阅读说明：本技术 一种注入头夹持装置的控制系统及控制方法 (A kind of control system and control method of injection head clamping device ) 是由 段文益 杨高 杨志敏 张富强 袁进平 胡志强 刘寿军 袁文才 郝军 刘平国 颜家 于 2019-08-21 设计创作，主要内容包括：本发明提供一种注入头夹持装置的控制系统及控制方法。控制系统包括：第一速度采集装置与注入头夹持装置的夹紧链条相接；第二速度采集装置与注入头的导向器相接；第一速度采集装置与第二速度采集装置分别与控制装置电连接,控制装置通过控制回路与注入头夹持装置相接,控制装置通过控制回路调节注入头夹持装置对连续管的夹紧力度。控制方法通过控制装置进行实施。本发明提供的注入头夹持装置的控制系统及控制方法,能对注入头夹持装置的液压夹持力进行实时监测及调整,并对连续管是否产生溜管进行实时监测,在检测到溜管情况的发生时能迅速将连续管夹紧固定,防止溜管情况的扩大化。(The present invention provides the control system and control method of a kind of injection head clamping device.Control system includes: that First Speed acquisition device connects with the clamping chain of injection head clamping device；Second speed acquisition device connects with the guider of injection head；First Speed acquisition device is electrically connected with control device respectively with second speed acquisition device, and control device is connected by control loop with injection head clamping device, and control device adjusts injection head clamping device to the clamping dynamics of continuous pipe by control loop.Control method is implemented by control device.The control system and control method of injection head clamping device provided by the invention, real-time monitoring and adjustment can be carried out to the hydraulic clamping force of injection head clamping device, and real-time monitoring is carried out to whether continuous pipe generates elephant trunk, continuous pipe clamp can be fastened rapidly when the occurrence of detecting elephant trunk, prevent the extension of elephant trunk situation.)

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.

Technical field

The present invention relates to coiled tubing unit technical field, refer in particular to a kind of injection head clamping device control system and Control method.

Background technique

With the promotion and application of domestic and international coiled tubing unit, continuous pipe equipment obtains development in an all-round way with technology.Injection Head is responsible for as the first core component in continuous pipe equipment and clamps the mission that continuous pipe removes operation, safety with can Directly decide the performance of coiled tubing unit complete machine and the success or failure of construction by property.

With oil field depth to it is (secondary) exploitation, shale (oil) gas, deep-well, ultradeep well duty requirements, the design of injection head Tonnage develops to current maximum 200000LB from early stage 40000LB, and well bore is deeper and deeper, three high (high temperature, high pressure, height Containing H₂S) hole condition is increasingly complicated, and the safety of injection head clamping device is just particularly important.

Currently, injection head clamping device on the market is substantially using hydraulic-driven, MANUAL CONTROL mode, it is specially logical Crossing manual hand manipulation's controlled level clamping cylinder, clamp chain item applies lateral chucking power to the left and right, passes through two clamping chains The grip block being arranged thereon clamps the continuous pipe being located between two clamping chains, generates longitudinal frictional force, the company of drive Continuous pipe is removed along guider (gooseneck) mobile realize.

But the chucking power due to clamping chain is equal to clamping hydraulic power multiplied by effectively contacting between grip block and continuous pipe Coefficient of friction, ideally clamping hydraulic power is directly proportional to the lifting force of continuous pipe or injection force, and coefficient of friction also can be because For oil pipe ovality, oil pipe surface state (lubrication oil/grease, paraffin, pressure break sand, soil, other chemical agents etc.), grip block situation Factors such as (abrasions, smooth, damage) and unexpectedly change, thus the adjusting of clamping hydraulic power is caused to operator Certain difficulty, persistently to high pressure will affect injection head clamping device (including clamping chain, bracket, bearing, grip block etc.) and The service life of continuous pipe, and increase to adjust and be easy to cause elephant trunk not in time, and elephant trunk judgement and disposition cause elephant trunk is out of control will not in time It will lead to that well head collapses, roller draws bad or even serious personnel casualty accidents.

Under manual adjustment mode, operator must observe the variation of loadmeter at any time to adjust clamping hydraulic power, and infuse Enter head in the suspention in the air far from four or five ten meters of operator, it is continuous by camera head monitor on injection head or (when elephant trunk) Pipe causes control room shake to perceive and judge whether elephant trunk, this remote monitoring and sense the huge drag force of drum vehicle Know that the operative skill to operator, operating mode's switch and emergency disposal Capability Requirement are very high, operating condition and risk identification are entirely with behaviour Make personnel's micro-judgment, and the human-subject test of operator is irregular, fatigue carelessness or anticipation will increase operation not in time Risk.

Summary of the invention

The object of the present invention is to provide the control systems and control method of a kind of injection head clamping device, can press from both sides to injection head The hydraulic clamping force for holding device carries out real-time monitoring and adjustment, and carries out real-time monitoring to whether continuous pipe generates elephant trunk, is examining Continuous pipe clamp can be fastened rapidly when the occurrence of measuring elephant trunk, prevent the extension of elephant trunk situation.

In order to achieve the above objectives, the present invention provides a kind of control systems of injection head clamping device, wherein the injection The control system of head clamping device includes 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, the First Speed acquisition dress It sets for monitoring and recording the speed of service for clamping chain；

The second speed acquisition device connects with the guider of the injection head, and the second speed acquisition device is used for Monitor 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, institute It states control device and is connected by control loop with the injection head clamping device, the control device is according to the clamping chain The speed of service and the speed of service of the continuous pipe adjust the injection head clamping device to the company by the control loop The clamping dynamics of continuous pipe.

The control system of injection head clamping device as described above, wherein the injection head of the injection head clamps dress It sets including multiple groups clamping component, clamping component described in each group is arranged in parallel, and clamping component described in each group controls back with described Road connects.

The control system of injection head clamping device as described above, wherein clamping component described in each group include the first cylinder pressure, The inside of second cylinder pressure, the first pipeline and the second pipeline, first cylinder pressure is formed with mutually independent first chamber and second Chamber, the inside of second cylinder pressure are formed with mutually independent third chamber and the 4th chamber, and the first of first pipeline End by threeway respectively with the first chamber, the 4th chamber, the first end of second pipeline by threeway respectively with The second chamber, the third chamber, the second end of first pipeline, the second end of second pipeline respectively with The control loop connection, it is described in the state of being pressurizeed by first pipeline to the first chamber, the 4th chamber Injection head clamping device increases the clamping dynamics of the continuous pipe, by second pipeline to the second chamber, described In the state of the pressurization of third chamber, the injection head clamping device reduces the clamping dynamics of the continuous pipe.

The control system of injection head clamping device as described above, wherein extremely along the first end by first pipeline The direction of the second end of first pipeline, be arranged in sequence on first pipeline clamp accumulator, clamping pressure transmitter and Clamp pressure retaining valve.

The control system of injection head clamping device as described above, wherein the control loop includes main control loop, tight Anxious to clamp control loop and emergency clamps control loop, the main control loop and the urgent clamping control loop are and power System connects, and the emergency clamps control loop and connects with booster pump.

The control system of injection head clamping device as described above, wherein the main control loop includes the first main line With the second main line, one end of first main line second end with first pipeline of clamping component described in each group respectively Connection is arranged in sequence pressure reducing valve, clamps charge oil pressure towards the direction close to each clamping component on first main line Transmitter and clamp switching valve, one end of second main line respectively with second pipeline of each clamping component the The connection of two ends, and second main line is equipped with main split's pipeline and connects respectively with the pressure reducing valve and the clamping switching valve Logical, the other end of first main line connects with the dynamical system respectively with the other end of second main line.

The control system of injection head clamping device as described above, wherein the urgent clamping control loop includes third Main line, the third main line the urgent branch line that is arranged in parallel by more of one end respectively with clamping group described in multiple groups First pipeline connection of part, and each urgent branch line is located at the communicating position of corresponding each first pipeline Between the clamping pressure transmitter and the clamping pressure retaining valve on each first pipeline, towards close to each clamping group Urgent main check valve, urgent accumulator and solenoid valve, the third supervisor are arranged in sequence on the third main line for the direction of part The other end on road connects with the dynamical system.

The control system of injection head clamping device as described above, wherein be equipped on each urgent branch line tight Anxious branch's check valve.

The control system of injection head clamping device as described above, wherein it includes the 4th that the emergency, which clamps control loop, Main line, one end of the 4th main line are connected to the second end of first pipeline of each clamping component respectively, court Be arranged in sequence that emergency clamps supply valve and emergency is unidirectional close to the direction of each clamping component, on the 4th main line The other end of valve, the 4th main line connects with the booster pump.

The control system of injection head clamping device as described above, wherein the First Speed acquisition device includes first Shaft coupling and the first encoder, first encoder are coaxially mounted on the injection head by the first shaft coupling and clamp On the driven sprocket of the clamping chain of device, first encoder is electrically connected with the control device.

The control system of injection head clamping device as described above, wherein the second speed acquisition device includes friction Wheel, elastic hold-down mechanism, second shaft coupling and second encoder, the second encoder by the second shaft coupling with it is described Friction pulley coaxially connects, and the wheel face of the friction pulley is pressed on the outer surface of the continuous pipe by the elastic hold-down mechanism, The friction pulley is driven to rotate in the continuous pipe motion process, the second encoder is electrically connected with the control device.

In order to achieve the above objectives, the present invention also provides a kind of control methods of injection head clamping device, wherein the note The control method for entering a clamping device is implemented by the control system of injection head clamping device as described above, the injection Head clamping device control method include:

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

The control method of injection head clamping device as described above, wherein the clamping of the monitoring injection head clamping device The speed of service of chain, comprising:

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

The control method of injection head clamping device as described above, wherein guiding of the continuous pipe of monitoring in injection head The speed of service on device, comprising:

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

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

The control system and control method of injection head clamping device provided by the invention, can be to the liquid of injection head clamping device It presses chucking power to carry out real-time monitoring and adjustment, and carries out real-time monitoring to whether continuous pipe generates elephant trunk, detecting elephant trunk feelings Continuous pipe clamp can be fastened rapidly when the generation of condition, prevent the extension of elephant trunk situation.

Detailed description of the invention

The following drawings is only intended to carry out schematic illustration and explanation to the present invention, not delimit the scope of the invention.Its In:

Fig. 1 is the structural schematic diagram in the state that section components of the present invention are installed on injection head；

Fig. 2 is the control loop schematic diagram of the control system of injection head clamping device provided by the invention；

Fig. 3 is structure enlargement diagram at A in Fig. 1；

Fig. 4 is the schematic diagram of the section structure in Fig. 3 along line B-B；

Fig. 5 is structure enlargement diagram at C in Fig. 1；

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

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

Drawing reference numeral explanation:

1, injection head clamping device；

11, chain is clamped；

12, clamping component；

121, the first cylinder pressure；

1211, first chamber；

1212, second chamber；

122, the second cylinder pressure；

1221, third chamber；

1222, the 4th chamber；

123, the first pipeline；

124, the second pipeline；

125, accumulator is clamped；

126, clamping pressure transmitter；

127, pressure retaining valve is clamped；

2, guider；

21, continuous pipe；

3, rack；

4, First Speed acquisition device；

41, first shaft coupling；

42, the first encoder；

5, second speed acquisition device；

51, friction pulley；

52, elastic hold-down mechanism；

53, second shaft coupling；

54, second encoder；

6, control loop；

61, main control loop；

611, the first main line；

612, the second main line；

6121, main split's pipeline；

613, pressure reducing valve；

614, charge oil pressure transmitter is clamped；

615, switching valve is clamped；

62, control loop is promptly clamped；

621, third main line；

622, urgent branch line；

623, urgent main check valve；

624, urgent accumulator；

625, solenoid valve；

626, urgent branch's check valve；

63, emergency clamps control loop；

631, the 4th main line；

632, emergency clamps supply valve；

633, emergency check valve；

7, warning lamp.

Specific embodiment

In order to have clearer understanding to technical solution of the present invention, purpose and effect, now in conjunction with the Detailed description of the invention present invention Specific embodiment.

As shown in Figure 1, injection head includes rack 3, the injection head clamping device 1 inside rack 3 and is set in rack 3 The guider 2 (also referred to as gooseneck) of side, injection head clamping device control system and control method provided by the invention are used for note Enter a clamping device 1 and carry out real-time monitoring and control, the operating condition of continuous pipe 21 is judged by real-time monitoring, in continuous pipe 21 Occur quickly being adjusted injection head clamping device 1 when elephant trunk phenomenon, increases the clamping chain 11 of injection head clamping device 1 To the chucking power of continuous pipe 21, continuous pipe 21 is fixedly clamped, to prevent the extension of elephant trunk phenomenon.