides a self-adaptive rod unloading method, as shown in fig. 10, based on a rod replacing system 10000 of the hydraulic drilling machine, comprising the following steps:

s100, when the current height of the power head 300 meets the preset height condition, controlling the raising oil cylinder 400 to drive the power head 300 to raise;

Specifically, in order to ensure that the bottom of the drilling tool 3 leaves the working platform and avoid affecting the operation of the next step, in some embodiments, the height of the power head 300 when the power head 300 is connected to the drilling tool 3 and is not tilted is set to H, and preferably, the height of the power head 300 is raised to be not less than h+200mm, and when the power head 300 reaches the preset height, the control device controls the tilt cylinder 400 to tilt with the drilling tool 3, as shown in fig. 4, wherein in some embodiments, the height of the power head 300 may be measured using a pull wire sensor.

S200, acquiring a first movable stroke of the tilting cylinder 400;

specifically, the first moving stroke includes, but is not limited to, the length of the tilting cylinder 400, and an angle at which the tilting cylinder 400 drives the power head 300 to tilt, where the tilting angle of the power head 300 is set to α.

It will be appreciated that in some embodiments, the tilt angle of the power head 300 is converted by the amount of thrust of the tilt cylinder 400, and the formula is calculated as follows: α=arccos [ (a) ² +b ² -L ₂ ² )/2ab]-arccos[(a ² +b ² -L ₁ ² )/2ab]As shown in fig. 7, specifically, the estimation process is:

the tilting cylinder 400 includes two actions, namely before tilting and after tilting, firstly, for tilting, the tilting cylinder 400 is in a contracted state, the length of the tilting cylinder 400 at the moment is set to be L1, a main shaft of the tilting cylinder 400 is hinged with the swing arm of the power head, a hinge point is set to be A, one end of the power head 300 is connected with the swing arm of the power head, a connection point is set to be B, a hinge point between a mounting seat of the tilting cylinder 400 and the lifting frame of the power head is set to be C, a distance between the A and the B is set to be B, a distance between the B and the C is set to be a, an included angle between a connecting line between the B and the C and a connecting line between the B and the A and the B is set to be gamma 1, and gamma 1=arcco [ (a) ² +b ² -L ₁ ² ) 2ab; after the tilt cylinder 400 is tilted, the tilt cylinder 400 is extended, and the tilt cylinder is tiltedCylinder 400 has a length L ₂ At this time, the angle between the line between B and C and the line between a and B is γ2, γ2=arccos [ (a) ² +b ² -L ₂ ² )/2ab]γ2- γ1=α, so α=arccos [ (a) ² +b ² -L ₂ ² )/2ab]-arccos[(a ² +b ² -L ₁ ² )/2ab]. The control device knows L through knowing ₁ And L ₂ The value of alpha can be judged through the logic.

S300, determining a first target expansion and contraction amount of the jacking cylinder 203 and a second target expansion and contraction amount of the pushing cylinder 204 according to the first movable stroke;

specifically, after the first movable stroke is obtained, the first movable stroke includes, but is not limited to, an angle at which the tilting cylinder 400 drives the power head 300 to tilt, according to the first movable stroke, the control device calculates a first target expansion amount of the jacking cylinder 203 and a second expansion amount of the pushing cylinder 204, where an included angle between the running arm 202 and the ground is set to be β, and the control device controls the first target expansion amount to reach β+α=90°, at which angle the running arm 202 is parallel to the drilling tool 3, and β may be measured by an angle sensor, so that the running arm 202 is matched with the drilling tool 3 for better receiving the drilling tool 3.

S400, controlling the lifting cylinder 203 to stretch according to the first target stretch amount, and controlling the pushing cylinder 204 to stretch according to the second target stretch amount so that the current drilling tool 3 to be unloaded is parallel to the running arm 202;

specifically, the lift cylinder 203 can control the angle and the height of the operation arm 202, and the push cylinder 204 can control the distance of the operation arm 202 approaching or separating from the drill body 200, so that the operation arm 202 is adjusted to be parallel to the drill 3 to which the power head 300 is connected at this time and approaching the drill 3 for better receiving the drill 3 by the cooperation of the lift cylinder 203 and the push cylinder 204, that is, by the telescopic adjustment of the lift cylinder 203 and the telescopic adjustment of the push cylinder 204.

S500, when the power head 300 is controlled to descend to the position where the current drilling tool 3 to be unloaded is positioned on the running arm 202, controlling the power head 300 to perform the shackle operation;

specifically, after the operation arm 202 is in the adjusted state, the power head 300 drives the drilling tool 3 to move down onto the operation arm 202, and after the operation arm 202 completely receives the drilling tool 3, the power head 300 rotates away from the drilling tool 3.

And S600, after the shackle operation is completed, controlling the push-in oil cylinder 204 to stretch and retract to retract the operation arm 202, and controlling the jacking oil cylinder 203 to stretch and retract to descend the operation arm 202.

It should be noted that, as shown in fig. 7, when the drilling tool 3 to be unloaded is parallel to the running arm 202, the drilling tool 3 to be unloaded and the running arm 202 stop moving, and when the drilling tool 3 to be unloaded is confirmed to be higher than the running arm 202, the power head 300 is decelerated and falls down, and the height of the tilt cylinder 400 is set to be H ₁ Of the two connecting rods connected to the bottom of the arm 202, the longer one has a height H ₂ When said H ₁ ＞H ₂ The power head 300 is decelerated and falls down when the H is the same ₁ ＞H ₂ Stopping falling, wherein the H ₁ The height formula of (2) is H ₁ ＝H ₂ +sin βx (s+k), the specific estimation process is:

H ₂ ＝gsin(arccos(d ² +e ² -f ² ) 2 de), wherein g is the length of the longer connecting rod, d is the distance from the hinge point of the jacking cylinder 203 and the longer connecting rod to the hinge point of the longer connecting rod and the catwalk main body 201, e is the distance from the hinge point of the longer connecting rod and the catwalk main body 201 to the hinge point of the jacking cylinder 203 and the catwalk main body 201, f is the length of the jacking cylinder 203, and H is to be deduced ₂ Carry-in to find H ₁ In the formula (i) of (c),

k is the length of the power head 300, S is the distance between the hinge point of the longer connecting rod and the running arm 202 and the power head 300, β=90- α, and the angle between the running arm 202 and the ground is β.

In the above technical solution, the control device determines the tilt angle by determining the first movement stroke of the tilt cylinder 400, for example, the control device determines the tilt angle according to the length of the tilt cylinder 400, instead of estimating the tilt angle by manpower, which is more accurate; after the first movable stroke of the tilting cylinder 400 is judged, the state of the operation arm 202 is directly adjusted according to the first movable stroke, so that the operation arm 202 is parallel to the drilling tool 3, instead of manually adjusting the drilling tool 3 to be parallel to the operation arm 202 and then placing the drilling tool 3 on the operation arm 202, the process is completed by replacing the manual work with a mechanical process, the operation arm 202 receives the drilling tool 3, the logic is compact and strict, and the drilling tool 3 is prevented from being damaged in the placing process.

In the technical solution of the present application, before controlling the tilt cylinder 400 to drive the power head 300 to tilt, the method further includes:

s1001, acquiring the length of the current drilling tool 3 to be unloaded;

Specifically, since the lengths of each drilling tool 3 are not the same, the heights of the power heads 300 are not uniform, so that the lengths of the respective drilling tools 3 need to be acquired when the respective drilling tools 3 are lifted.

S1002, controlling the power head 300 to lift the drilling tool 3 upwards, and acquiring the current height of the power head 300;

specifically, there are various methods for obtaining the height of the power head 300, for example, it may be obtained by a wire-pulling sensor, or other means.

And S1003, when the current height is larger than the length of the current drilling tool 3 to be unloaded, controlling the power head 300 to stop lifting so that the current height of the power head 300 meets the preset height condition.

The purpose of the technical scheme is to lift the drilling tool 3 to be unloaded to a height away from the oil well, so that the oil well is prevented from obstructing subsequent operation.

Further, the acquiring the length of the current drilling tool 3 to be replaced includes:

s1001a, obtaining the number of the current drilling tool 3 to be replaced;

s1001b, inquiring a mapping relation according to the number to determine the length of the current drilling tool 3 to be replaced, wherein the mapping relation is a corresponding relation between the number of the drilling tool 3 and the length of the drilling tool 3.

Specifically, since there are a plurality of drilling tools 3 in the well and the lengths of each drilling tool 3 may not be the same, when the above-mentioned step of removing the rod is performed, it is necessary to confirm the length of the corresponding drilling tool 3 to be removed first, for example, when there are a plurality of drilling tools 3, the length of the nth drilling tool 3 is L _n The power catwalk device 2000 needs to record the length corresponding to each drilling tool 3, and when the nth drilling tool 3 needs to be disassembled, the control device calls the length L of the nth drilling tool 3 _n According to L _n To calculate the elevation of the power head 300.

By adopting the mode, the lifting height of the drilling tool 3 to be unloaded can be automatically determined by only calling the length of the corresponding drilling tool 3, and the numerical value is equal, so that the method is simple, convenient and quick, and accurate in calculation.

The invention provides a self-adaptive pole loading method, which is based on a pole changing system 10000 of a hydraulic drilling machine, wherein the pole changing system 10000 of the hydraulic drilling machine also comprises a power catwalk device 2000 and a control device; the power catwalk device 2000 comprises a catwalk main body 201, a running arm 202 arranged on the catwalk main body 201, a jacking cylinder 203 for driving the running arm 202 to rotate, and a pushing cylinder 204 for driving the running arm 202 to linearly move; the hydraulic drilling machine 1000 further comprises a drilling machine main body 200, a power head lifting frame movably mounted on the drilling machine main body 200 along the up-down direction, a power head swing arm arranged on the power head lifting frame in a swinging manner, a power head 300 arranged on the power head swing arm and in driving connection with the drilling tool 3, and a raising oil cylinder 400 in driving connection with the power head swing arm; the control device is electrically connected to the lift cylinder 203, the push cylinder 204, and the lift cylinder 400, and includes the following steps:

S100', after the current drilling tool 3 to be lifted is positioned on the running arm 202, controlling the lifting oil cylinder 203 and the pushing oil cylinder 204 to stretch and retract so as to lift the drilling tool 3 to be lifted;

s200', acquiring a second telescopic movable stroke of the jacking cylinder 203 and a third telescopic movable stroke of the pushing cylinder 204;

s300', determining a second target expansion and contraction amount of the tilting cylinder 400 according to the second movable stroke and the third movable stroke;

specifically, since the lift cylinder 203 can adjust the height and angle of the operation arm 202, the angle β of the operation arm 202 and the lifting height of the operation arm 202 can be known after the second stroke is acquired.

S400', controlling the tilting cylinder 400 to work according to the second target expansion and contraction amount, so that a matched structure of the power head 300 and the drilling tool 3 is parallel to the running arm 202;

specifically, when the running arm 202 is parallel to the power head 300, the sum of the tilting angles α and β of the power head 300 is 90 °, so that when the β value is known, the angle of α can be calculated, and the control device controls the tilting cylinder 400 to drive the power head 300 to tilt according to the angle of α;

S500', after the power head 300 is combined with the current drilling tool 3 to be put on the rod, controlling the power head 300 to carry out the fastening operation;

and S600', after the button-up operation is completed, controlling the power head 300 to lift the drilling tool 3 until the current height of the power head 300 is larger than the length of the drilling tool 3 to be currently lifted.

In the above technical solution, only the second flexible travel of the jacking cylinder 203 and the third flexible travel of the pushing cylinder 204 need to be known, so that the angle of the power head 300 that needs to be tilted and where to match the operation arm 202 with the drilling tool 3 to be lifted need not be manually fastened, and the specific value of each travel need not be manually judged, so that the operation is convenient, and the action is precise.

The self-adaptive rod loading method has all the technical schemes of the rod replacing system 10000 of the hydraulic drilling machine, so that the self-adaptive rod loading method has all the beneficial effects brought by the technical schemes, and the description is omitted.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.

Claims (13)

1. A drilling tool setting-out device for a hydraulic drilling machine (1000), comprising:

a mounting base (1); the method comprises the steps of,

the two clamping devices (2) are arranged along the up-down direction, each clamping device (2) comprises a clamping seat (21) arranged on the mounting seat (1), each clamping seat (21) is movably provided with a clamping part (22), the clamping part (22) arranged above is used for clamping the drilling tool (3) arranged above, the clamping part (22) arranged below is used for clamping the drilling tool (3) arranged below, and the two clamping seats (21) can rotate relatively along the axis extending along the up-down direction.

2. A drill tool setting and breaking-out device according to claim 1, characterized in that at least one of the two clamping seats (21) is provided as a movable clamping seat which is rotatably mounted to the mounting seat (1) along an axis extending in the up-down direction;

the drilling tool screwing-on and unscrewing device (100) further comprises two first linear driving devices (4), and each first linear driving device (4) is respectively connected with two ends of the movable clamping seat in the horizontal direction in a driving mode and used for jointly driving the movable clamping seat to move.

3. Drilling tool setting and breaking out device according to claim 1, characterized in that each clamping seat (21) is formed with a receiving recess at the side for lateral introduction of the drilling tool (3);

The clamping part (22) comprises two clamping blocks (221) which are oppositely arranged, the two clamping blocks (221) can move relatively linearly and extend into the accommodating notch so as to clamp the corresponding drilling tool (3).

4. A drill tool setting and breaking device according to claim 3, characterized in that a second linear drive (5) is provided on each clamping seat (21) for driving each clamping block (221) in motion.

5. Drilling tool setting and breaking out device according to claim 1, characterized in that the mounting base (1) can be rotatably mounted along an axis extending in the up-down direction and has a working position on its active travel, in which the two clamping devices (2) can be aligned and clamp the drilling tool (3), and an avoidance position, in which the two clamping devices (2) can be arranged to avoid the drilling tool (3).

6. Drilling tool setting-off device according to claim 5, wherein the drilling tool setting-off device (100) further comprises a wobble drive (6), the wobble drive (6) comprising:

the hydraulic driving device is connected with an oil circuit;

the inner swing electromagnetic valve and the outer swing electromagnetic valve are arranged on the oil path; the method comprises the steps of,

a worm gear reducer (61) drivingly connected to the hydraulic drive device;

Wherein the mounting seat (1) is in driving connection with an output shaft of the worm gear reducer (61);

the inner swing electromagnetic valve is powered, the worm gear reducer (61) drives the mounting seat (1) to swing inwards from the avoidance position to the working position, the outer swing electromagnetic valve is powered, and the worm gear reducer (61) drives the mounting seat (1) to swing outwards from the working position to the avoidance position.

7. The drill tripper device of claim 6, further comprising a swaying travel switch and/or a swaying travel switch, wherein:

the inward swing travel switch is arranged on a control circuit of the inward swing electromagnetic valve and is used for switching off the inward swing electromagnetic valve when the mounting seat (1) is detected to be in the working position;

the outward swing travel switch is arranged on a control circuit of the outward swing electromagnetic valve and is used for disconnecting the outward swing electromagnetic valve when detecting that the mounting seat (1) is in the avoidance state.

8. A method for controlling the make-up and break-out of a drilling tool, based on a drilling tool make-up and break-out device (100) according to claim 6, characterized in that both clamping bases (21) are rotatably mounted, said drilling tool make-up and break-out device (100) further comprising two first linear driving means (4) for driving the rotation of both clamping bases (21), respectively;

The clamping part (22) comprises two clamping blocks (221) which are oppositely arranged, and a second linear driving device (5) is arranged on each clamping seat (21) and used for driving each clamping block (221) to move respectively;

the method for controlling the setting and breaking out of the drilling tool (3) comprises the following steps:

after the drilling tool (3) is lifted to a first preset position, controlling the inward swing electromagnetic valve to be electrified so as to enable the mounting seat (1) to be inward swung to the working position;

controlling the two first linear driving devices (4) at the upper part, the two first linear driving devices (4) at the lower part, the two second linear driving devices (5) at the upper part and the two second linear driving devices (5) at the lower part to cooperatively work so as to complete the punching operation;

after the punching operation is finished, controlling the two first linear driving devices (4) at the upper part and the two second linear driving devices (5) at the upper part to work, and after a power head (300) of a drilling tool (3) at the upper part is driven to rotate anticlockwise, finishing the screwing operation;

after the turnbuckle operation is completed, controlling the two second linear driving devices (5) below to work so as to loosen the drilling tool (3) below;

And finally, controlling the outward swing electromagnetic valve to be electrified so that the mounting seat (1) swings outward to the avoidance position.

9. A method of controlling the make-up and break-out of a drilling tool according to claim 8, wherein said controlling the two first linear drives (4) located above, the two first linear drives (4) located below, the two second linear drives (5) located above, and the two second linear drives (5) located below cooperate to complete the make-up operation, comprising:

controlling the operation of the two second linear driving devices (5) at the lower part so as to enable the two clamping blocks (221) at the lower part to clamp the drilling tool (3) at the lower part;

after a first preset period of time, controlling the two first linear driving devices (4) at the upper part to work so as to enable the clamping seat (21) at the upper part to rotate clockwise;

after a second preset time period, controlling the upper two second linear driving devices (5) to work so that the upper two clamping blocks (221) clamp the upper drilling tool (3);

after a third preset period of time, the two first linear driving devices (4) at the upper part are controlled to work, so that the clamping seat (21) at the upper part rotates anticlockwise to finish the punching operation.

10. A method for controlling the tripping operation of a drilling tool according to claim 8, wherein after the completion of the tripping operation, the two first linear driving devices (4) located at the upper side and the two second linear driving devices (5) located at the upper side are controlled to operate, and after the power head (300) of the drilling tool (3) located at the upper side is controlled to rotate counterclockwise, the method comprises the steps of:

after the punching operation is finished, controlling the upper two second linear driving devices (5) to work so as to enable the upper two clamping blocks (221) to loosen the upper drilling tool (3);

after a fourth preset period of time, controlling the two first linear driving devices (4) at the upper part to work so as to enable the clamping seat (21) at the upper part to rotate clockwise;

after the power head (300) of the drilling tool (3) which is connected above is controlled to rotate anticlockwise for a fifth preset time period, the screwing operation is completed.

11. A method of controlling the make-up and break-out of a drilling tool according to claim 8, wherein said controlling the operation of the two second linear drives (5) located below to release the drilling tool (3) located below after the make-up operation is completed comprises:

After the turnbuckle operation is completed for a sixth preset time period, the two second linear driving devices (5) positioned below are controlled to work so as to loosen the drilling tool (3) positioned below.

12. A hydraulic drilling machine, characterized by comprising a drill tripping device (100) according to any of claims 1-7.

13. A rod changing system of a hydraulic drilling machine, characterized by comprising a hydraulic drilling machine (1000) according to claim 12.