CN101798916A - Rock entering drilling machine and control system and control method thereof - Google Patents
Rock entering drilling machine and control system and control method thereof Download PDFInfo
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- CN101798916A CN101798916A CN201010115470A CN201010115470A CN101798916A CN 101798916 A CN101798916 A CN 101798916A CN 201010115470 A CN201010115470 A CN 201010115470A CN 201010115470 A CN201010115470 A CN 201010115470A CN 101798916 A CN101798916 A CN 101798916A
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- 238000005553 drilling Methods 0.000 title claims abstract description 414
- 239000011435 rock Substances 0.000 title claims abstract description 195
- 238000000034 method Methods 0.000 title claims abstract description 54
- 238000000465 moulding Methods 0.000 claims description 34
- 238000001514 detection method Methods 0.000 claims description 26
- 230000011664 signaling Effects 0.000 claims description 20
- 238000012546 transfer Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 9
- 230000008569 process Effects 0.000 description 20
- 238000010276 construction Methods 0.000 description 10
- 101710102916 Ichor Proteins 0.000 description 6
- 230000015556 catabolic process Effects 0.000 description 4
- 238000011897 real-time detection Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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Abstract
The invention discloses a control system used for a rock entering drilling machine, comprising a position sensor (11), a pressure sensor (12), a rotary force sensor (13) and a control device (14), wherein the position sensor (11) is used for detecting the depth position of a drilling bucket, the pressure sensor (12) is used for detecting the pressurizing pressure of the drilling bucket, the rotary force sensor (13) is used for detecting the rotary force of the drilling bucket, and the control device (14) is used for receiving the position signal, the pressure signal and the rotary force signal, comparing signals with a position reference value, a pressure reference value and a rotary force reference value, and controlling the drilling bucket (01) to automatically enter rock according to a comparison result, a preset strategy and the like. The control system can automatically finish rock entering action so as to lower the labour force of operating personnel and improve rock entering precision and efficiency of the rock entering drilling machine. The invention also discloses a rock entering drilling machine comprising the control system and the control method applied to the control system.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly a kind of control system that is used for rock entering drilling machine.The invention still further relates to a kind of rock entering drilling machine that comprises above-mentioned control system, and the control method of using above-mentioned control system.
Background technology
Along with the fast development of China's economic construction, various engineering machinery particularly rotary drilling rig are applied in the numerous areas of modernization construction more and more widely.
Rotary drilling rig is the construction machinery of pore-forming operation in a kind of suitable building foundation engineering. is widely used in the foundation construction engineerings such as urban construction, highway bridge, highrise building, by cooperating with various drilling tool, be adapted to dry type (cooperating) with short spiral drill, or the pore-forming operation of wet type (cooperating with the revolution bucket) and rock stratum (cooperating with rock core drill).Advantages such as rotary drilling rig is big with its installed power, output torque is big, axial compression is big, maneuverability, and efficiency of construction height and hole quality are good have obtained using widely in the engineering construction field, become the main pore-forming equipment of engineering construction.
The rotary drilling rig that uses when bore operation is carried out in the rock stratum is rock entering drilling machine, the raising of engineering machinery automaticity is subjected to the restriction of conditions such as construction condition is complicated and changeable, security requirement height always, for rotary drilling rig particularly rock entering drilling machine exist such problem equally.The control of going into the rock degree of depth and the amount of feeding of rock entering drilling machine is the most key in the whole construction course, it also is a step that takes time and effort most, in going in the rock process of rock entering drilling machine, when rig reaches the degree of depth of appointment, drill bit need be mentioned, the drill bit mention time postpones, and can cause drilling depth to be deepened, and the time that drill bit is mentioned in advance, can cause drilling depth not enough again.
At present, rock entering drilling machine is generally controlled and is adjusted its duty in conjunction with long-term operating experience by operator, the process of whole adjustment is had relatively high expectations to operator, and the observation of operator and judge and can't can have bigger error with avoiding, make into rock efficient with go into the ichor degree and all be difficult to be guaranteed; Simultaneously, in the process of the broken rock of rock entering drilling machine, operator is realized manually broken rock by operating hydraulically operated push rod, and labour intensity is higher, and broken rock frequency is lower.
Therefore, how to alleviate the labour intensity of operator in the broken rock process of rock entering drilling machine, and improve and go into rock control accuracy and efficiency of breaking rock, just become the problem that those skilled in the art need solve.
Summary of the invention
The purpose of this invention is to provide a kind of control system that is used for rock entering drilling machine, it can reduce brokenly the labour intensity of operator in the rock process, and can improve rock entering drilling machine go into ichor degree and efficiency of breaking rock.Another object of the present invention provides a kind of rock entering drilling machine that comprises above-mentioned control system, and the control method of using above-mentioned control system.
For solving the problems of the technologies described above, the invention provides a kind of control system that is used for rock entering drilling machine, comprising:
Position sensor is used for detecting in real time the depth location of drilling bucket, and obtains corresponding position signalling;
Control device is used for receiving described position signalling in real time, and the depth location of described drilling bucket is compared with position collimation, and when described depth location was greater than or equal to described position collimation, described control device was controlled on the drilling bucket of described rock entering drilling machine and carried.
Preferably, described position collimation is that 2/3rds times maximum is gone into the rock depth value.
Preferably, also comprise:
Pressure sensor is used for detecting the pressure of described drilling bucket in real time, and obtains corresponding pressure signal;
Described control device receives described pressure signal, and detected drilling bucket pressure is compared with the pressure reference value, and when described drilling bucket pressure and described pressure reference value reached first predetermined relationship, described control device was controlled described drilling bucket and stopped into rock.
Preferably, described pressure sensor obtains described drilling bucket pressure by detecting the moulding pressure value, and described pressure reference value is maximum moulding pressure value; Described first predetermined relationship is that described moulding pressure value is greater than or equal to described maximum moulding pressure value.
Preferably, also comprise:
The revolving force sensor is used for detecting the drilling bucket revolving force in real time, and obtains corresponding revolving force signal;
Described control device is compared described drilling bucket revolving force with the revolving force a reference value, when described drilling bucket revolving force and described revolving force a reference value reached second predetermined relationship, described control device was controlled described drilling bucket and stopped into rock.
Preferably, described revolving force sensor obtains described drilling bucket revolving force by detecting the drilling bucket moment of torsion, and described revolving force a reference value is a maximum torque; Described second predetermined relationship is that the measured value of described drilling bucket moment of torsion is greater than maximum torque.
Preferably, also comprise velocity sensor; Described velocity sensor is used to detect the rotating speed of described drilling bucket, and the rate signal that obtains is sent to described control device; Detect at described position sensor before the depth location of described drilling bucket, described control device receives described rate signal, and compare with the Velocity Reference value, when the measured value of described drilling bucket rotating speed was greater than or equal to described Velocity Reference value, described control device control master winch improved moulding pressure.
Preferably, also comprise pulling force sensor; Described pulling force sensor is used to detect main hoisting tension, and the pulling force signal that obtains is delivered to described control device; Before described velocity sensor detects described drilling bucket rotating speed, described control device receives described pulling force signal, and compare with the minimum value of main hoisting tension, when the measured value of described main hoisting tension during less than the minimum value of main hoisting tension, described control device is controlled described drilling bucket and is improved rotating speed.
The present invention also provides a kind of rock entering drilling machine, comprises above-mentioned each described control system.
The present invention also provides a kind of control method that is used for rock entering drilling machine, may further comprise the steps:
31) detect step; Detect the depth location of the drilling bucket of described rock entering drilling machine;
32) comparison step; The depth location of more described drilling bucket and position collimation if described depth location is greater than or equal to described position collimation, turn to step 33); If not, turn to step 34);
33) carry on the described drilling bucket of control;
34) the described drilling bucket of control presses down, and returns step 31).
Preferably, described position collimation is that 2/3rds times maximum is gone into the rock depth value.
Preferably, described detection step also comprises the pressure of the described drilling bucket of real-time detection; Described comparison step 32) also compares drilling bucket pressure and pressure reference value in; When described drilling bucket pressure and described pressure reference value reach first predetermined relationship, turn to step 41); If not, turn to step 42);
41) the described drilling bucket of control stops into rock;
42) master winch of the described rock entering drilling machine of control increases drilling bucket pressure.
Preferably, described pressure sensor detects described drilling bucket pressure by detecting the moulding pressure value, and described pressure reference value is maximum moulding pressure value; Described first predetermined relationship is that described moulding pressure value is greater than or equal to described maximum moulding pressure value.
Preferably,
Described detection step 31) also detects the drilling bucket revolving force in real time;
Described comparison step 32) also more described drilling bucket revolving force and revolving force a reference value in when described drilling bucket revolving force and described revolving force a reference value reach second predetermined relationship, turn to step 51); If not, turn to step 52);
51) the described drilling bucket of control stops into rock;
52) motor of the described drilling bucket of control improves described drilling bucket revolving force.
Preferably, described revolving force sensor detects described drilling bucket revolving force by detecting the drilling bucket moment of torsion, and described revolving force a reference value is a maximum torque; Described second predetermined relationship is that the measured value of described drilling bucket moment of torsion is greater than maximum torque.
Preferably, in described step 31) further comprising the steps of before:
21) detect the rotating speed of described drilling bucket, and obtain rate signal;
22) receive described rate signal, and compare, when the measured value of described drilling bucket rotating speed is greater than or equal to described Velocity Reference value, turn to step 23) with the Velocity Reference value; If not, turn to step 24);
23) master winch of the described rock entering drilling machine of control improves moulding pressure, and changes step 31 over to behind the reasonable time interval);
24) the described drilling bucket of control improves rotating speed, and turns to step 21).
Preferably, described step 21) further comprising the steps of before:
11) detect the main hoisting tension of described rock entering drilling machine, and obtain corresponding pulling force signal;
12) minimum value of more described main hoisting tension and main hoisting tension when the measured value of main hoisting tension during less than the minimum value of main hoisting tension, turns to step 13); If not, turn to step 14);
13) the described drilling bucket of control quickens to rotate, and changes step 21 over to);
14) the described drilling bucket of control is transferred with suitable speed, and turns to step 11).
The control system that is used for rock entering drilling machine provided by the present invention comprises the position sensor that is used to detect the drilling bucket depth location, and obtains the relevant position signal; Control device is used to receive described position signalling and detected depth location is compared with position collimation, when depth location is greater than or equal to position collimation, carries on the drilling bucket of control device control rock entering drilling machine.
In the broken rock process of rock entering drilling machine, the instruction that operator is started working to the rock entering drilling machine input, drilling rod descends with suitable speed, simultaneously, position sensor detects the drilling bucket depth location of rock entering drilling machine in real time, and detected position signalling is inputed to control device; Control device receives above-mentioned position signalling, and detected depth location and corresponding position collimation are compared, and when described depth location is greater than or equal to described position collimation, carries on the drilling bucket of control device control rock entering drilling machine.Like this, can control drilling bucket in the proper time of satisfying depth conditions by control system provided by the present invention and carry on automatically, thereby finish automatically, reduce labor intensity of operating personnel effectively into the rock action; Simultaneously, well-known, the control accuracy of automatic control system and operating efficiency all are higher than the manual control system significantly, thereby have improved going into the ichor degree and going into rock efficient of rock entering drilling machine.
A kind of preferred embodiment in, also comprise being used for detecting the pressure of described drilling bucket in real time, and obtain the pressure sensor of corresponding pressure signal; Control device receives pressure signal, and detected drilling bucket pressure is compared with the pressure reference value, and when drilling bucket pressure and pressure reference value reached first predetermined relationship, control device was controlled drilling bucket and stopped into rock.Like this, when drilling bucket pressure surpassed predetermined pressure reference value, control device control drilling bucket stopped into rock, thereby had avoided drilling bucket because excessive resistance and stuck has been protected drilling rod and drilling bucket, had improved the application life of rock entering drilling machine.
In another preferred embodiment, the control system that is used for rock entering drilling machine provided by the present invention can also comprise velocity sensor; This velocity sensor is used to detect the rotating speed of described drilling bucket, and the rate signal that obtains is sent to described control device; Before position sensor detects the drilling bucket position, control device inbound pacing signal, and compare with the Velocity Reference value is when the measured value of described drilling bucket rotating speed is greater than or equal to described Velocity Reference value, control device control master winch is transferred, and the water booster system pressurization is transferred.By the detection of above-mentioned drilling bucket tach signal, and this speed detection signal applied in the control system, increased the data acquisition amount in the control system, thereby further improved the control accuracy of system.
Rock entering drilling machine provided by the present invention and the control method that is used for rock entering drilling machine, it can reach the effect identical with control system, does not repeat them here.
Description of drawings
Fig. 1 is the system drawing that is used for first kind of specific embodiment of control system of rock entering drilling machine provided by the present invention;
Fig. 2 is the system drawing that is used for second kind of specific embodiment of control system of rock entering drilling machine provided by the present invention;
Fig. 3 is the system drawing that is used for the third specific embodiment of control system of rock entering drilling machine provided by the present invention;
Fig. 4 is the system drawing that is used for the 4th kind of specific embodiment of control system of rock entering drilling machine provided by the present invention;
Fig. 5 is the system drawing that is used for the 5th kind of specific embodiment of control system of rock entering drilling machine provided by the present invention;
Fig. 6 is the flow chart that is used for first kind of specific embodiment of control method of rock entering drilling machine provided by the present invention;
Fig. 7 is the flow chart that is used for second kind of specific embodiment of control method of rock entering drilling machine provided by the present invention;
Fig. 8 is the flow chart that is used for the third specific embodiment of control method of rock entering drilling machine provided by the present invention;
Fig. 9 is the flow chart that is used for the 4th kind of specific embodiment of control method of rock entering drilling machine provided by the present invention;
Figure 10 is the flow chart that is used for the 5th kind of specific embodiment of control method of rock entering drilling machine provided by the present invention.
The specific embodiment
Core of the present invention provides a kind of control system that is used for rock entering drilling machine, and it can reduce brokenly the labour intensity of operator in the rock process, and can improve rock entering drilling machine go into ichor degree and efficiency of breaking rock.Another core of the present invention provides a kind of rock entering drilling machine that comprises above-mentioned control system, and the control method of using above-mentioned control system.
In order to make those skilled in the art person understand technical scheme of the present invention better, the present invention is described in further detail below in conjunction with the drawings and specific embodiments.
Please refer to Fig. 1, Fig. 1 is the system drawing that is used for first kind of specific embodiment of control system of rock entering drilling machine provided by the present invention.
In first kind of specific embodiment, the control system that is used for rock entering drilling machine provided by the present invention comprises position sensor 11 and control device 14; Position sensor 11 is used for detecting in real time the depth location of drilling bucket 01, and obtains corresponding position signalling; Control device 14 is used to receive above-mentioned position signalling, and the measured value of the drilling bucket degree of depth compared with position collimation, when detected drilling bucket depth location value is greater than or equal to position collimation, carry on the drilling bucket 01 of control device 14 control rock entering drilling machines, and when detected drilling bucket depth location value during less than above-mentioned position collimation, the drilling bucket 01 of rock entering drilling machine continues to press down.
Like this, by setting up contact between its corresponding a reference value of each measured value, when all reaching predetermined proportionate relationship between each measured value and each a reference value, control device 14 control drilling buckets 01 are finished and are gone into the rock action automatically, only need the predetermined proportionate relationship of input in control device 14, it is comparatively simple to calculate process relatively, thereby has reduced the control complexity requirement of control device 14, and then has reduced production and use cost.
Above-mentioned position collimation can be gone into the rock depth value for 2/3rds times maximum, also promptly be greater than or equal to 2/3rds times maximum depth value when the measured value of the depth location of the drilling bucket of rock entering drilling machine, carry on the drilling bucket 01 of the described rock entering drilling machine of control device 14 controls.
The numerical value that it is pointed out that above-mentioned position collimation is a kind of concrete embodiment, and the concrete proportionate relationship of itself and depth detection value should not be subjected to the restriction of this manual; In actual use, above-mentioned position collimation can determine that its proportionate relationship with the depth detection value also should be specifically definite according to the requirement in the real work according to the instructions for use of reality.
Above-mentioned position sensor 11 can be installed on the drilling bucket 01, also can be installed on the appropriate location of drilling rod, and in the ordinary course of things, above-mentioned drilling bucket is identical substantially with the measured value of each parameter of drilling bucket 01, perhaps differs fixed numeric values.
In the broken rock process of rock entering drilling machine, the instruction that operator is started working to the rock entering drilling machine input, drilling rod descends with suitable speed, and simultaneously, position sensor detects the drilling bucket depth location of rock entering drilling machine in real time and detected position signalling is inputed to control device; After control device receives above-mentioned position signalling, respectively detected position signalling is compared with corresponding position collimation, when detected depth location value is greater than or equal to position collimation, carry on the drilling bucket of control device control rock entering drilling machine.Like this, can finish automatically by control system provided by the present invention and to move into rock, thereby reduced labor intensity of operating personnel effectively, when the geology inclement condition to finishing when moving into rock, also can stop automatically under certain condition so also effectively having avoided damage satisfying complete machine into rock action; Simultaneously, well-known, the control accuracy of automatic control system and operating efficiency all are higher than the manual control system significantly, thereby have improved going into the ichor degree and going into rock efficient of rock entering drilling machine.
Please refer to Fig. 2, Fig. 2 is the system drawing that is used for second kind of specific embodiment of control system of rock entering drilling machine provided by the present invention.
In second kind of specific embodiment, provided by the present inventionly go into the rock control system and can also comprise pressure sensor 12, this pressure sensor 12 is used for detecting in real time the pressure of drilling bucket 01, obtains corresponding pressure signal, and this pressure signal is sent to control device 14; Control device 14 receives above-mentioned pressure signal, and detected drilling bucket pressure is compared with the pressure reference value, and when drilling bucket pressure and pressure reference value reached first predetermined relationship, control device 14 control drilling buckets 01 stopped into rock.
It is pointed out that above-mentioned drilling bucket 01 stops into rock, can realize that also drilling bucket 01 stops the action into rock by the mode of carrying on the drilling bucket 01 by controlling the mode that drilling bucket 01 stops operating.
Above-mentioned pressure sensor 12 can detect drilling bucket pressure by detecting the moulding pressure value, and this moment, the pressure reference value was maximum moulding pressure value, and above-mentioned first predetermined relationship is that the moulding pressure value is greater than or equal to maximum moulding pressure value.
Apparently, above-mentioned pressure sensor 12 also is not limited to the measured value that obtains drilling bucket pressure by the moulding pressure that detects drilling bucket 01 indirectly, also can be directly or obtain the other forms of parameter value of drilling bucket pressure indirectly by measuring.
Above-mentioned pressure sensor 12 can be installed on the drilling bucket 01, also can be installed on the appropriate location of drilling rod, and in the ordinary course of things, the measured value of the pressure on above-mentioned drilling bucket and the drilling bucket 01 is identical substantially, perhaps differs fixed numeric values.
It is pointed out that rock entering drilling machine in going into the process of rock, the pressure that puts on drilling bucket 01 and the drilling rod is impulse form, in broken rock process hard breakdown takes place to avoid drilling bucket 01 or drilling rod.
Please refer to Fig. 3, Fig. 3 is the system drawing that is used for the third specific embodiment of control system of rock entering drilling machine provided by the present invention.
In the third specific embodiment, provided by the present inventionly go into the rock control system and can also comprise revolving force sensor 13, revolving force sensor 13 is used for detecting the drilling bucket revolving force in real time, obtains corresponding revolving force signal, and this revolving force signal is transferred to control device 14; Control device 14 is compared the drilling bucket revolving force with the revolving force a reference value, when drilling bucket revolving force and revolving force a reference value reached second predetermined relationship, control device 14 control drilling buckets 01 stopped into rock.
It is pointed out that above-mentioned drilling bucket 01 stops into rock, can realize that also drilling bucket 01 stops the action into rock by the mode of carrying on the drilling bucket 01 by controlling the mode that drilling bucket 01 stops operating.
Above-mentioned revolving force sensor 13 can detect described drilling bucket revolving force by detecting the drilling bucket moment of torsion, and correspondingly, the revolving force a reference value is a maximum torque; This moment above-mentioned second predetermined relationship can for, the measured value of drilling bucket moment of torsion is greater than maximum torque.
Apparently, above-mentioned revolving force sensor also is not limited to by detecting the measured value that the drilling bucket moment of torsion obtains the drilling bucket revolving force indirectly, also can be directly or obtain the other forms of parameter value of drill bit revolving force indirectly by measuring.
Above-mentioned revolving force sensor 13 can be installed on the drilling bucket 01, also can be installed on the appropriate location of drilling rod, and in the ordinary course of things, above-mentioned drilling bucket is identical substantially with the measured value of the moment of torsion of drilling bucket 01, perhaps differs fixed numeric values.
It is pointed out that rock entering drilling machine in going into the process of rock, put on drilling bucket 01 and the drilling rod revolving force and also be impulse form, in broken rock process, hard breakdown takes place to avoid drilling bucket 01 or drilling rod.
Please refer to Fig. 4, Fig. 4 is the system drawing that is used for the 4th kind of specific embodiment of control system of rock entering drilling machine provided by the present invention.
In the 4th kind of specific embodiment, the control system that is used for rock entering drilling machine provided by the present invention can also comprise velocity sensor 15; This velocity sensor 15 is used to detect the rotating speed of described drilling bucket 01, and the rate signal that obtains is sent to described control device 14; Before position sensor 11 detects the drilling bucket position, control device 14 inbound pacing signals, and compare with the Velocity Reference value, when the measured value of drilling bucket rotating speed is greater than or equal to the Velocity Reference value, control device 14 control master winches 02 are transferred, and the water booster system pressurization is transferred.By the detection of above-mentioned drilling bucket tach signal, and this speed detection signal applied in the control system, increased the data acquisition amount in the control system, thereby further improved the control accuracy of system.
The a reference value of above-mentioned speed should determine that its concrete numerical value should not be subjected to the restriction of this manual according to practical working situation.
Please refer to Fig. 5, Fig. 5 is the system drawing that is used for the 5th kind of specific embodiment of control system of rock entering drilling machine provided by the present invention.
In the 5th kind of specific embodiment, the control system that is used for rock entering drilling machine provided by the present invention can also comprise pulling force sensor 16; This pulling force sensor 16 is used to detect the pulling force of master winch 02, and the pulling force signal that obtains is delivered to described control device 14; Before velocity sensor 15 detects the drilling bucket rotating speed, control device 14 receives described pulling force signal, and compare with the minimum value of main hoisting tension, when the measured value of main hoisting tension during, quicken to rotate to desired speed again after carrying 0.5 meter on the control device 14 control drilling buckets 01 less than the minimum value of main hoisting tension.
The measured value of above-mentioned main hoisting tension can not made comparisons with the minimum value of above-mentioned main hoisting tension yet, can select the reference value of other concrete determined values as main hoisting tension yet, and determines corresponding manner of comparison according to the difference of reference value.
Except above-mentioned control system, the present invention also provides a kind of rock entering drilling machine that comprises above-mentioned control system, and other each several part structures of this rock entering drilling machine please refer to prior art, do not repeat them here.
Except above-mentioned control system and the rock entering drilling machine that comprises above-mentioned control system, the present invention also provides a kind of control method of using above-mentioned control system.
Please refer to Fig. 6, Fig. 6 is the flow chart that is used for first kind of specific embodiment of control method of rock entering drilling machine provided by the present invention.
In first kind of specific embodiment, the control method that is used for rock entering drilling machine provided by the present invention may further comprise the steps:
Step S11: detect the depth location of the drilling bucket 01 of described rock entering drilling machine, and obtain corresponding position signalling;
Step S12: compare the depth location and the position collimation of drilling bucket 01,, turn to step S13 if depth location is greater than or equal to described position collimation; If not, turn to step S14;
Step S13: control on the described drilling bucket 01 and carry;
Step S14: control described drilling bucket 01 and press down, and return step S11.
Above-mentioned position collimation can be gone into the rock depth value for 2/3rds times maximum, also promptly be greater than or equal to 2/3rds times maximum depth value when the measured value of the depth location of the drilling bucket of rock entering drilling machine, carry on the drilling bucket 01 of the described rock entering drilling machine of control device 14 controls.
The numerical value that it is pointed out that above-mentioned position collimation is a kind of concrete embodiment, and the concrete proportionate relationship of itself and depth detection value should not be subjected to the restriction of this manual; In actual use, above-mentioned position collimation can determine that its proportionate relationship with the depth detection value also should be specifically definite according to the requirement in the real work according to the instructions for use of reality.
Above-mentioned position sensor 11 can be installed on the drilling bucket 01, also can be installed on the appropriate location of drilling rod, and in the ordinary course of things, above-mentioned drilling bucket is identical substantially with the measured value of each parameter of drilling bucket 01, perhaps differs fixed numeric values.
In the broken rock process of rock entering drilling machine, the instruction that operator is started working to the rock entering drilling machine input, drilling rod descends with suitable speed, and simultaneously, position sensor detects the drilling bucket depth location of rock entering drilling machine in real time and detected position signalling is inputed to control device; After control device receives above-mentioned position signalling, respectively detected position signalling is compared with corresponding position collimation, when detected depth location value is greater than or equal to position collimation, carry on the drilling bucket of control device control rock entering drilling machine.Like this, can finish automatically by control system provided by the present invention and to move into rock, thereby reduced labor intensity of operating personnel effectively, when the geology inclement condition to finishing when moving into rock, also can stop automatically under certain condition so also effectively having avoided damage satisfying complete machine into rock action; Simultaneously, well-known, the control accuracy of automatic control system and operating efficiency all are higher than the manual control system significantly, thereby have improved going into the ichor degree and going into rock efficient of rock entering drilling machine.
Please refer to Fig. 7, Fig. 7 is the flow chart that is used for second kind of specific embodiment of control method of rock entering drilling machine provided by the present invention.
In second kind of specific embodiment, the control method that is used for rock entering drilling machine provided by the present invention can may further comprise the steps:
Step S21: detect the depth location of the drilling bucket 01 of described rock entering drilling machine, and obtain corresponding position signalling;
Step S22: compare the depth location and the position collimation of drilling bucket 01,, turn to step S13 if depth location is greater than or equal to described position collimation; If not, turn to step S14;
Step S23: control on the described drilling bucket 01 and carry;
Step S24: control described drilling bucket 01 and press down, and return step S21, turn to step S25 and subsequent step simultaneously;
Step S25: detect drilling bucket pressure;
Step S26: compare drilling bucket pressure and maximum pressure value; If drilling bucket pressure is greater than or equal to maximum pressure value, turn to step S27, if not, turn to step S28;
Step S27: carry on the control drilling bucket 01;
Step S28: control master winch 02 increases drilling bucket pressure, and returns step S25.
It is to be noted, the detection of above-mentioned detection of going into the rock degree of depth and drilling bucket pressure can be real-time detection, the detection of two parameters is not limited to the order in the foregoing description in proper order, two testing processes can be carried out simultaneously, the detection setting and the depth detection of pressure can be carried out before, the concrete detection order of two parameters should not be subjected to the restriction of this manual yet.
Above-mentioned drilling bucket 01 stops into rock, can realize that also drilling bucket 01 stops the action into rock by the mode of carrying on the drilling bucket 01 by controlling the mode that drilling bucket 01 stops operating.
Above-mentioned pressure sensor 12 can detect drilling bucket pressure by detecting the moulding pressure value, and this moment, the pressure reference value was maximum moulding pressure value, and above-mentioned first predetermined relationship is that the moulding pressure value is greater than or equal to maximum moulding pressure value.
Apparently, above-mentioned pressure sensor 12 also is not limited to the measured value that obtains drilling bucket pressure by the moulding pressure that detects drilling bucket 01 indirectly, also can be directly or obtain the other forms of parameter value of drilling bucket pressure indirectly by measuring.
Above-mentioned pressure sensor 12 can be installed on the drilling bucket 01, also can be installed on the appropriate location of drilling rod, and in the ordinary course of things, the measured value of the pressure on above-mentioned drilling bucket and the drilling bucket 01 is identical substantially, perhaps differs fixed numeric values.
It is pointed out that rock entering drilling machine in going into the process of rock, the pressure that puts on drilling bucket 01 and the drilling rod is impulse form, in broken rock process hard breakdown takes place to avoid drilling bucket 01 or drilling rod.
Please refer to Fig. 8, Fig. 8 is the flow chart that is used for the third specific embodiment of control method of rock entering drilling machine provided by the present invention.
In the third specific embodiment, the control method that is used for rock entering drilling machine provided by the present invention can may further comprise the steps:
Step S31: detect the depth location of the drilling bucket 01 of described rock entering drilling machine, and obtain corresponding position signalling;
Step S32: compare the depth location and the position collimation of drilling bucket 01,, turn to step S33 if depth location is greater than or equal to described position collimation; If not, turn to step S34;
Step S33: control on the described drilling bucket 01 and carry;
Step S34: control described drilling bucket 01 and press down, and return step S31, turn to step S35 and subsequent step simultaneously;
Step S35: detect the drilling bucket revolving force;
Step S36: compare drilling bucket revolving force and revolving force a reference value; If the drilling bucket revolving force is greater than or equal to the revolving force a reference value, turn to step S37, if not, turn to step S38;
Step S37: carry on the control drilling bucket 01;
Step S38:, improve the drilling bucket revolving force, and return step S35 by improving the rotating speed of motor 03.
It is to be noted, the detection of above-mentioned detection of going into the rock degree of depth and drilling bucket revolving force can be real-time detection, the detection of two parameters is not limited to the order in the foregoing description in proper order, two testing processes can be carried out simultaneously, the detection setting and the depth detection of revolving force can be carried out before, the concrete detection order of two parameters should not be subjected to the restriction of this manual yet.
Above-mentioned revolving force sensor 13 can detect described drilling bucket revolving force by detecting the drilling bucket moment of torsion, and correspondingly, the revolving force a reference value is a maximum torque; This moment above-mentioned second predetermined relationship can for, the measured value of drilling bucket moment of torsion is greater than maximum torque.
Apparently, above-mentioned revolving force sensor also is not limited to by detecting the measured value that the drilling bucket moment of torsion obtains the drilling bucket revolving force indirectly, also can be directly or obtain the other forms of parameter value of drill bit revolving force indirectly by measuring.
Above-mentioned revolving force sensor 13 can be installed on the drilling bucket 01, also can be installed on the appropriate location of drilling rod, and in the ordinary course of things, above-mentioned drilling bucket is identical substantially with the measured value of the moment of torsion of drilling bucket 01, perhaps differs fixed numeric values.
It is pointed out that rock entering drilling machine in going into the process of rock, put on drilling bucket 01 and the drilling rod revolving force and also be impulse form, in broken rock process, hard breakdown takes place to avoid drilling bucket 01 or drilling rod.
Please refer to Fig. 9, Fig. 9 is the flow chart that is used for the 4th kind of specific embodiment of control method of rock entering drilling machine provided by the present invention.
In the 4th kind of specific embodiment, the control method that is used for rock entering drilling machine provided by the present invention can may further comprise the steps:
Step S41: detect the rotating speed of described drilling bucket 01, and obtain rate signal;
Step S42: receive described rate signal, and compare, when the measured value of described drilling bucket 01 rotating speed is greater than or equal to described Velocity Reference value, turn to step S43 and subsequent step with the Velocity Reference value; If not, return step S41;
Step S43: detect the depth location of the drilling bucket 01 of described rock entering drilling machine, and obtain corresponding position signalling;
Step S44: compare the depth location and the position collimation of drilling bucket 01,, turn to step S45 if depth location is greater than or equal to 2/3rds times of maximum drilling bucket depth value; If not, turn to step S46;
Step S45: control on the described drilling bucket 01 and carry;
Step S46: control described drilling bucket 01 and press down, and return step S43, turn to step S47 and subsequent step simultaneously;
Step S47: detect drilling bucket pressure;
Step S48: compare drilling bucket pressure and maximum pressure value; If the drilling bucket revolving force is greater than or equal to maximum pressure value, turn to step S49, if not, turn to step S410;
Step S49: carry on the control drilling bucket 01;
Step S410: control is changeed elevator 02 and is improved drilling bucket pressure, and returns step S47, turns to step S411 and subsequent step simultaneously;
Step S411: detect the drilling bucket revolving force;
Step S412: compare drilling bucket revolving force and revolving force a reference value; If the drilling bucket revolving force is greater than or equal to the revolving force a reference value, turn to step S413, if not, turn to step S414;
Step S413: carry on the control drilling bucket 01;
Step S414: improve the drilling bucket revolving force, and return step S411.In the above-mentioned specific embodiment, at first detect the rotating speed of drilling bucket, when rotating speed reaches the Velocity Reference value of a certain prior input, begin to detect the depth location of drilling bucket again, detection by above-mentioned drilling bucket tach signal, and this speed detection signal applied in the control system, increase the data acquisition amount in the control system, thereby further improved the control accuracy of system.
Can also be further improved control method provided by the present invention.
Please refer to Figure 10, Figure 10 is the flow chart that is used for the 5th kind of specific embodiment of control method of rock entering drilling machine provided by the present invention.
In the 5th kind of specific embodiment, control method provided by the present invention can may further comprise the steps:
Step S51: detect the main hoisting tension of described rock entering drilling machine, and obtain corresponding pulling force signal;
Step S52: the minimum value of more described main hoisting tension and main hoisting tension when the measured value of main hoisting tension during less than the minimum value of main hoisting tension, turns to step S53; If not, turn to step S54;
Step S53: control described drilling bucket 01 and quicken to rotate, and change step S55 and subsequent step over to;
Step S54: the drilling rod of controlling described rock entering drilling machine is transferred with suitable speed, and returns step S51;
Step S55: detect the rotating speed of described drilling bucket 01, and obtain rate signal;
Step S56: receive described rate signal, and compare, when the measured value of described drilling bucket 01 rotating speed is greater than or equal to described Velocity Reference value, turn to step S57 and subsequent step with the Velocity Reference value; If not, return step S55;
Step S57: detect the depth location of the drilling bucket 01 of described rock entering drilling machine, and obtain corresponding position signalling;
Step S58: compare the depth location and the position collimation of drilling bucket 01,, turn to step S59 if depth location is greater than or equal to 2/3rds times of maximum drilling bucket depth value; If not, turn to step S510;
Step S59: control on the described drilling bucket 01 and carry;
Step S510: control described drilling bucket 01 and press down, and return step S57, turn to step S511 and subsequent step simultaneously;
Step S511: detect drilling bucket pressure;
Step S512: compare drilling bucket pressure and maximum pressure value; If the drilling bucket revolving force is greater than or equal to maximum pressure value, turn to step S513, if not, turn to step S514;
Step S513: carry on the control drilling bucket 01;
Step S514: control is changeed elevator 02 and is improved drilling bucket pressure, and returns step S511, turns to step S515 and subsequent step simultaneously;
Step S515: detect the drilling bucket revolving force;
Step S516: compare drilling bucket revolving force and revolving force a reference value; If the drilling bucket revolving force is greater than or equal to the revolving force a reference value, turn to step S517, if not, turn to step S518;
Step S517: carry on the control drilling bucket 01;
Step S518: improve the drilling bucket revolving force, and return step S515.
After the rock order is gone in the input beginning automatically, master winch begins to transfer automatically, this moment, pulling force sensor detected lineoutofservice signal pull in real time, when the value of thrust that is measured during less than predetermined pulling force minimum value (the expression drilling bucket contacts to earth), master winch stops to transfer and promoting suitable height (generally can be about 0.5 meter), drilling bucket begins to quicken rotation then, detect the rotating speed (rotating speed of reaction drilling bucket) of unit head in real time near switch, after detecting the drilling bucket rotating speed and reaching desired speed, drilling bucket is transferred 0.5 meter with the bump rock stratum with the approximate movement of falling object, water booster system begins pressurization then, unit head rotates with certain moment of torsion, behind the certain hour, the measured value that detects the depth location of described drilling bucket 01 is greater than or equal to 2/3rds times maximum depth value, or the measured value of described drilling bucket moment of torsion is greater than maximum torque, or the measured value of the moulding pressure of described rock entering drilling machine is during greater than maximum moulding pressure value, and the described drilling bucket 01 of described control device 14 controls stops into rock.Judge in above-mentioned three kinds of relations it is anyly to reach described requirement then, if the measured value of the depth location of described drilling bucket 01 is greater than or equal to 2/3rds times maximum depth value, then drill power head adds to press and carries, turns round and get rid of soil, finishes and goes into the rock operation automatically; If the measured value of described drilling bucket moment of torsion is greater than maximum torque, or the measured value of the moulding pressure of described rock entering drilling machine then provides warning greater than maximum moulding pressure value, and prompting can't be finished into rock, and finishing by force may damage equipment.If detect less than in above three kinds of relations any one, then repeat a series of actions after master winch contacts to earth.
More than a kind of rock entering drilling machine provided by the present invention and control system thereof and control method are described in detail.Used specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof.Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of claim of the present invention.
Claims (17)
1. a control system that is used for rock entering drilling machine is characterized in that, comprising:
Position sensor (11) is used for detecting in real time the depth location of drilling bucket, and obtains corresponding position signalling;
Control device (14), be used for receiving in real time described position signalling, and the depth location of described drilling bucket (01) compared with position collimation, when described depth location is greater than or equal to described position collimation, carry on the drilling bucket (01) of the described rock entering drilling machine of described control device (14) control.
2. the control system that is used for rock entering drilling machine according to claim 1 is characterized in that, described position collimation is that 2/3rds times maximum is gone into the rock depth value.
3. the control system that is used for rock entering drilling machine according to claim 1 is characterized in that, also comprises:
Pressure sensor (12) is used for detecting the pressure of described drilling bucket in real time, and obtains corresponding pressure signal;
Described control device (14) receives described pressure signal, and detected drilling bucket pressure compared with the pressure reference value, when described drilling bucket pressure and described pressure reference value reached first predetermined relationship, described control device (14) was controlled described drilling bucket (01) and is stopped into rock.
4. the control system that is used for rock entering drilling machine according to claim 3 is characterized in that, described pressure sensor (12) obtains described drilling bucket pressure by detecting the moulding pressure value, and described pressure reference value is maximum moulding pressure value; Described first predetermined relationship is that described moulding pressure value is greater than or equal to described maximum moulding pressure value.
5. the control system that is used for rock entering drilling machine according to claim 1 is characterized in that, also comprises:
Revolving force sensor (13) is used for detecting the drilling bucket revolving force in real time, and obtains corresponding revolving force signal;
Described control device (14) is compared described drilling bucket revolving force with the revolving force a reference value, when described drilling bucket revolving force and described revolving force a reference value reached second predetermined relationship, described control device (14) was controlled described drilling bucket (01) and stopped into rock.
6. the control system that is used for rock entering drilling machine according to claim 5 is characterized in that, described revolving force sensor (13) obtains described drilling bucket revolving force by detecting the drilling bucket moment of torsion, and described revolving force a reference value is a maximum torque; Described second predetermined relationship is that the measured value of described drilling bucket moment of torsion is greater than maximum torque.
7. according to each described control system that is used for rock entering drilling machine of claim 1 to 6, it is characterized in that, also comprise velocity sensor (15); Described velocity sensor (15) is used to detect the rotating speed of described drilling bucket (01), and the rate signal that obtains is sent to described control device (14); Before described position sensor (11) detects the depth location of described drilling bucket (01), described control device (14) receives described rate signal, and compare with the Velocity Reference value, when the measured value of described drilling bucket rotating speed was greater than or equal to described Velocity Reference value, described control device (14) control master winch (02) improved moulding pressure.
8. according to each described control system that is used for rock entering drilling machine of claim 1 to 6, it is characterized in that, also comprise pulling force sensor (16); Described pulling force sensor (16) is used to detect main hoisting tension, and the pulling force signal that obtains is delivered to described control device (14); Before described velocity sensor (15) detects described drilling bucket rotating speed, described control device (14) receives described pulling force signal, and compare with the minimum value of main hoisting tension, when the measured value of described main hoisting tension during less than the minimum value of main hoisting tension, described control device (14) is controlled described drilling bucket (01) and is improved rotating speed.
9. a rock entering drilling machine is characterized in that, comprises each described control system of claim 1 to 8.
10. control method that is used for rock entering drilling machine may further comprise the steps:
31) detect step; Detect the depth location of the drilling bucket (01) of described rock entering drilling machine;
32) comparison step; The depth location and the position collimation of more described drilling bucket (01) if described depth location is greater than or equal to described position collimation, turn to step 33); If not, turn to step 34);
33) control on the described drilling bucket (01) and carry;
34) control described drilling bucket (01) and press down, and return step 31).
11. the control method that is used for rock entering drilling machine according to claim 10 is characterized in that, described position collimation is that 2/3rds times maximum is gone into the rock depth value.
12. the control method that is used for rock entering drilling machine according to claim 10 is characterized in that,
Described detection step 31) also detects the pressure of described drilling bucket in real time;
Described comparison step 32) also compares drilling bucket pressure and pressure reference value in; When described drilling bucket pressure and described pressure reference value reach first predetermined relationship, turn to step 41); If not, turn to step 42);
41) controlling described drilling bucket (01) stops into rock;
42) master winch (02) of the described rock entering drilling machine of control increases drilling bucket pressure.
13. the control system that is used for rock entering drilling machine according to claim 3 is characterized in that, described pressure sensor (12) detects described drilling bucket pressure by detecting the moulding pressure value, and described pressure reference value is maximum moulding pressure value; Described first predetermined relationship is that described moulding pressure value is greater than or equal to described maximum moulding pressure value.
14. the control method that is used for rock entering drilling machine according to claim 10 is characterized in that,
Described detection step 31) also detects the drilling bucket revolving force in real time;
Described comparison step 32) also more described drilling bucket revolving force and revolving force a reference value in when described drilling bucket revolving force and described revolving force a reference value reach second predetermined relationship, turn to step 51); If not, turn to step 52);
51) controlling described drilling bucket (01) stops into rock;
52) motor of the described drilling bucket of control improves described drilling bucket revolving force.
15. the control method that is used for rock entering drilling machine according to claim 14 is characterized in that, described revolving force sensor (13) detects described drilling bucket revolving force by detecting the drilling bucket moment of torsion, and described revolving force a reference value is a maximum torque; Described second predetermined relationship is that the measured value of described drilling bucket moment of torsion is greater than maximum torque.
16., it is characterized in that, in described step 31 according to each described control method that is used for rock entering drilling machine of claim 10 to 15) further comprising the steps of before:
21) detect the rotating speed of described drilling bucket (01), and obtain rate signal;
22) receive described rate signal, and compare, when the measured value of described drilling bucket (01) rotating speed is greater than or equal to described Velocity Reference value, turn to step 23) with the Velocity Reference value; If not, turn to step 24);
23) master winch (02) of the described rock entering drilling machine of control improves moulding pressure, and changes step 31 over to behind the reasonable time interval);
24) control described drilling bucket (01) and improve rotating speed, and turn to step 21).
17. the control method that is used for rock entering drilling machine according to claim 16 is characterized in that, described step 21) further comprising the steps of before:
11) detect the main hoisting tension of described rock entering drilling machine, and obtain corresponding pulling force signal;
12) minimum value of more described main hoisting tension and main hoisting tension when the measured value of main hoisting tension during less than the minimum value of main hoisting tension, turns to step 13); If not, turn to step 14);
13) control described drilling bucket (01) and quicken to rotate, and change step 21 over to);
14) control described drilling bucket (01) and transfer, and turn to step 11) with suitable speed.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010115470 CN101798916B (en) | 2010-02-26 | 2010-02-26 | Rock entering drilling machine and control system and control method thereof |
| PCT/CN2010/074369 WO2011103730A1 (en) | 2010-02-26 | 2010-06-24 | Rock drill and control system and control method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010115470 CN101798916B (en) | 2010-02-26 | 2010-02-26 | Rock entering drilling machine and control system and control method thereof |
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| Publication Number | Publication Date |
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| CN101798916A true CN101798916A (en) | 2010-08-11 |
| CN101798916B CN101798916B (en) | 2012-07-04 |
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| CN (1) | CN101798916B (en) |
| WO (1) | WO2011103730A1 (en) |
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| CN115584960A (en) * | 2022-10-13 | 2023-01-10 | 徐州徐工基础工程机械有限公司 | Control method and system for fixed-point automatic operation of rotary drilling rig |
| CN115584960B (en) * | 2022-10-13 | 2024-01-30 | 徐州徐工基础工程机械有限公司 | Control method and system for fixed-point automatic operation of rotary drilling rig |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101798916B (en) | 2012-07-04 |
| WO2011103730A1 (en) | 2011-09-01 |
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