CN101906988B - Remote-control underground gas extraction drilling machine - Google Patents

Remote-control underground gas extraction drilling machine Download PDF

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Publication number
CN101906988B
CN101906988B CN 201010234399 CN201010234399A CN101906988B CN 101906988 B CN101906988 B CN 101906988B CN 201010234399 CN201010234399 CN 201010234399 CN 201010234399 A CN201010234399 A CN 201010234399A CN 101906988 B CN101906988 B CN 101906988B
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China
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drilling machine
remote control
master
electromagnetic valve
information
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CN 201010234399
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CN101906988A (en
Inventor
刁文庆
王清峰
陈松林
鲁远祥
辛德忠
万军
李文树
肖玉清
黄昌文
陈久福
罗明华
王宇
蒲剑
陶勇
陈小平
杨燕鸽
薛彦波
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Chongqing Research Institute Co Ltd of China Coal Technology and Engineering Group
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Chongqing Institute of China Coal Research Institute
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Priority to CN 201010234399 priority Critical patent/CN101906988B/en
Publication of CN101906988A publication Critical patent/CN101906988A/en
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Abstract

The invention discloses a remote-control underground gas extraction drilling machine. The drilling machine comprises a host machine of the drilling machine and an electric control system, wherein the electric control system is used for controlling the operation of the host machine of the drilling machine and comprises a main control station, a remote control station and a communication device; and the communication device is used for transferring information between the remote control station and the main control station. In the remote-control underground gas extraction drilling machine provided by the invention, the operation of the host machine of the drilling machine is controlled by the remote control station arranged on the ground, so unmanned operation of the host machine of the drilling machine is realized, an operator does not need to enter a site of a severe environment and the life safety of the operator is guaranteed; at the same time, the operation process of the host machine of the remote-control drilling machine is fully automatic operation, so the operation efficiency is high; and signals acquired by a video acquisition device and a sensor which are arranged on the host machine of the drilling machine can help the operator in the remote control station to know the operation condition of the host machine of the drilling machine at any time, so the reliable operation of the host machine of the drilling machine can be guaranteed.

Description

The underground gas extraction drilling machine of Long-distance Control
Technical field
The present invention relates to a kind of gas pumping rig, particularly a kind of underground gas extraction drilling machine of Long-distance Control.
Background technology
Gas is the resource of a preciousness, is embedded in the coal layer, has colorless and odorless, can not help to breathe, reach the finite concentration characteristic such as easily blast, thereby its exploitation is had certain risk.Gas explosion accident occurs in coal mining operation often, causes serious life and property loss.In the prior art, gas pumping mainly is that operating personnel's direct control rig carries out field operation under mine, and operator's life security can't be guaranteed.
Therefore need a kind of gas pumping rig, can realize the extraction operation of operator's rig under ground just can control well, make the operator away from operation field, to guarantee its life security.
Summary of the invention
In view of this, the purpose of this invention is to provide a kind of underground gas extraction drilling machine of Long-distance Control, realize on-the-spot unmanned operation by the electric control system controls drilling machine master, guarantee that operating personnel's personal safety is to reduce the mine disaster loss.
The underground gas extraction drilling machine of Long-distance Control of the present invention comprises the electric-control system that drilling machine master and control drilling machine master move; Described electric-control system comprises master station, Remote Control Station and the communication device of transmission of information between Remote Control Station and master station;
Described master station comprises:
A, master station PLC are used for that drilling machine master is transmitted information exchange and cross communication device and pass to Remote Control Station, and Remote Control Station is passed to main frame by the control command that communication device sends,
B, video acquisition device are used for gathering the drilling machine master field data and information exchange being crossed communication device pass to Remote Control Station,
C, be arranged on the sensor on the drilling machine master, be used for gathering the drilling machine master operation information and information is passed to master station PLC;
Described Remote Control Station comprises:
A, Remote Control Station PLC are used for receiving master station PLC and transmit information and send control instruction to it,
B, Industrial Personal Computer (IPC) are used for receiving and demonstration master station video acquisition device sends information,
C, display screen are used for showing that Remote Control Station PLC receives information,
D, guidance panel are used for to Remote Control Station PLC input control order;
Described communication device comprises mainly the communication ring network that is comprised of switch and the wireless interconnecting device of transmission of information between switch and master station;
The control circuit access master station PLC of described drilling machine master.
Further, described drilling machine master comprises caterpillar band traveling chassis, is arranged on promotion part on the caterpillar band traveling chassis, is arranged on unit head on the promotion part, is arranged on the drilling rod charging crane on the caterpillar band traveling chassis and the hydraulic power unit of pressure oil is provided to caterpillar band traveling chassis, promotion part, unit head, drilling rod charging crane;
Further, described master station PLC is provided with PLC network communication module I, be used for sensor information is converted into ethernet signal and the control instruction of ethernet signal form is converted into the executable instruction of master station PLC, described Remote Control Station PLC is provided with PLC network communication module ii, but is used for control command is converted into ethernet signal and the sensor information of ethernet signal form is converted into Remote Control Station PLC identifying information;
Further, described wireless interconnecting device comprises the wireless network transceiver I that is arranged on communication ring network one side and the wireless network transceiver II that is arranged on Remote Control Station one side;
Further, described caterpillar band traveling chassis is driven by hydraulic motor travel motor;
Further, described promotion part comprises the frame that is fixedly installed on the caterpillar band traveling chassis, is fixedly installed on line slideway on the frame, is arranged in mode sliding back and forth and is used on the line slideway that the planker of unit head is installed and is fixedly installed on being used for driving the propelling hydraulic cylinder group that planker reciprocatingly slides along line slideway on the frame;
Further, described unit head comprises tool joint, be fixedly installed on the planker rotary hydraulic motor and with the reducer of rotary hydraulic motor power transmission to tool joint, described tool joint is threaded with the reducer power output shaft;
Further, described drilling rod charging crane comprises the pincer type double gripper that is driven by clamper hydraulic cylinder group and the drilling rod storage conveying mechanism that is driven by transmission hydraulic motor and jacking cylinder group;
Further, described hydraulic power unit comprises fuel tank, Variable plunger pump, be arranged on the ducted electromagnetic valve I of UNICOM's hydraulic motor travel motor and Variable plunger pump, be arranged on UNICOM's propelling hydraulic cylinder group and the ducted electromagnetic valve II of Variable plunger pump, be arranged on the ducted electromagnetic valve II I of UNICOM's rotary hydraulic motor and Variable plunger pump, be arranged on UNICOM's clamper hydraulic cylinder group and the ducted electromagnetic valve I V of Variable plunger pump, be arranged on UNICOM's transmission hydraulic motor and the ducted electromagnetic valve V of Variable plunger pump, being arranged on UNICOM passes jacking cylinder group and the ducted electromagnetic valve VI of Variable plunger pump and is used for driving the drive motors that Variable plunger pump rotates; The control circuit access master station PLC of described electromagnetic valve I, electromagnetic valve II, electromagnetic valve II I, electromagnetic valve I V, electromagnetic valve V, electromagnetic valve VI and drive motors; Described drive motors power output shaft is connected the cydariform shaft coupling and connects with the Variable plunger pump power input shaft;
Further, in order to the pressure that detects oil pressure pressure turn sensor, in order to the speed probe that detects drill speed, in order to the oil temperature fuel level sensor that detects hydraulic oil oil temperature and oil level in the fuel tank with in order to the gas concentration sensor of Test Field gas density.
Beneficial effect of the present invention: the underground gas extraction drilling machine of Long-distance Control of the present invention, drilling machine master work is by the Remote Control Station control that is arranged on ground, realized the unmanned operation of drilling machine master, the operator has guaranteed operator's life security without the abominable scene of entered environment; The drilling machine master of while Long-distance Control, its operation process is full-automatic operation, operating efficiency is high; Be arranged on the operator that signal that video acquisition device on the drilling machine master and sensor gather can help at Remote Control Station and understand at any time drilling machine master operating condition, can ensure the drilling machine master reliability service.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples.
Fig. 1 is the electric-control system schematic diagram; Fig. 2 is the drilling machine master front view; Fig. 3 is that the A of Fig. 2 is to view;
Fig. 4 is the promotion part front view; Fig. 5 is that the B of Fig. 4 is to view; Fig. 6 power head structure schematic diagram;
Fig. 7 is hydraulic power unit power part structural representation; Fig. 8 is hydraulic system principle figure.
The specific embodiment
Fig. 1 is the electric-control system schematic diagram; Fig. 2 is the drilling machine master front view; Fig. 3 is that the A of Fig. 2 is to view; Fig. 4 is the promotion part front view; Fig. 5 is that the B of Fig. 4 is to view; Fig. 6 power head structure schematic diagram; Fig. 7 is hydraulic power unit power part structural representation; Fig. 8 is hydraulic system principle figure.
The underground gas extraction drilling machine of Long-distance Control of the present invention comprises the electric-control system that drilling machine master and control drilling machine master move as shown in the figure; Described electric-control system comprises master station, Remote Control Station and the communication device of transmission of information between Remote Control Station and master station;
Described master station comprises:
A, master station PLC are used for that drilling machine master is transmitted information exchange and cross communication device and pass to Remote Control Station, and Remote Control Station is passed to main frame by the control command that communication device sends,
B, video acquisition device are the intrinsic safety type video camera in the present embodiment, be used for gathering the drilling machine master field data and information exchange being crossed communication device information is passed to Remote Control Station,
C, be arranged on the sensor on the drilling machine master, be used for gathering the drilling machine master operation information and information is passed to master station PLC;
Described Remote Control Station comprises:
A, Remote Control Station PLC are used for receiving master station PLC and transmit information and send control instruction to it,
B, Industrial Personal Computer (IPC) be used for to receive and show that the master station video acquisition device sends information, and operating personnel are by watching video understanding drilling machine master site work environment and main frame operating condition,
C, display screen are the HMI touch-screen in the present embodiment, are used for the information that shows that Remote Control Station PLC receives, the information that operating personnel receive by reading Remote Control Station PLC, understanding drilling machine master operating condition, and send control instruction according to the information that Remote Control Station PLC receives to drilling machine master
D, guidance panel are used for operating personnel to Remote Control Station PLC input control order;
Described communication device comprises mainly the communication ring network that is comprised of switch and the wireless interconnecting device of transmission of information between switch and master station;
The control circuit access master station PLC of described drilling machine master.
In the present embodiment: described drilling machine master comprises caterpillar band traveling chassis 1, be arranged on promotion part 2 on the caterpillar band traveling chassis, be arranged on unit head 3 on the promotion part 2, be arranged on the drilling rod charging crane on the caterpillar band traveling chassis and the hydraulic power unit of pressure oil is provided to caterpillar band traveling chassis 1, promotion part 2, unit head 3, drilling rod charging crane.
In the present embodiment: described master station PLC is provided with the PLC network communication module I that control information is converted into ethernet signal, and described Remote Control Station PLC is provided with the PLC network communication module ii that control information is converted into ethernet signal.
In the present embodiment: described master station PLC is provided with PLC network communication module I, be used for sensor information is converted into ethernet signal and the control instruction of ethernet signal form is converted into the executable instruction of master station PLC, described Remote Control Station PLC is provided with PLC network communication module ii, but is used for control command is converted into ethernet signal and the sensor information of ethernet signal form is converted into Remote Control Station PLC identifying information.
In the present embodiment: described caterpillar band traveling chassis 1 is driven by hydraulic motor travel motor 1a.
In the present embodiment: described promotion part 2 comprises the frame 2a that is fixedly installed on the caterpillar band traveling chassis 1, be fixedly installed on line slideway 2b on the frame, be arranged in mode sliding back and forth that line slideway 2b is upper to be used for installing the planker 2c of unit head 3 and to be fixedly installed on that frame 2a is upper to be used for driving the propelling hydraulic cylinder group 2d that planker 2c reciprocatingly slides along line slideway 2b.
In the present embodiment: described unit head 3 comprises tool joint 3a, be fixedly installed on the planker 2c rotary hydraulic motor 3b and with the reducer 3c of rotary hydraulic motor 3b power transmission to tool joint 3a, described tool joint 3a is threaded with reducer 3c power output shaft; Screw connection structure is simple, often stuck phenomenon of oild chuck can not occur.
In the present embodiment: described drilling rod charging crane comprises the pincer type double gripper 4a that is driven by clamper hydraulic cylinder group 4a1 and the drilling rod storage conveying mechanism 4b that is driven by transmission hydraulic motor 4b1 and jacking cylinder group 4b2, and drilling rod is easy to loading and unloading quick.
In the present embodiment: described hydraulic power unit comprises fuel tank 5a, Variable plunger pump 5b, be arranged on the hydraulic motor travel motor 1a of UNICOM and the ducted electromagnetic valve I 5c of Variable plunger pump 5b, be arranged on the propelling hydraulic cylinder group 2d of UNICOM and the ducted electromagnetic valve II 5d of Variable plunger pump 5b, be arranged on the rotary hydraulic motor 3b of UNICOM and the ducted electromagnetic valve II I5e of Variable plunger pump 5b, be arranged on the clamper hydraulic cylinder group 4a1 of UNICOM and the ducted electromagnetic valve I V5f of Variable plunger pump 5b, be arranged on the transmission hydraulic motor 4b1 of UNICOM and the ducted electromagnetic valve V5g of Variable plunger pump 5b, being arranged on UNICOM passes jacking cylinder group 4b2 and the ducted electromagnetic valve VI5h of Variable plunger pump 5b and is used for driving the drive motors 5i that Variable plunger pump 5b rotates; The control circuit of described electromagnetic valve I 5c, electromagnetic valve II 5d, electromagnetic valve II I5e, electromagnetic valve I V5f, electromagnetic valve V5g, electromagnetic valve VI5h and drive motors 5i access master station PLC, the Remote Control Station PLC instruction by sending the action of control electromagnetic valve to master station PLC is with the action of each executing agency of control drilling machine master; Described drive motors 5i power output shaft is connected cydariform shaft coupling 5j and connects with Variable plunger pump 5b power input shaft.
In the present embodiment: the pressure that described sensor comprises detecting oil pressure pressure turns sensor, in order to detect the speed probe of drill speed, in order to the oil temperature fuel level sensor that detects hydraulic oil oil temperature and oil level in the fuel tank with in order to the gas concentration sensor of Test Field gas density, sensor is passed to master station PLC with institute's detection signal, master station PLC passes to Remote Control Station PLC by communication device with detection information, the information that the sensor that operating personnel demonstrate by the HMI touch-screen transmits can be understood the working condition of each executing agency of drilling machine master, and can send according to the information that sensor transmits the order of control drilling machine master executing agency to master station PLC.
Explanation is at last, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although with reference to preferred embodiment the present invention is had been described in detail, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.

Claims (4)

1. the underground gas extraction drilling machine of a Long-distance Control is characterized in that: the electric-control system that comprises drilling machine master and the operation of control drilling machine master; Described electric-control system comprises master station, Remote Control Station and the communication device of transmission of information between Remote Control Station and master station;
Described master station comprises:
A, master station PLC are used for that drilling machine master is transmitted information exchange and cross communication device and pass to Remote Control Station, and Remote Control Station is passed to main frame by the control command that communication device sends,
B, video acquisition device are used for gathering the drilling machine master field data and information exchange being crossed communication device pass to Remote Control Station,
C, be arranged on the sensor on the drilling machine master, be used for gathering the drilling machine master operation information and information is passed to master station PLC;
Described Remote Control Station comprises:
A, Remote Control Station PLC are used for receiving master station PLC and transmit information and send control instruction to it,
B, Industrial Personal Computer (IPC) are used for receiving and demonstration master station video acquisition device sends information,
C, display screen are used for the information that demonstration Remote Control Station PLC receives,
D, guidance panel are used for to Remote Control Station PLC input control order;
Described communication device comprises mainly the communication ring network that is comprised of switch and the wireless interconnecting device of transmission of information between switch and master station;
The control circuit access master station PLC of described drilling machine master;
Described drilling machine master comprises caterpillar band traveling chassis (1), be arranged on promotion part (2) on the caterpillar band traveling chassis, be arranged on unit head (3) on the promotion part (2), be arranged on the drilling rod charging crane on the caterpillar band traveling chassis and the hydraulic power unit of pressure oil is provided to caterpillar band traveling chassis (1), promotion part (2), unit head (3), drilling rod charging crane;
Described caterpillar band traveling chassis (1) is driven by hydraulic motor travel motor (1a);
Described promotion part (2) comprises the frame (2a) that is fixedly installed on the caterpillar band traveling chassis (1), be fixedly installed on line slideway (2b) on the frame, be arranged in mode sliding back and forth that line slideway (2b) is upper to be used for installing the planker (2c) of unit head (3) and to be fixedly installed on that frame (2a) is upper to be used for the propelling hydraulic cylinder group (2d) that driving planker (2c) reciprocatingly slides along line slideway (2b);
Described unit head (3) comprises tool joint (3a), be fixedly installed on the planker (2c) rotary hydraulic motor (3b) and with the reducer (3c) of rotary hydraulic motor (3b) power transmission to tool joint (3a), described tool joint (3a) is threaded with reducer (3c) power output shaft;
Described drilling rod charging crane comprises the pincer type double gripper (4a) that is driven by clamper hydraulic cylinder group (4a1) and the drilling rod storage conveying mechanism (4b) that is driven by transmission hydraulic motor (4b1) and jacking cylinder group (4b2);
Described hydraulic power unit comprises fuel tank (5a), Variable plunger pump (5b), be arranged on UNICOM's hydraulic motor travel motor (1a) and the ducted electromagnetic valve I of Variable plunger pump (5b) (5c), be arranged on UNICOM's propelling hydraulic cylinder group (2d) and the ducted electromagnetic valve II of Variable plunger pump (5b) (5d), be arranged on UNICOM's rotary hydraulic motor (3b) and the ducted electromagnetic valve II I of Variable plunger pump (5b) (5e), be arranged on UNICOM's clamper hydraulic cylinder group (4a1) and the ducted electromagnetic valve I V of Variable plunger pump (5b) (5f), be arranged on UNICOM's transmission hydraulic motor (4b1) and the ducted electromagnetic valve V of Variable plunger pump (5b) (5g), be arranged on UNICOM's jacking cylinder group (4b2) with the ducted electromagnetic valve VI of Variable plunger pump (5b) (5h) and be used for driving the drive motors (5i) that Variable plunger pump (5b) rotates; The control circuit access master station PLC of described electromagnetic valve I (5c), electromagnetic valve II (5d), electromagnetic valve II I (5e), electromagnetic valve I V (5f), electromagnetic valve V (5g), electromagnetic valve VI (5h) and drive motors (5i); Described drive motors (5i) power output shaft is connected 5b with Variable plunger pump) power input shaft connects by cydariform shaft coupling (5j).
2. the underground gas extraction drilling machine of Long-distance Control according to claim 1, it is characterized in that: described master station PLC is provided with PLC network communication module I, be used for sensor information is converted into ethernet signal and the control instruction of ethernet signal form is converted into the executable instruction of master station PLC, described Remote Control Station PLC is provided with PLC network communication module ii, but is used for control command is converted into ethernet signal and the sensor information of ethernet signal form is converted into Remote Control Station PLC identifying information.
3. the underground gas extraction drilling machine of Long-distance Control according to claim 2 is characterized in that: described wireless interconnecting device comprises the wireless network transceiver I that is arranged on communication ring network one side and the wireless network transceiver II that is arranged on Remote Control Station one side.
4. the underground gas extraction drilling machine of Long-distance Control according to claim 3 is characterized in that: the pressure that described sensor comprises detecting oil pressure pressure turns sensor, in order to the speed probe that detects drill speed, in order to the oil temperature fuel level sensor that detects hydraulic oil oil temperature and oil level in the fuel tank with in order to the gas concentration sensor of Test Field gas density.
CN 201010234399 2010-07-23 2010-07-23 Remote-control underground gas extraction drilling machine Active CN101906988B (en)

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CN103291274B (en) * 2012-03-01 2016-08-31 江阴中科矿业安全科技有限公司 Intelligent display control system for coal mine deep hole drilling vehicle
CN102720478B (en) * 2012-06-07 2015-04-01 中煤科工集团西安研究院 Multi-terminal parameter monitoring system for coal mine underground tunnel drilling rig
CN103580977A (en) * 2012-07-26 2014-02-12 成都泰瑞美科技有限公司 Drilling machine ring network communication system and drilling machine ring network communication method
CN102841593A (en) * 2012-09-21 2012-12-26 煤炭工业济南设计研究院有限公司 Mine remote broadband visual remote control universal controller
CN102968102B (en) * 2012-11-09 2014-09-10 中国地质大学(武汉) Remote monitoring device of trenchless drilling machine
CN103470243B (en) * 2013-09-26 2016-02-24 中煤科工集团重庆研究院有限公司 A kind of rig ground monitoring system
CN103609391B (en) * 2013-11-20 2016-01-20 中国矿业大学 A kind of reel sprinkling irrigation machine warning system
CN104278981B (en) * 2014-10-31 2017-04-05 中煤科工集团重庆研究院有限公司 Underground gas extraction drilling machine

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