CN116296002A - Torque and rotation angle measuring and controlling device and measuring and controlling method for iron roughneck punching clamp - Google Patents
Torque and rotation angle measuring and controlling device and measuring and controlling method for iron roughneck punching clamp Download PDFInfo
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- CN116296002A CN116296002A CN202310229490.1A CN202310229490A CN116296002A CN 116296002 A CN116296002 A CN 116296002A CN 202310229490 A CN202310229490 A CN 202310229490A CN 116296002 A CN116296002 A CN 116296002A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D17/00—Control of torque; Control of mechanical power
- G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a torque and rotation angle measurement and control device and a measurement and control method for a punching and buckling clamp of an iron driller, and belongs to the technical field of torque and rotation angle measurement and control of the punching and buckling clamp. The device comprises a torque rotation angle measuring module, a microprocessor measurement and control module, a remote monitoring interaction module and a cloud data evaluation module, wherein the modules are sequentially and electrically connected, the torque rotation angle measuring module is used for measuring torque and rotation angle data in real time, the microprocessor measurement and control module is used for processing, receiving and converting corresponding data, the remote monitoring interaction module is used for receiving and displaying monitoring data, the cloud data evaluation module is used for classifying and analyzing rear-end intelligent data, torque and rotation angle parameters can be measured and controlled in real time, visual monitoring of the far end can be achieved, the connection quality of drill rods can be guaranteed to the greatest extent, meanwhile, the operation process of an iron roughneck can be evaluated and automatically controlled according to the torque and rotation angle multiple parameters, the universality is strong, and the popularization value is extremely high.
Description
Technical Field
The invention relates to the technical field of torque and rotation angle measurement and control of punching and buckling pliers, in particular to a device and a method for measuring and controlling the torque and rotation angle of an iron roughneck punching and buckling pliers.
Background
The iron driller is used for connecting the drill rod and disassembling the large-scale well head auxiliary equipment with highest automation degree at present, replaces manpower to carry out operations such as screwing, screwing and unscrewing, and the like, and greatly improves the working efficiency. When an iron driller is buckled and unbuckled, the torque and the rotation angle need to be accurately measured and controlled, the excessive torque and the rotation angle can cause the threaded load of a drill rod to cause the damage of the drill rod, and the too small torque and the too small rotation angle can cause the unbuckling or the unbuckling to cause underground accidents to influence the operation efficiency.
At present, an iron roughneck carries out make-up and break-out through semi-automatic manual assistance, and drill rod connection or disassembly is evaluated only by means of a torque threshold, but when a large amount of well site practical application examples are seen, when the iron roughneck applies large torque, a punch clamp is subjected to torque loading, but the punch clamp does not rotate or skid, so that the purpose of accurate measurement and accurate control cannot be achieved only by referring to the torque loading condition. Therefore, there is an urgent need for a device for simultaneously and precisely measuring torque and rotation angle, so as to more accurately and automatically control torque and rotation angle output, and improve drilling operation safety and operation efficiency. In view of the above, we propose a torque and rotation angle measurement and control device and a measurement and control method for an iron roughneck punching clamp.
Disclosure of Invention
The invention aims to provide a torque and rotation angle measuring and controlling device and a measuring and controlling method for an iron roughneck punching clamp, which are used for solving the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the torque and rotation angle measurement and control device for the iron roughneck punching clamp comprises a torque rotation angle measurement module, a microprocessor measurement and control module, a remote monitoring interaction module and a cloud data evaluation module, wherein the modules are electrically connected in sequence;
the torque rotation angle measuring module is arranged at the front end of the punching clamp of the iron driller and is used for measuring the torque of the punching clamp teeth on the threaded joint of the drill rod in real time and measuring the rotation angle of the drill rod driven by the punching clamp in real time;
the microprocessor measurement and control module is used for finishing processing, receiving and converting corresponding torque and rotation angle data and finishing control of the torque and rotation angle of the iron driller according to the related data;
the remote monitoring interaction module is used for receiving and displaying monitoring data and controlling the pump pressure and start and stop of the punching cylinder to finish automatic punching and breaking operation of the punching pliers;
the cloud data evaluation module is used for completing complete torque-rotation angle measurement data recorded in a well site and completing report generation such as rear-end intelligent data classification, fault evaluation, iron driller equipment performance analysis and operation quality.
Preferably, the torque rotation angle measurement module comprises a torque rotation angle distribution measurement unit and a torque rotation angle integration measurement unit;
the microprocessor measurement and control module comprises a torque rotation angle measurement and control explosion-proof box, a sensor signal processing unit, a microprocessor hardware unit and a control unit;
the cloud data evaluation module comprises: the cloud data storage unit, the intelligent data playback unit and the data automation processing unit.
Preferably, the torque rotation angle distribution type measuring unit comprises a torque measuring unit and a rotation angle measuring unit;
the torque measuring unit comprises a torque sensor, a pressure sensor, a mechanical sensor and other sensor modules which can be used for measuring the torque of the iron roughneck; the corner measuring unit comprises a sensor module, such as an angular velocity sensor, an acceleration sensor and the like, which can be used for measuring the corner of the iron roughneck;
the torque and rotation angle integrated measuring unit is designed for integrating a mechanical sensor and an angular velocity sensor or a mechanical sensor and an acceleration sensor.
Preferably, a pressure sensor of the torque measuring unit is arranged at a hydraulic pump pipeline port of a punching cylinder of an iron driller, and an angular velocity sensor or an acceleration sensor and the like are arranged on the surface of an upper clamp of the punching clamp or in a crank pin shaft.
Preferably, the control unit comprises a control circuit, an explosion-proof electromagnetic valve and a reversing proportional valve, wherein the explosion-proof electromagnetic valve is arranged on a hydraulic bus of the punching clamp, and the reversing proportional valve is arranged on an oil inlet and an oil outlet of a punching cylinder of an iron driller. Preferably, a microprocessor hardware module is arranged in the torque corner measurement and control explosion-proof box.
A measurement and control method of a torque and rotation angle measurement and control device of an iron roughneck punching clamp comprises the following steps:
collecting pressure and crank stress data of a punching cylinder;
collecting the rotation angular velocity and acceleration data of the punching clamp;
collecting hydraulic bus pressure data of the punching clamp;
determining the torque and the rotation angle of the punching clamp according to the pressure of the punching cylinder, the stress of the crank and the rotation angular velocity and acceleration data of the punching clamp;
the microprocessor measurement and control module is used for controlling according to the torque and the rotation angle value set by the user interface;
the remote monitoring interaction module performs torque, corner display, instruction sending and remote decision making;
and the cloud data evaluation module performs uploading, downloading and intelligent data report analysis of the big data cloud end.
Preferably, torque and corner values to be achieved are set on a user interface, an electromagnetic valve is automatically started when an iron driller starts to operate, pumping pressure is carried out, and a system draws a torque-corner curve in real time according to the real-time torque and corner values in the buckling process, so that loading trend is visually monitored; meanwhile, the self-adaptive stage adjustment is carried out according to the torque and the rotation angle value, the proportional valve is controlled to adjust the pump pressure to adjust the torque loading, and the torque and the rotation angle are ensured to be effectively and stably loaded. Once the torque and the rotation angle are overlarge, the electromagnetic valve is immediately turned off, so that the operation safety is ensured.
Preferably, comparing the torque and the rotation angle data determined in real time with the torque and the rotation angle set in the remote monitoring interaction module in advance comprises:
if the determined torque and rotation angle data do not reach the set torque, the explosion-proof electromagnetic valve is kept electrified, the hydraulic cylinder of the punching and buckling clamp continues to pump and the hydraulic cylinder continues to stretch to drive the punching and buckling clamp to rotate to the set rotation angle and torque value;
if any variable of torque or rotation angle exceeds a preset torque or rotation angle value, the measurement and control device is started immediately, the explosion-proof electromagnetic valve is powered off immediately, pumping pressure is stopped, the reversing proportional valve is reversed immediately, and the hydraulic cylinder of the punching clamp is prevented from extending continuously;
if the torque reaches the set value and the rotation angle does not reach the set value, the user interface gives an abnormal alarm to remind an operator on site to check, if no error exists, the system can carry out secondary buckling on the basis of the previous rotation angle record data until the rotation angle reaches the set rotation angle position, and the connection tightness of the drill rod is ensured;
if the torque does not reach the set value, the user interface gives an abnormal alarm, and the on-site operator is required to further confirm whether the drill rod connection is in place or whether the iron roughneck is in a slipping phenomenon, and the system can automatically take the shackle and then carry out secondary make-up operation again to protect the normal connection of the drill rod.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention can simultaneously measure and control torque and rotation angle parameters in real time and remotely monitor visually, ensures the connection quality of the drill rod to the greatest extent, can evaluate and automatically control the operation process of an iron roughneck according to multiple parameters of torque and rotation angle, has strong universality and has extremely high popularization value.
(2) The measuring and controlling device is simple to install, high in automation degree and suitable for automatic upgrading of the existing iron roughneck.
Drawings
FIG. 1 is a schematic diagram of the whole structure of a torque and rotation angle measuring and controlling device of an iron driller punching clamp of the invention;
FIG. 2 is a schematic diagram of a dual punch cylinder punch clamp sensor installation;
FIG. 3 is a schematic view of a single punch cylinder punch clamp sensor installation;
FIG. 4 is a schematic diagram of torque and angle sensor integration;
FIG. 5 is a schematic diagram of a torque monitoring curve for make-up of a drill pipe of a certain size;
FIG. 6 is a flow chart of a measurement and control method of the measurement and control device of the present invention.
The reference numerals in the figures illustrate: 101. a torque rotation angle measurement module; 102. a microprocessor measurement and control module; 103. a remote monitoring interaction module; 104. the cloud data evaluation module; 201. double punching cylinder type punching clamp; 202. a first punching hydraulic cylinder; 203. a second punching hydraulic cylinder; 204. clamping a hydraulic cylinder; 205. a first snap pressure sensor; 206. a second snap pressure sensor; 207. clamping the pressure sensor; 208. an angular velocity sensor or an acceleration sensor; 209. an upper baffle; 301. single punching cylinder type punching clamp; 302. punching and buckling a pressure cylinder; 303. clamping a pressure cylinder; 304. punching and buckling the pressure sensor; 305. an angular velocity sensor or an acceleration sensor; 306. clamping the pressure sensor; 401. a mechanical sensor and angle measurement sensor assembly; 402. a fixing slot; 403. a tail end transducer; 404. an angle measurement sensor; 405. transmitter back cover, 406, aviation plug bus; 407. and (5) fixing bolts.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Example 1:
referring to fig. 1, an iron roughneck punching clamp torque and rotation angle measurement and control device comprises a torque rotation angle measurement module 101, a microprocessor measurement and control module 102, a remote monitoring interaction module 103 and a cloud data evaluation module 104, wherein the torque rotation angle measurement module 101, the microprocessor measurement and control module 102, the remote monitoring interaction module 103 and the cloud data evaluation module 104 are electrically connected in sequence;
the torque rotation angle measuring module 101 is arranged at the front end of the punching clamp of the iron driller and is used for measuring the torque of the punching clamp teeth on the threaded joint of the drill rod in real time and measuring the rotation angle of the drill rod driven by the punching clamp in real time;
the microprocessor measurement and control module 102 is used for completing processing, receiving and converting corresponding torque and rotation angle data and completing various modes of controlling the torque and rotation angle of the iron roughneck according to the related data;
the remote monitoring interaction module 103 is used for receiving and displaying monitoring data, remote decision-making, iron driller state monitoring and remote decision-making in a driller room at a remote end, monitoring the torque and angle rotation change condition of the iron driller in real time, monitoring the movement condition of the iron driller and a drill rod by using a torque-angle curve multi-parameter, and automatically controlling the pump pressure and start and stop of a punching cylinder according to the set torque and angle data to complete automatic punching and unbuckling operations of the punching pliers;
the cloud data evaluation module 104 is used for completing complete torque-rotation angle measurement data recorded at a well site and completing report generation such as rear-end intelligent data classification, fault evaluation, iron driller equipment performance analysis and operation quality.
In the application, the torque rotation angle measurement module 101 comprises a torque rotation angle distributed measurement unit and a torque rotation angle integrated measurement unit;
the microprocessor measurement and control module 102 comprises a torque rotation angle measurement and control explosion-proof box, a sensor signal processing unit, a microprocessor hardware unit and a control unit;
the torque corner measurement and control explosion-proof box is internally provided with a microprocessor hardware module for wellhead arrangement or machine room arrangement;
the sensor signal processing unit comprises a processing unit for processing various sensor signals applied to torque and rotation angles, and realizes the transmission, amplification, filtering and conversion of the sensor signals to the microprocessor chip;
the microprocessor hardware unit comprises a microprocessor chip and a peripheral circuit, and is mainly used for converting, calculating and automatically controlling signals of the sensor; the torque and rotation angle data calculated by the microprocessor are transmitted to a user display interface of a remote driller room in real time for receiving and displaying monitoring data, and referring to fig. 5, the torque and angle rotation change condition of the iron driller is monitored by a real-time torque-rotation angle change curve, and remote decision is made according to torque and rotation angle parameter limitation, so that the operation safety of the iron driller is ensured.
The control unit comprises a control circuit, an explosion-proof electromagnetic valve and a reversing proportional valve, wherein the explosion-proof electromagnetic valve and the reversing proportional valve are arranged at the hydraulic circuit of the iron driller punching clamp and are used for realizing self-loading of set torque and starting and stopping of the iron driller punching clamp operation, the explosion-proof electromagnetic valve is used for controlling the closing of the punching cylinder, and the reversing proportional valve is used for completing related operations of pumping pressure and back pressure.
The cloud data evaluation module 104 includes: the cloud data storage unit, the intelligent data playback unit and the data automation processing unit; the method can download the iron roughneck operation data of a certain drilling platform or a plurality of drilling platforms through the cloud to perform quality analysis and later-stage iron roughneck maintenance reference data.
In the application, the torque rotation angle distributed measuring unit comprises a torque measuring unit and a rotation angle measuring unit;
the torque measuring unit comprises any one or more of a torque sensor, a pressure sensor and a mechanical sensor for measuring and correcting the torque; the rotation angle measuring unit comprises any one or more of an angular velocity sensor and an acceleration sensor; the torque rotation angle distributed measuring unit is used for installing a pressure sensor in a rod cavity and a rodless cavity of a punching cylinder at the tail end of the punching clamp and measuring the punching torque and the unbuckling torque of the punching clamp, and simultaneously arranging a single-axis angular velocity sensor or a single-axis acceleration sensor on the surface of the upper clamp of the punching clamp or in a crank pin shaft and measuring the rotation angle of the punching clamp during operation; and the unit further includes directly measuring the punch cylinder output torque with a torque sensor.
The torque rotation angle integrated measuring unit is designed for integrating a mechanical sensor and an angular velocity sensor or a mechanical sensor and an acceleration sensor; and (3) designing a mechanical sensor to replace a pin shaft, integrating an angular velocity sensor or an acceleration sensor into a transmitter unit, and measuring the angular velocity or the acceleration of a crank rotation angle by the angular velocity sensor or the acceleration sensor simultaneously when the mechanical sensor measures the force in the process of driving the crank to move by the punching clamp so as to solve the rotation angle.
In one possible embodiment, the pressure sensor of the torque measuring unit is installed at the pump pipeline port of the punching cylinder of the iron driller, the angular velocity sensor or the acceleration sensor is arranged on the upper surface of the punching clamp or in the crank pin shaft, and the installation position of the pressure sensor, the angular velocity sensor or the acceleration sensor is not limited as long as the installation position can be applied to measurement.
The torque rotation angle measuring module 101 is electrically connected with the microprocessor measuring and controlling module 102, referring to fig. 2 and 3, when the punching clamp works, signals of all sensors are transmitted to the microprocessor measuring and controlling module of the machine room for signal amplification, filtering, conversion and transmission. The microprocessor measurement and control module is integrated into the explosion-proof box and can be arranged in the iron roughneck distribution box and can be flexibly moved to a machine room for use.
A measurement and control method of a torque and rotation angle measurement and control device of an iron roughneck punching clamp comprises the following steps:
s600, collecting punching cylinder pressure and crank stress data;
s601, collecting the rotation angular velocity and acceleration data of the punching clamp;
s602, collecting hydraulic bus pressure data of the punching clamp, and using the data as monitoring of a hydraulic system pump pressure, preventing abnormal hydraulic system pump pressure and monitoring whether torque is effectively loaded;
s603, determining the torque and the rotation angle of the punching clamp according to the pressure of the punching cylinder, the stress of the crank and the rotation angular velocity and the acceleration data of the punching clamp;
s604, the microprocessor measurement and control module sets torque and corner value according to a user interface to control;
s605, the remote monitoring interaction module monitors and displays torque and rotation angle and sends out instructions;
s606, the cloud data evaluation module performs analysis such as uploading, downloading and intelligent data report forms of the big data cloud end.
For example, referring to FIG. 5, the torque and angle of the iron roughneck to be tripped is set, i.e., the final D (θ Setting up ，T Setting up ) In specific implementation, the explosion-proof electromagnetic valve is opened at the initial position A, the reversing proportional valve is opened to perform pumping, and the proportional valve is used for adjusting the proportional coefficient according to the monitored pumping pressure and the real-time torque, for example, after the electromagnetic valve is opened, the pumping pressure is required to be gentle, the section from the A point to the B point is required to be gentle, the pumping pressure proportional coefficient is K1, wherein the pumping pressure proportional coefficient K is determined by the determined actual pumping pressure and the determined periodThe pump pressure required by torque in the hope stage is determined, and the four screwing-up stages can be determined according to the threaded connection stages; after the pumping pressure is stable, the system enables the iron roughneck punching clamp to stably and rapidly buckle to a point C according to the real-time torque self-adjusting proportionality coefficient K2, the point C corresponds to a position close to the set torque and the corner, in order to ensure the connection of a drill rod and the loading of effective torque, when the point C reaches the set position D, the punching cylinder is expected to slowly pump to stabilize the torque output until the moment is loaded to the set torque and the set corner position, the system adjusts proportionality coefficient to K3 so as to slowly and effectively load the moment, when the moment reaches the set position, the electromagnetic valve is turned off, the pumping pressure is stopped, the torque and the corner are not increased any more, and the point E is reached. The punching clamp is loosened and returns to the original position.
Meanwhile, the torque and the rotation angle data determined in real time are compared with the torque and the rotation angle set in the remote monitoring interaction module in advance, if the determined torque and rotation angle data do not reach the set torque yet, the explosion-proof electromagnetic valve is kept electrified, the hydraulic cylinder of the punching clamp continues to pump and the hydraulic cylinder continues to stretch to drive the punching clamp to rotate to the set rotation angle;
if any determined torque or rotation angle variable exceeds a preset torque or rotation angle value, the measurement and control device can be immediately started, the explosion-proof electromagnetic valve is immediately powered off, the pumping pressure is stopped, the reversing proportional valve is immediately reversed, and the hydraulic cylinder of the punching and buckling pliers is prevented from continuously extending.
If the determined torque reaches the set value and the rotation angle does not reach the set value, the user interface gives an abnormal alarm to remind on-site operators to check, if no error exists, the system can carry out secondary buckling on the basis of the previous rotation angle record data until the rotation angle reaches the set rotation angle position, and the connection tightness of the drill rod is ensured;
if the torque does not reach the set value, the user interface gives an abnormal alarm, and the on-site operator is required to further confirm whether the drill rod connection is in place or whether the iron roughneck is in a slipping phenomenon, and the system can automatically take the shackle to carry out secondary make-up operation again to protect the normal connection of the drill rod.
The system can automatically adopt multi-parameter judgment, ensure the correct connection of the drill rod and monitor the working condition of the iron drill, further enhance the scientificity of the connection of the drill rod, prolong the service life of the threads of the drill rod and improve the success rate of the make-up and break-out of the iron drill.
Example 2:
referring to fig. 2, a schematic diagram of an iron roughneck torque and rotation angle measurement and control device according to the present invention installed in a double-punching cylinder type iron roughneck is shown:
the torque sensor or the pressure sensor is placed in the rod cavity or the rodless cavity of the first punching press cylinder 202 and the second punching press cylinder 203, and the angular velocity sensor or the acceleration sensor 208 is placed on the upper baffle 209 of the double punching press cylinder type punching press pliers 201, and when the first punching press cylinder 202 and the second punching press cylinder 203 stretch to drive the punching press pliers 201 to move, the torque value and the rotation angle value are collected in real time; the torque sensor, the pressure sensor, the angular velocity sensor and the acceleration sensor are connected and fixed with the iron driller machine.
Example 3:
referring to fig. 3, the torque and rotation angle measuring and controlling device of the iron roughneck of the present invention is installed in a schematic diagram of a single punch cylinder iron roughneck:
the installation mode is similar to that of a double-punching-buckling cylinder type iron driller, a torque sensor or a pressure sensor is also installed on the punching-buckling pressure cylinder 302 and used for directly measuring torque or measuring pressure to convert the torque, an angular velocity sensor or an acceleration sensor 305 is also arranged on an upper baffle plate of the punching-buckling pliers, and when the punching-buckling cylinder stretches and contracts to drive the punching-buckling pliers to move, a torque value and a rotation angle value are acquired in real time; the torque sensor, the pressure sensor, the angular velocity sensor and the acceleration sensor are connected and fixed with the iron driller machine.
Example 4:
referring to fig. 4, a schematic diagram of integration and installation of torque and rotation angle measuring sensors according to an embodiment of the present invention is shown; the module replaces a pin shaft with a mechanical sensor in the design of a bait ring on a punching clamp crank, an angular velocity sensor 404 or an acceleration sensor is integrated in a tail end transmitter 403, an aviation plug bus 406 is used for connection, the aviation plug bus 406 is fixed on a transmitter protection tail cover 405, a transmitter rear cover 405 is tightly fixed through a plurality of fixing bolts 407, and the whole integrated main body can be directly and only installed by using a shaft pin type clamping groove 402 to finish simultaneous measurement of torque and rotation angle.
Example 5:
referring to fig. 2-4, the torque and rotation angle can be calculated and converted by the following method.
When the double-punching cylinder type iron driller punching clamp 201 works, the first punching pressure cylinder 202 and the second punching pressure cylinder 203 on the left side and the right side are pulled and stretched, and if the torque sensor is used for measuring, the torque acting on the drill rod is as follows: t=t1+t2;
if measured with a pressure sensor, the torque acting on the drill rod is: t= (p1+p2) ×s×l, where P1 and P2 are the pressures measured by the left and right side pressure sensors, S is the rod cavity acting area, and L is the acting moment arm;
if measured by a mechanical sensor, the torque acting on the drill rod is: t= (f1+f2) L, where F1 and F2 are the forces acting on the vertical moment arm L measured by the mechanical sensors on the left and right sides, respectively;
the measurement quantity can be acquired, converted and calculated through the main control module.
When the single punching cylinder type iron driller punching clamp 301 works, the punching press cylinder 302 drives the punching clamp to move by pushing or pulling, and if the torque sensor is used for measuring, the torque acting on the drill rod is as follows: t=t1;
if measured with a pressure sensor, the torque acting on the drill rod is: t=p×s×l, where P is the pressure sensor measuring the pressure in the punch cylinder 302, S is the rod cavity acting area, and L is the acting moment arm;
if measured by a mechanical sensor, the torque acting on the drill rod is: t=f×l, where the vertical moment arm L measured by the F-force sensor is the force;
the device is not limited to a double-punching buckling cylinder or a single-punching buckling cylinder, and torque can be measured by collecting a plurality of sensors according to the number of the punching buckling cylinders of an actual iron driller;
for angle conversion, if angular velocity is usedThe relative angle is calculated as the integral of the angular velocity measured by the angular velocity sensor w over time, i.e
If an acceleration sensor is adopted, the relative angle is calculated by double integration of the acceleration sensor for measuring the acceleration a and the time, namely
The above is only a basic conversion formula, and the corresponding calculation is specifically performed in a mode, without limitation.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present invention, and are not intended to limit the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The torque and rotation angle measurement and control device for the iron roughneck punching clamp is characterized by comprising a torque rotation angle measurement module (101), a microprocessor measurement and control module (102), a remote monitoring interaction module (103) and a cloud data evaluation module (104), wherein the modules are electrically connected in sequence;
the torque rotation angle measuring module (101) is arranged at the front end of the punching clamp of the iron driller and is used for measuring the torque of the clamp teeth of the punching clamp on the threaded joint of the drill rod in real time and measuring the rotation angle of the drill rod driven by the punching clamp in real time;
the microprocessor measurement and control module (102) is used for completing processing, receiving and converting corresponding torque and rotation angle data and completing various modes of controlling the torque and rotation angle of the iron roughneck according to the related data;
the remote monitoring interaction module (103) is used for receiving and displaying monitoring data, remotely deciding and controlling the pump pressure and start and stop of the punching cylinder to finish automatic threading and breaking-out operations of the punching pliers;
the cloud data evaluation module (104) is used for completing complete torque-rotation angle measurement data recorded in a well site and completing rear-end intelligent data classification, fault evaluation, iron driller equipment performance analysis, operation quality and other report generation.
2. The iron roughneck punching clamp torque and rotation angle measurement and control device according to claim 1, wherein: the torque rotation angle measuring module (101) comprises a torque rotation angle distributed measuring unit and a torque rotation angle integrated measuring unit;
the microprocessor measurement and control module (102) comprises a torque rotation angle measurement and control explosion-proof box, a sensor signal processing unit, a microprocessor hardware unit and a control unit;
the cloud data evaluation module (104) comprises: the cloud data storage unit, the intelligent data playback unit and the data automation processing unit.
3. The iron roughneck punching clamp torque and rotation angle measurement and control device according to claim 2, wherein: the torque rotation angle distributed measuring unit comprises a torque measuring unit and a rotation angle measuring unit;
the torque and rotation angle integrated measuring unit is designed for integrating a mechanical sensor and an angular velocity sensor or a mechanical sensor and an acceleration sensor.
4. The iron roughneck punching clamp torque and rotation angle measurement and control device according to claim 3, wherein: the torque measuring unit comprises any one or more of a torque sensor, a pressure sensor and a mechanical sensor;
the rotation angle measuring unit includes one or more combinations of an angular velocity sensor and an acceleration sensor.
5. The iron roughneck punching clamp torque and rotation angle measurement and control device according to claim 2, wherein: the control unit comprises a control circuit, an explosion-proof electromagnetic valve and a reversing proportional valve, wherein the explosion-proof electromagnetic valve is arranged on a hydraulic bus of the punching and buckling pliers, and the reversing proportional valve is arranged on an oil inlet and an oil outlet of a punching and buckling cylinder of an iron driller.
6. The iron roughneck punching clamp torque and rotation angle measurement and control device according to claim 2, wherein: and a microprocessor hardware module is arranged in the torque corner measurement and control explosion-proof box.
7. The method for measuring and controlling the torque and rotation angle measuring and controlling device of the iron roughneck punching clamp according to any one of claims 1-6, which is characterized in that: the method comprises the following steps:
collecting pressure and crank stress data of a punching cylinder;
collecting the rotation angular velocity and acceleration data of the punching clamp;
collecting hydraulic bus pressure data of the punching clamp;
determining the torque and the rotation angle of the punching clamp according to the pressure of the punching cylinder, the stress of the crank and the rotation angular velocity and acceleration data of the punching clamp;
the microprocessor measurement and control module is used for controlling according to the torque and the rotation angle value set by the user interface;
the remote monitoring interaction module performs torque, corner display, instruction sending and remote decision making;
and the cloud data evaluation module performs uploading, downloading and intelligent data report analysis of the big data cloud end.
8. The method for measuring and controlling the torque and rotation angle measuring and controlling device of the iron roughneck punching clamp according to claim 7, wherein the method comprises the following steps: and setting a torque and a rotation angle value required to be achieved in a user interface, automatically starting an electromagnetic valve when an iron roughneck starts to work, performing pumping pressure, performing self-adaptive stage adjustment according to the real-time torque and the rotation angle value, controlling a proportional valve to adjust the pumping pressure to adjust torque loading, and ensuring effective and stable loading of the torque and the rotation angle.
9. The method for measuring and controlling the torque and rotation angle measuring and controlling device of the iron roughneck punching clamp according to claim 8, which is characterized in that: the comparison of the torque and the rotation angle data determined in real time and the torque and the rotation angle preset in the remote monitoring interaction module comprises the following steps:
if the determined torque and rotation angle data do not reach the set torque, the explosion-proof electromagnetic valve is kept electrified, the hydraulic cylinder of the punching and buckling clamp continues to pump and the hydraulic cylinder continues to stretch to drive the punching and buckling clamp to rotate to the set rotation angle and torque value;
if any determined torque or rotation angle variable exceeds a preset torque or rotation angle value, the measurement and control device is started immediately, the explosion-proof electromagnetic valve is powered off immediately, the pumping pressure is stopped, the reversing proportional valve is reversed immediately, and the hydraulic cylinder of the punching clamp is prevented from extending continuously;
if the determined torque reaches the set value and the rotation angle does not reach the set value, the user interface gives an abnormal alarm to remind on-site operators to check, if no error exists, the system can carry out secondary buckling on the basis of the previous rotation angle record data until the rotation angle reaches the set rotation angle position, and the connection tightness of the drill rod is ensured;
if the determined rotation angle reaches the set value, the torque does not reach the set value, the user interface gives an abnormal alarm, and the on-site operator is required to further confirm whether the drill rod connection is in place or whether the iron roughneck is in slip.
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| CN202310229490.1A CN116296002A (en) | 2023-03-10 | 2023-03-10 | Torque and rotation angle measuring and controlling device and measuring and controlling method for iron roughneck punching clamp |
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| CN202310229490.1A CN116296002A (en) | 2023-03-10 | 2023-03-10 | Torque and rotation angle measuring and controlling device and measuring and controlling method for iron roughneck punching clamp |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118180268A (en) * | 2024-03-18 | 2024-06-14 | 大连长之琳科技股份有限公司 | Torque angle logic control method and control system, rolling connection equipment, storage medium and electronic device |
| CN119042176A (en) * | 2024-09-12 | 2024-11-29 | 德州联合石油科技股份有限公司 | Hydraulic system and mechanism for large-torque hydraulic servo disassembly and assembly |
| CN120946256B (en) * | 2025-10-15 | 2026-02-13 | 合力（天津）能源科技股份有限公司 | A fully electric micro-hydraulic intelligent control iron drill |
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2023
- 2023-03-10 CN CN202310229490.1A patent/CN116296002A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118180268A (en) * | 2024-03-18 | 2024-06-14 | 大连长之琳科技股份有限公司 | Torque angle logic control method and control system, rolling connection equipment, storage medium and electronic device |
| CN119042176A (en) * | 2024-09-12 | 2024-11-29 | 德州联合石油科技股份有限公司 | Hydraulic system and mechanism for large-torque hydraulic servo disassembly and assembly |
| CN119042176B (en) * | 2024-09-12 | 2025-07-22 | 德州联合石油科技股份有限公司 | Large-torque hydraulic servo dismounting mechanism |
| CN120946256B (en) * | 2025-10-15 | 2026-02-13 | 合力（天津）能源科技股份有限公司 | A fully electric micro-hydraulic intelligent control iron drill |
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