Application of a quick drill pipe connection method in high-power electro-hydraulic drilling rigs
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摘要: 针对大功率电液钻机钻杆取放和钻杆拧卸（统称接钻杆）耗时长、效率低的问题，提出了一种快速接钻杆方法。为了实现快速下钻接钻杆，采用一种机械臂闭环联动和动力头同步上扣方法：接收到下钻接钻杆指令后，机械大臂、机械横梁和动力头同时动作，当钻杆在移动过程中与动力头和主夹持器干涉(碰撞），机械横梁停止动作，动力头继续后退，远离主夹持器，当干涉解除，机械横梁继续移动直至到位后，机械大臂和机械小臂联动，将钻杆自上而下快速放入中部上卸区域，当正转压力达到预设值10 MPa，钻杆丝扣啮合结束。考虑提钻接钻杆为连续循环动作，采用差值位移同步法：通过计算机械抓手径向缩回和机械横梁轴向位移差值，有效解决动力头与钻杆丝扣松开过程中，机械臂抓放钻杆时间过长、干涉等问题。当机械抓手径向升高300 mm时，与机械横梁轴向位移差值越大越安全，在动力头松开前扣完成后，机械臂复位，控制结束。工业性试验结果表明，该快速接钻杆方法的下钻接钻杆、提钻接钻杆用时分别较常规方法节省179，41 s，整体下钻接钻杆、提钻接钻杆成功率分别较常规方法提高22.3%，19.1%。Abstract: In order to solve the problem of long time consumption and low efficiency in the pickup and placement and unscrewing of the drill pipe screw (drill pipe connection) on high-power electro-hydraulic drilling rigs, a quick drill pipe connection method is proposed. To achieve quick drilling and drill pipe connection, a method of closed loop linkage of the manipulator and power head synchronization on the buckle is adopted. After receiving the command for drilling and drill pipe connection, the mechanical arm, mechanical beam, and power head act simultaneously. When the drill pipe interferes (collides) with the power head and main holder during the curve trajectory movement, the mechanical beam stops acting. And the power head continues to retreat away from the main holder. When the interference is removed, after the mechanical beam continues to move until it is in place, the manipulator large arm and small arm are linked to quickly place the drill pipe into the middle loading and unloading area from top to bottom. When the forward rotation pressure reaches the preset value of 10 MPa, the screw engagement of the drill pipe ends. Aiming at the continuous cyclic action of lifting and connecting the drill pipe, the differential displacement synchronization method is adopted. By calculating the difference between the radial retraction of the mechanical grip and the axial displacement of the beam, the problems such as excessive time and interference of the manipulator in grasping and releasing the drill pipe during the loosening process of the power head and drill pipe threads are effectively solved. When the mechanical grip radially rises by 300 mm, the greater the difference in axial displacement from the mechanical beam, the safer it will be. After the power head releases the front buckle, the manipulator resets and control ends. The results of industrial tests show that compared with conventional methods, the average time saved by this quick drill pipe connection method for drilling down and drill pipe connection and lifting and drill pipe connection is 179 s and 41 s respectively, and the success rates of overall drilling down and drill pipe connection and lifting and drill pipe connection have increased by 22.3% and 19.1% respectively.
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图 1 单边固定门式机械臂
1—机械大臂；2—机械横梁；3—机械小臂；4—机械抓手。
Figure 1. Unilateral fixed portal manipulator
图 2 钻杆上卸位置区域
1—动力头； 2—主夹持器 ；3—松扣油缸； 4—副夹持器。
Figure 2. Drill pipe loading and unloading position area
图 6 下钻接钻杆运行耗时轨迹
1—机械大臂伸出阶段；2—机械横梁伸出阶段；3—机械大臂缩回阶段；4—机械小臂伸出阶段；5—前扣拧紧阶段；6—后扣拧紧阶段；7—机械大臂、机械横梁复合动作阶段；8—机械大臂、机械小臂复合动作阶段；9—双扣拧紧复合阶段。
Figure 6. Time consumption track of drilling down and drill pipe connection
图 8 提钻接钻杆运行耗时轨迹
1—后扣卸松阶段；2—前扣卸松阶段；3—机械大臂伸出阶段；4—机械横梁伸出阶段；5—机械大臂缩回阶段；6—机械小臂伸出阶段；7—机械大臂、机械小臂、机械横梁、后扣卸松、前扣卸松复合动作阶段。
Figure 8. Time consumption track of lifting and drill pipe connection
图 10 不同方法接钻杆耗时统计
Figure 10. Time consumption statistics of drill pipe connection by different methods
表 1 不同方法下钻接钻杆实验结果
Table 1. Test results of drilling and drill pipe connection by use of different methods
指标 机械抓手 机械小臂 机械大臂 机械横梁 前扣 后扣 常规接钻杆
方法用时/s最大值 4 10 13 13 130 67 最小值 2 6 9 11 124 63 平均值 3 8 11 12 127 65 快速接钻杆
方法用时/s最大值 22 30 最小值 16 26 平均值 19 28 常规接钻杆
方法成功率/%单独 96 70 75 65 85 60 整体 75.2 快速接钻杆
方法成功率/%单独 98 97 整体 97.5 
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表 2 不同方法提钻接钻杆试验结果
Table 2. Test result of lifting and drill pipe connection by use of different methods
名称 机械抓手 机械小臂 机械大臂 机械横梁 前扣 后扣 常规接钻杆
方法用时/s最大值 4 10 13 13 25 23 最小值 2 6 9 11 21 19 平均值 3 8 11 12 23 21 快速接钻杆
方法用时/s最大值 40 最小值 34 平均值 37 常规接钻杆
方法成功率/%单独 96 70 75 65 80 80 整体 77.7 快速接钻杆
方法成功率/%整体 96.8
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