CN110500051A - A kind of control system and control method of injection head clamping device - Google Patents

Abstract

The invention provides a control system and a control method of an injection head clamping device. The control system includes: the first speed acquisition device is connected with the clamping chain of the injection head clamping device; the second speed acquisition device is connected with the guide of the injection head; the first speed acquisition device and the second speed acquisition device are respectively connected with the control The device is electrically connected, the control device is connected with the injection head clamping device through a control circuit, and the control device adjusts the clamping force of the injection head clamping device on the coiled tubing through the control circuit. The control method is implemented by the control device. The control system and control method of the injection head clamping device provided by the present invention can monitor and adjust the hydraulic clamping force of the injection head clamping device in real time, and can monitor in real time whether the coiled tubing is slipped. When the pipe situation occurs, the continuous pipe can be quickly clamped and fixed to prevent the expansion of the slip pipe situation.

Description

A control system and control method for an injection head clamping device

technical field

The invention relates to the technical field of coiled tubing machines, in particular to a control system and a control method for an injection head clamping device.

Background technique

With the promotion and application of coiled tubing machines at home and abroad, coiled tubing equipment and technology have been fully developed. As the first core component of the coiled tubing equipment, the injection head is responsible for the mission of holding the coiled tubing up and down. Its safety and reliability directly determine the performance of the coiled tubing machine and the success or failure of the construction.

With the deep (secondary) development of oilfields, shale (oil) gas, deep wells, and ultra-deep wells, the design tonnage of the injection head has developed from 40,000 LB in the early stage to the largest 200,000 LB at present, and the wellbore is getting deeper and deeper. High (high temperature, high pressure, high H ₂ S content) well conditions are becoming more and more complex, and the safety of the injection head clamping device is particularly important.

At present, the injection head clamping devices on the market basically adopt hydraulic drive and manual control mode. Specifically, the horizontal clamping cylinder is controlled by manual manual operation to apply lateral clamping force to the left and right side clamping chains, so that the two clamping chains pass through. The clamping block arranged on it clamps the continuous tube located between the two clamping chains, generates longitudinal friction force, and drives the continuous tube to move along the guide (gooseneck) to realize lifting.

However, since the clamping force of the clamping chain is equal to the clamping hydraulic pressure multiplied by the effective contact friction coefficient between the clamping block and the coiled tubing, ideally the clamping hydraulic pressure is proportional to the lifting force or injection force of the coiled tubing, while Coefficient of friction can also change unpredictably due to factors such as tubing ovality, tubing surface condition (lubricating oil/grease, paraffin, frac sand, mud, other chemicals, etc.), clamping block condition (wear, slippery, damaged), etc. , so that it is difficult for the operator to adjust the clamping hydraulic pressure. Continued application of high pressure will affect the life of the injection head clamping device (including clamping chains, brackets, bearings, clamping blocks, etc.) and coiled tubing. If the adjustment is not timely, it is easy to cause the slide pipe, and if the judgment and disposal of the slide pipe are not timely, the slide pipe will be out of control, which will lead to the collapse of the wellhead, the pulling of the drum, and even serious casualties.

In the manual adjustment mode, the operator must observe the change of the load gauge at any time to adjust the clamping hydraulic pressure, while the injection head is suspended in mid-air forty to fifty meters away from the operator, and is monitored by the camera on the injection head or (when the slide pipe ) The huge drag force of the coiled tubing on the roller car causes the control room to vibrate to sense and judge whether the tube is slipping. This kind of long-distance monitoring and sensing requires very high operating skills, working condition identification and emergency response capabilities of the operators. The situation and risk identification are all judged by the experience of the operator, and the cognitive level of the operator is uneven. Tiredness, negligence or untimely prediction will increase the risk of operation.

Contents of the invention

The object of the present invention is to provide a control system and control method for the injection head clamping device, which can monitor and adjust the hydraulic clamping force of the injection head clamping device in real time, and monitor in real time whether the coiled tubing produces slip pipe, When the occurrence of the slip pipe is detected, the continuous pipe can be quickly clamped and fixed to prevent the enlargement of the slip pipe.

In order to achieve the above object, the present invention provides a control system of the injection head clamping device, wherein the control system of the injection head clamping device includes a first speed acquisition device, a second speed acquisition device and a control device;

The first speed acquisition device is connected to the clamping chain of the injection head clamping device, and the first speed acquisition device is used to monitor and record the operating speed of the clamping chain;

The second speed acquisition device is connected to the guide of the injection head, and the second speed acquisition device is used to monitor and record the running speed of the coiled tubing moving along the guide;

The first speed acquisition device and the second speed acquisition device are respectively electrically connected to the control device, the control device is connected to the injection head clamping device through a control loop, and the control device The running speed of the tightening chain and the running speed of the coiled tubing are adjusted through the control loop to adjust the clamping force of the injection head clamping device on the coiled tubing.

The control system of the injection head clamping device as described above, wherein the injection head clamping device of the injection head includes multiple sets of clamping assemblies, each set of clamping assemblies is arranged in parallel, and each set of clamping assemblies All tight components are connected with the control circuit.

The control system of the injection head clamping device as described above, wherein each set of clamping components includes a first cylinder, a second cylinder, a first pipeline and a second pipeline, and the first cylinder A first chamber and a second chamber that are independent of each other are formed inside, a third chamber and a fourth chamber that are independent of each other are formed inside the second cylinder, and the first end of the first pipeline passes through The tee is respectively communicated with the first chamber and the fourth chamber, the first end of the second pipeline is respectively communicated with the second chamber and the third chamber through the tee, and the first The second end of a pipeline and the second end of the second pipeline are respectively communicated with the control circuit, and the state of pressurizing the first chamber and the fourth chamber through the first pipeline Next, the clamping force of the injection head clamping device on the continuous tube is increased, and the injection The clamping force of the head clamping device on the continuous tubing is reduced.

The control system of the injection head clamping device as described above, wherein along the direction from the first end of the first pipeline to the second end of the first pipeline, sequentially set on the first pipeline There are clamping accumulators, clamping pressure transmitters and clamping pressure maintaining valves.

The control system of the injection head clamping device as described above, wherein the control loop includes a main control loop, an emergency clamping control loop and an emergency clamping control loop, and the main control loop and the emergency clamping control loop are both It is connected with the power system, and the emergency clamping control circuit is connected with the booster pump.

The control system of the injection head clamping device as described above, wherein, the main control loop includes a first main pipeline and a second main pipeline, and one end of the first main pipeline is respectively connected to all the clamping assemblies of each group. The second end of the first pipeline is connected to the direction close to each of the clamping components. The first main pipeline is sequentially provided with a pressure reducing valve, a clamping oil supply pressure transmitter and a clamping switching valve. , one end of the second main pipeline communicates with the second end of the second pipeline of each clamping assembly respectively, and the main branch pipeline is respectively connected with the pressure relief valve on the second main pipeline. The other end of the first main pipeline and the other end of the second main pipeline are respectively connected to the power system.

The above-mentioned control system of the injection head clamping device, wherein, the emergency clamping control circuit includes a third main pipeline, and one end of the third main pipeline is respectively connected to multiple groups of emergency branch pipelines connected in parallel. The first pipeline of the clamping assembly is connected, and the communication position between each of the emergency branch pipelines and the corresponding first pipeline is located on the clamping pressure transformer on each of the first pipelines. Between the transmitter and the clamping and pressure-preserving valve, toward the direction close to each clamping assembly, the emergency main check valve, emergency accumulator and electromagnetic valve are arranged in sequence on the third main road, so The other end of the third main pipeline is connected to the power system.

In the control system of the injection head clamping device described above, each of the emergency branch pipelines is provided with an emergency branch one-way valve.

The control system of the injection head clamping device as described above, wherein the emergency clamping control circuit includes a fourth main pipeline, and one end of the fourth main pipeline is respectively connected to the first pipe of each clamping assembly. The second end of the road is connected to the direction close to each of the clamping components. An emergency clamping supply valve and an emergency check valve are arranged in sequence on the fourth main main road. The other end of the fourth main main line is connected to the The booster pumps are connected.

The control system of the injection head clamping device as described above, wherein the first speed acquisition device includes a first shaft coupling and a first encoder, and the first encoder is coaxial with the first shaft coupling It is installed on the driven sprocket of the clamping chain of the injection head clamping device, and the first encoder is electrically connected with the control device.

The control system of the injection head clamping device as described above, wherein the second speed collection device includes a friction wheel, an elastic pressing mechanism, a second shaft coupling and a second encoder, and the second encoder passes through the The second coupling is coaxially connected with the friction wheel, and the elastic pressing mechanism presses the wheel surface of the friction wheel on the outer surface of the continuous tube, and the continuous tube drives The friction wheel rotates, and the second encoder is electrically connected with the control device.

In order to achieve the above object, the present invention also provides a control method of the injection head clamping device, wherein the control method of the injection head clamping device is implemented by the above-mentioned control system of the injection head clamping device, so The control method of injection head clamping device comprises:

Monitoring the running speed of the clamping chain of the injection head clamping device;

Monitor the running speed of the coiled tubing on the guide of the injection head;

comparing the running speed of the clamping chain with the running speed of the coiled tubing, and increasing the The clamping force of the clamping chain on the coiled tubing.

The method for controlling the injection head clamping device as described above, wherein the monitoring of the running speed of the clamping chain of the injection head clamping device includes:

The angular velocity of the driven sprocket is converted into the linear velocity of the clamping chain through the first encoder coaxially connected with the driven sprocket of the clamping chain of the injection head clamping device.

The method for controlling the clamping device of the injection head as described above, wherein the monitoring of the running speed of the coiled tubing on the guide of the injection head includes:

The rotational speed of the friction wheel is converted into the linear speed of the coiled tubing through the second encoder installed coaxially on the friction wheel in frictional contact with the coiled tubing.

Compared with prior art, advantage of the present invention is as follows:

The control system and control method of the injection head clamping device provided by the present invention can monitor and adjust the hydraulic clamping force of the injection head clamping device in real time, and can monitor in real time whether the coiled tubing is slipped. When the pipe situation occurs, the continuous pipe can be quickly clamped and fixed to prevent the expansion of the slip pipe situation.

Description of drawings

The following drawings are only intended to schematically illustrate and explain the present invention, and do not limit the scope of the present invention. in:

Fig. 1 is a structural schematic diagram of the state where some parts of the present invention are installed on the injection head;

2 is a schematic diagram of the control circuit of the control system of the injection head clamping device provided by the present invention;

Fig. 3 is a schematic enlarged view of the structure at A in Fig. 1;

Fig. 4 is the sectional structure diagram along B-B line in Fig. 3;

Figure 5 is an enlarged schematic view of the structure at C in Figure 1;

Fig. 6 is a flow chart of the control method of the injection head clamping device provided by the present invention;

Fig. 7 is another flow chart of the control method of the injection head clamping device provided by the present invention.

Explanation of reference numbers:

1. Injection head clamping device;

11. Clamp the chain;

12. Clamping components;

121. The first cylinder;

1211. The first chamber;

1212. The second chamber;

122. The second cylinder;

1221. The third chamber;

1222. The fourth chamber;

123. The first pipeline;

124. The second pipeline;

125. Clamp the accumulator;

126. Clamp the pressure transmitter;

127. Clamp the pressure maintaining valve;

2. Guide;

21. Coiled tubing;

3. Rack;

4. The first speed acquisition device;

41. The first coupling;

42. The first encoder;

5. The second speed acquisition device;

51. Friction wheel;

52. Elastic compression mechanism;

53. The second coupling;

54. The second encoder;

6. Control circuit;

61. Main control loop;

611. The first supervisory road;

612. The second main road;

6121. Main branch pipeline;

613. Pressure reducing valve;

614. Clamp the oil supply pressure transmitter;

615. Clamp switching valve;

62. Emergency clamping control circuit;

621. The third main road;

622. Emergency branch pipeline;

623. Emergency main one-way valve;

624. Emergency accumulator;

625. Solenoid valve;

626. Emergency branch one-way valve;

63. Emergency clamping control circuit;

631. The fourth main road;

632. Emergency clamping supply valve;

633. Emergency one-way valve;

7. Warning lights.

Detailed ways

In order to have a clearer understanding of the technical solutions, objectives and effects of the present invention, the specific implementation manners of the present invention will now be described with reference to the accompanying drawings.

As shown in Figure 1, the injection head includes a frame 3, an injection head clamping device 1 located inside the frame 3, and a guide 2 (also called a gooseneck) located above the frame 3. The injection provided by the present invention The head clamping device control system and control method are used to monitor and control the injection head clamping device 1 in real time, judge the operation of the coiled tubing 21 through real-time monitoring, and quickly clamp the injection head when the coiled tubing 21 slips. The clamping device 1 is adjusted to increase the clamping force of the clamping chain 11 of the injection head clamping device 1 on the coiled tube 21, and the coiled tube 21 is clamped and fixed, thereby preventing the enlargement of the slide phenomenon.

Embodiment one

As shown in Figures 1 to 5, the present invention provides a control system for the injection head clamping device, also known as an automatic emergency treatment device for the injection head chute, wherein the control system for the injection head clamping device includes the first A speed acquisition device 4, a second speed acquisition device 5 and a control device (not shown in the figure);

The first speed acquisition device 4 is connected to the clamping chain 11 of the injection head clamping device 1, and the first speed acquisition device 4 is used to monitor and record the running speed and direction of the clamping chain 11;

The second speed acquisition device 5 is connected to the guide 2 of the injection head, and the second speed acquisition device 5 is used to monitor and record the running speed and direction of the coiled tubing 21 moving along the guide 2;

The first speed acquisition device 4 and the second speed acquisition device 5 are respectively electrically connected to the control device, and feed back the operating speed of the clamping chain 11 and the operating speed of the coiled tubing 21 to the control device, and the control device communicates with the injection head clamp through the control circuit 6 The holding device 1 is connected, and the control device judges whether there is a slipping phenomenon according to the running speed of the clamping chain 11 and the running speed of the coiled tubing 21. The clamping force remains unchanged, and when the slippery pipe phenomenon occurs, the clamping force of the injection head clamping device 1 to the coiled tubing 21 is adjusted through the control circuit 6, so that the injection head clamping device 1 is clamped and fixed to the coiled tube 21, so that The slippery phenomenon stops.

Further, as shown in FIG. 2 , in the control system of the injection head clamping device provided by the present invention, the injection head clamping device 1 includes multiple sets of clamping assemblies 12, and each set of clamping assemblies 12 is arranged in parallel in the vertical direction , and each set of clamping assemblies 12 is connected to the control loop 6, the control loop 6 can control multiple sets of clamping assemblies 12 at the same time or can also control one set of clamping assemblies 12 separately. As a preference, it can be as follows As shown in Fig. 2, setting the clamping assemblies 12 as three groups of upper, middle and lower can ensure the clamping effect of the injection head clamping device 1 on the continuous tubing 21, but it should be noted that the number of clamping assemblies 12 is also limited. It may not be three groups, and those skilled in the art can adjust the number of clamping components 12 according to factors such as the structure of the injection head and the installation space, and the present invention is not limited thereto.

Furthermore, as shown in FIG. 2 , in the control system of the injection head clamping device provided by the present invention, each set of clamping components 12 includes a first cylinder 121 , a second cylinder 122 , a first pipeline 123 and The second pipeline 124, the piston in the first cylinder 121 and the piston in the second cylinder 122 can approach each other and increase the clamping force of the injection head clamping device 1 on the continuous tube 21 to clamp and fix the continuous tube 21, and the piston in the first cylinder 121 and the piston in the second cylinder 122 can move away from each other and reduce the clamping force of the injection head clamping device 1 on the continuous tube 21 so as to loosen the clamping of the continuous tube 21 ;

The interior of the first cylinder 121 is separated by a piston to form a first chamber 1211 and a second chamber 1212 that are independent of each other, and the interior of the second cylinder 122 is separated by a piston to form a third chamber 1221 and a fourth chamber that are independent of each other. Chamber 1222, the first end of the first pipeline 123 communicates with the first chamber 1211 and the fourth chamber 1222 respectively through the tee, and the first end of the second pipeline 124 communicates with the second chamber 1212 respectively through the tee , the third chamber 1221, the second end of the first pipeline 123 and the second end of the second pipeline 124 are respectively communicated with the control circuit 6, through the first pipeline 123 to the first chamber 1211, the fourth chamber When the chamber 1222 is pressurized, the second chamber 1212 and the third chamber 1221 are depressurized through the second pipeline 124, the piston in the first cylinder 121 and the piston in the second cylinder 122 are close to each other, and the injection head The clamping force of the clamping device 1 on the continuous tubing 21 is increased. In the state where the second chamber 1212 and the third chamber 1221 are pressurized through the second pipeline 124, the first chamber 1211 and the fourth chamber 1222 Through the pressure relief of the first pipeline 123 , the piston in the first cylinder 121 and the piston in the second cylinder 122 are separated from each other, and the clamping force of the injection head clamping device 1 on the continuous tube 21 is reduced. Preferably, as shown in FIG. 2 , along the direction from the first end of the first pipeline 123 to the second end of the first pipeline 123, the first pipeline 123 is sequentially provided with a clamping accumulator 125, Clamping pressure transmitter 126 and clamping pressure maintaining valve 127, clamping accumulator 125 is used to maintain pressure while stabilizing the pressure fluctuation in first pipeline 123, clamping pressure maintaining valve 127 is used to maintain the first The pressure in the first chamber 1211 of the first cylinder 121 , the fourth chamber 1222 of the second cylinder 122 and the pressure in the first pipeline 123 between the clamping pressure maintaining valve 127 and the clamping assembly 12 .

Further, as shown in Figure 2, the control system of the injection head clamping device provided by the present invention, wherein the control circuit 6 includes a main control circuit 61, an emergency clamping control circuit 62 and an emergency clamping control circuit 63, the main control circuit 61 and the emergency clamping control circuit 62 are all connected with the power system (not shown in the figure), and the emergency clamping control circuit 63 is connected with the booster pump; the main control circuit 61 is used for clamping the injection head in the daily production process The clamping device 1 provides normal pressure supply, keeps the clamping device 1 of the injection head to drive the coiled tubing 21 to run normally, and the emergency clamping control circuit 62 is used to control the clamping device 1 of the injection head Perform emergency braking to make the injection head clamping device 1 clamp and fix the coiled tubing 21. The emergency clamping control circuit 63 is used to provide backup for the injection head clamping device through the booster pump when the power system fails to supply pressure normally. The power is used to clamp and fix the coiled tubing 21 or to ensure the normal operation of the coiled tubing 21 .

Furthermore, as shown in FIG. 2 , in the control system of the injection head clamping device provided by the present invention, the main control circuit 61 includes a first main line 611 and a second main line 612 , and one end of the first main line 611 is respectively It communicates with the second end of the first pipeline 123 of each group of clamping components 12, toward the direction close to each clamping component 12, the first main pipeline 611 is sequentially provided with a pressure reducing valve 613, clamping oil supply pressure The transmitter 614 and the clamping switching valve 615 realize the pressurization of the first chamber 1211 of the first cylinder 121 and the fourth chamber 1222 of the second cylinder 122 of each clamping assembly 12 through the first main pipeline 611 and pressure relief, specifically during the operation process, under normal circumstances, the clamping oil supply pressure is adjusted through the pressure reducing valve 613, and then the pressure supply or pressure relief operation is performed through the clamping switching valve 615, and then the clamping protection of each clamping component 12 is performed. The pressure valve 127 performs switch operation to complete the adjustment of the clamping hydraulic pressure (that is, the clamping force) of each clamping assembly 12. One end of the second main pipeline 612 is connected to the second end of the second pipeline 124 of each clamping assembly 12 respectively. The end is connected, and the second chamber 1212 of the first cylinder 121 of each clamping assembly 12 and the third chamber 1221 of the second cylinder 122 are pressurized and depressurized through the second main pipeline 612. The specific process is the same as The process of pressurizing and depressurizing the first chamber 1211 of the first cylinder 121 and the fourth chamber 1222 of the second cylinder 122 is similar, and will not be repeated here, and the second main pipeline 612 is provided with a main branch Pipeline 6121 communicates with decompression valve 613 and clamping switch valve 615 respectively, the other end of first main pipe 611 and the other end of second main pipe 612 respectively connect with power system, power system connects to first main pipe 611 and The second main line 612 provides pressure.

Furthermore, as shown in FIG. 2, the control system of the injection head clamping device provided by the present invention, wherein the emergency clamping control circuit 62 includes a third main pipeline 621, and one end of the third main pipeline 621 is arranged in parallel through multiple The emergency branch pipelines 622 communicate with the first pipelines 123 of multiple sets of clamping assemblies 12 respectively, each emergency branch pipeline 622 is set in one-to-one correspondence with each clamping assembly 12, and each emergency branch pipeline 622 is connected to each corresponding The communication position of the first pipeline 123 is located between the clamping pressure transmitter 126 and the clamping pressure maintaining valve 127 on each first pipeline 123, toward the direction close to each clamping assembly 12, the third main pipeline 621 An emergency main check valve 623, an emergency accumulator 624 and a solenoid valve 625 are provided in sequence, and each emergency branch pipeline 622 is equipped with an emergency branch check valve 626, an emergency main check valve 623 and each emergency branch one-way valve. The direction valves 626 are all one-way valves that can only supply fluid to each clamping assembly 12. The hydraulic energy stored in the emergency accumulator 624 is on standby at any time. 625 sends a signal, the electromagnetic valve 625 is energized and conducts, and the hydraulic pressure of each clamping assembly 12 is rapidly increased by the emergency accumulator 624 through each emergency branch check valve 626 (that is, the clamping force of each clamping assembly 12 is increased) , after the operator adjusts the appropriate clamping force through the main control circuit 61, so that the running speed of the clamping chain 11 and the coiled tubing 21 run synchronously for a certain period of time, each component of the emergency clamping control circuit 62 is reset, and the emergency clamping The tight state is automatically released, and the other end of the third main pipe 621 is connected to the power system, and the power system provides pressure to the third main pipe 621 .

Furthermore, as shown in FIG. 2 , in the control system of the injection head clamping device provided by the present invention, the emergency clamping control circuit 63 includes a fourth main pipe 631, and one end of the fourth main pipe 631 is respectively connected to each clamping The second end of the first pipeline 123 of the component 12 is connected to the direction close to each clamping component 12. The fourth main pipeline 631 is provided with an emergency clamping supply valve 632 and an emergency one-way valve 633 in sequence. The other end of the main pipeline 631 is connected to a booster pump (not shown in the figure). The booster pump can be a pneumatic booster pump. The emergency clamping supply valve 632 is switched to the open position, and the pressure of the pneumatic booster pump is supplied to each clamping assembly 12 through the emergency one-way valve 633 for one-way backup hydraulic power, so as to clamp and fix the coiled tubing 21 or hold the coiled tube 21 running continuously.

Preferably, as shown in Figure 1 and Figure 5, the control system of the injection head clamping device provided by the present invention, wherein the first speed acquisition device 4 includes a first coupling 41 and a first encoder 42, the first encoding The device 42 is coaxially installed on the driven sprocket of the clamping chain 11 of the injection head clamping device 1 through a coupling, and the first encoder 42 converts the angular velocity (and direction) of the driven sprocket into clamping The linear speed (and direction) of the chain 11 is electrically connected with the first encoder 42 and the control device.

As a preference, as shown in Figure 1, Figure 3 and Figure 4, the control system of the injection head clamping device provided by the present invention, wherein, the second speed acquisition device 5 includes a friction wheel 51, an elastic pressing mechanism 52, a second coupling A shaft device 53 and a second encoder 54, the second encoder 54 is coaxially connected with the friction wheel 51 through the second shaft coupling 53, and the elastic pressing mechanism 52 compresses the wheel surface of the friction wheel 51 on the continuous tube 21. On the outer surface, to ensure reliable contact between the wheel surface of the friction wheel 51 and the surface of the continuous tube 21, the continuous tube 21 drives the friction wheel 51 to rotate during the movement process, and the second encoder 54 controls the rotational speed (and direction of rotation) of the friction wheel 51 Converted to the linear velocity (and direction) of the coiled tubing 21, the second encoder 54 is electrically connected to the control device.

It should be noted that the running speed of the clamping chain 11 and the running speed of the coiled tubing 21 can also be detected in a non-contact (radiation, laser) manner in addition to the above-mentioned contact detection method through the encoder. And real-time detection of speed, the present invention is not limited thereto.

Preferably, the control device can be a PLC control device or a dedicated control device, and the collected signal can be a digital signal or an analog signal, and the installation site can be located on the injection head, or on other parts of the coiled tubing 21 operating machine; in addition, it can also be The warning light 7 is set to be electrically connected with the control device, and when the control device judges that the pipe slipping phenomenon occurs, the warning light 7 lights up, so that the staff can find and deal with it in time.

Compared with prior art, advantage of the present invention is as follows:

The control system of the injection head clamping device provided by the present invention can monitor and adjust the hydraulic clamping force of the injection head clamping device in real time, and can monitor in real time whether the coiled tubing produces slip pipes. When it happens, the continuous pipe can be quickly clamped and fixed to prevent the expansion of the slide pipe situation.

Embodiment two

As shown in Figure 6, the present invention also provides a control method for the injection head clamping device, also known as an automatic emergency treatment method for the injection head chute. The control system of the injection head clamping device provided is implemented, and the control method of the injection head clamping device includes:

Monitoring the operating speed of the clamping chain 11 of the injection head clamping device 1;

Monitoring the running speed of the coiled tubing 21 on the guide 2 of the injection head;

Comparing the operating speed of the clamping chain 11 and the operating speed of the coiled tubing 21, when the difference between the operating speed of the clamping chain 11 and the operating speed of the coiled tubing 21 is greater than a predetermined difference (specifically, when the clamping chain 11 When the running direction or speed of the coiled tubing 21 is inconsistent with the running direction or speed of the coiled tubing 21), it is determined that the slippery pipe phenomenon occurs, and the clamping force of the clamping chain 11 on the coiled tubing 21 is increased to clamp and fix the coiled tubing 21.

Further, as shown in FIG. 7 , the method for controlling the injection head clamping device provided by the present invention, wherein monitoring the running speed of the clamping chain 11 of the injection head clamping device 1 includes:

The angular velocity of the driven sprocket is converted into the linear velocity of the clamping chain 11 through the first encoder 42 coaxially connected with the driven sprocket of the clamping chain 11 of the injection head clamping device 1;

And monitor the running speed of the coiled tubing 21 on the guide 2 of the injection head, including:

The rotational speed of the friction wheel 51 is converted into the linear velocity of the coiled tubing 21 through the second encoder 54 installed coaxially on the friction wheel 51 in frictional contact with the coiled tubing 21 .

Compared with prior art, advantage of the present invention is as follows:

The control method of the injection head clamping device provided by the present invention can monitor and adjust the hydraulic clamping force of the injection head clamping device in real time, and monitor in real time whether the coiled tubing produces a slip pipe. When it happens, the continuous pipe can be quickly clamped and fixed to prevent the expansion of the slide pipe situation.

The above descriptions are only illustrative specific implementations of the present invention, and are not intended to limit the scope of the present invention. Any equivalent changes and modifications made by those skilled in the art without departing from the concept and principle of the present invention shall fall within the protection scope of the present invention.

Claims (14)

1. a kind of control system of injection head clamping device, which is characterized in that the control system packet of the injection head clamping device Include First Speed acquisition device, second speed acquisition device and control device；

The First Speed acquisition device connects with the clamping chain of injection head clamping device, and the First Speed acquisition device is used In the speed of service for monitoring and recording the clamping chain；

The second speed acquisition device connects with the guider of the injection head, and the second speed acquisition device is for monitoring And record the speed of service that continuous pipe is moved along the guider；

The First Speed acquisition device is electrically connected with the control device respectively with the second speed acquisition device, the control Device processed is connected by control loop with the injection head clamping device, and the control device is according to the operation for clamping chain Speed and the speed of service of the continuous pipe adjust the injection head clamping device to the continuous pipe by the control loop Clamping dynamics.

2. the control system of injection head clamping device according to claim 1, which is characterized in that the injection head it is described Injection head clamping device includes multiple groups clamping component, and clamping component described in each group is arranged in parallel, and clamping component described in each group is equal Connect with the control loop.

3. the control system of injection head clamping device according to claim 2, which is characterized in that clamping component described in each group Including the first cylinder pressure, the second cylinder pressure, the first pipeline and the second pipeline, the inside of first cylinder pressure is formed with mutually independent One chamber and second chamber, the inside of second cylinder pressure are formed with mutually independent third chamber and the 4th chamber, and described For the first end of one pipeline by threeway respectively with the first chamber, the 4th chamber, the first end of second pipeline is logical Cross threeway respectively with the second chamber, the third chamber, the second end of first pipeline, second pipeline Second end is connected to the control loop respectively, is pressurizeed by first pipeline to the first chamber, the 4th chamber In the state of, the injection head clamping device increases the clamping dynamics of the continuous pipe, by second pipeline to described In the state of second chamber, third chamber pressurization, the injection head clamping device subtracts the clamping dynamics of the continuous pipe It is small.

4. the control system of injection head clamping device according to claim 3, which is characterized in that managed along by described first The first end on road to first pipeline second end direction, be arranged in sequence on first pipeline and clamp accumulator, clamp Pressure transmitter and clamping pressure retaining valve.

5. the control system of injection head clamping device according to claim 4, which is characterized in that the control loop includes Main control loop, urgent clamping control loop and emergency clamp control loop, and the main control loop and the urgent clamping are controlled Circuit processed connects with dynamical system, and the emergency clamps control loop and connects with booster pump.

6. the control system of injection head clamping device according to claim 5, which is characterized in that the main control loop packet Include the first main line and the second main line, one end of first main line respectively with clamping component described in each group described first The second end of pipeline is connected to, towards the direction close to each clamping component, be arranged in sequence on first main line pressure reducing valve, It clamps charge oil pressure transmitter and clamps switching valve, one end of second main line is respectively and described in each clamping component The second end of second pipeline is connected to, and second main line be equipped with main split's pipeline respectively with the pressure reducing valve and the folder The other end of tight switching valve connection, the other end of first main line and second main line respectively with the dynamical system Connect.

7. the control system of injection head clamping device according to claim 5, which is characterized in that the urgent clamping control Circuit include third main line, the third main line one end by the more urgent branch lines being arranged in parallel respectively with it is more First pipeline connection of the group clamping component, and each urgent branch line and corresponding each first pipeline Communicating position is located between the clamping pressure transmitter and the clamping pressure retaining valve on each first pipeline, towards close Urgent main check valve, urgent accumulator and solenoid valve are arranged in sequence on the third main line for the direction of each clamping component, The other end of the third main line connects with the dynamical system.

8. the control system of injection head clamping device according to claim 7, which is characterized in that each urgent branched pipe Road is equipped with urgent branch's check valve.

9. the control system of injection head clamping device according to claim 5, which is characterized in that the emergency clamps control Circuit includes the 4th main line, one end of the 4th main line respectively with first pipeline of each clamping component the The connection of two ends is arranged in sequence emergency and clamps supply valve towards the direction close to each clamping component on the 4th main line And emergency check valve, the other end of the 4th main line connect with the booster pump.

10. the control system of injection head clamping device according to claim 1, which is characterized in that the First Speed is adopted Acquisition means include first shaft coupling and the first encoder, and first encoder is coaxially mounted on by the first shaft coupling On the driven sprocket of the clamping chain of the injection head clamping device, first encoder is electrically connected with the control device.

11. the control system of injection head clamping device according to claim 1, which is characterized in that the second speed is adopted Acquisition means include friction pulley, elastic hold-down mechanism, second shaft coupling and second encoder, and the second encoder passes through described the Two shaft couplings coaxially connect with the friction pulley, and the wheel face of the friction pulley is pressed in described continuous by the elastic hold-down mechanism On the outer surface of pipe, the friction pulley is driven to rotate in the continuous pipe motion process, the second encoder and the control Device electrical connection.

12. a kind of control method of injection head clamping device, which is characterized in that the control method of the injection head clamping device is logical The control system for crossing injection head clamping device as claimed in any one of claims 1 to 11 is implemented, the injection head clamping The control method of device includes:

Monitor the speed of service of the clamping chain of injection head clamping device；

Monitor the speed of service of the continuous pipe on the guider of injection head；

The speed of service for comparing the speed of service for clamping chain and the continuous pipe, when the speed of service for clamping chain When difference between the speed of service of the continuous pipe is greater than predetermined difference value, increase the clamping chain to the continuous pipe Clamping force.

13. the control method of injection head clamping device according to claim 12, which is characterized in that the monitoring injection head The speed of service of the clamping chain of clamping device, comprising:

By the first encoder coaxially to connect with the driven sprocket of the clamping chain of the injection head clamping device, by institute The angular speed for stating driven sprocket is converted to the linear velocity for clamping chain.

14. the control method of injection head clamping device according to claim 12, which is characterized in that the continuous pipe of monitoring The speed of service on the guider of injection head, comprising:

By coaxial mounted second encoder on the friction pulley that connects with the continuous pipe friction, by the rotation of the friction pulley Rate conversion is the linear velocity of the continuous pipe.