CN102926737A - Rotation control method, device and system for rotary drilling dig power head, and rotary drilling dig - Google Patents
Rotation control method, device and system for rotary drilling dig power head, and rotary drilling dig Download PDFInfo
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- CN102926737A CN102926737A CN2012104577358A CN201210457735A CN102926737A CN 102926737 A CN102926737 A CN 102926737A CN 2012104577358 A CN2012104577358 A CN 2012104577358A CN 201210457735 A CN201210457735 A CN 201210457735A CN 102926737 A CN102926737 A CN 102926737A
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Abstract
The invention provides a rotation control method, a rotation control device and a rotation control system for a rotary drilling dig power head, and a rotary drilling dig. The method comprises the following steps: judging whether the power head is in the rotation state according to a pressure value fed back by a power head pressure sensor; if so, monitoring the rotation displacement of the power head within a determined time length; and controlling the power head to be in a non-rotation state if the rotation displacement is smaller than a displacement threshold value. According to the invention, the problems that devices such as a motor are damaged due to insufficient torque of the power head to rotate and lasting stress on the power head when the rotary drilling dig digs a hard place is solved, thereby prolonging the service life of the rotary drilling dig and enhancing the system performance.
Description
Technical field
The present invention relates to engineering machinery field, more specifically, relate to a kind of method for controlling rotation, device, system and rotary drilling rig of rotary digging drill power head.
Background technology
The operating principle of rotary drilling rig is that the cooperation of leaning on unit head to drive drilling rod and other actions realizes boring.When the Kong Zhongwei soil horizon, unit head rotates relatively light; When beating the rock stratum, unit head rotates relatively effort, sometimes even can turn motionless not because of moment of torsion.When unit head turns motionless not because of moment of torsion, if the retention time all larger infringement can be arranged to power head motor and other hydraulic structure systems for a long time.
When brill dug than hard place point, unit head can't rotate because of the moment of torsion deficiency for rotary drilling rig in the correlation technique, and unit head continues the stressed impaired problem of equipment such as motor that causes, and not yet proposes at present effectively solution.
Summary of the invention
In order to solve above-mentioned rotary drilling rig when brill digs than hard place point, unit head can't rotate because of the moment of torsion deficiency, and unit head continues the stressed impaired problem of equipment such as motor that causes, and the invention provides a kind of method for controlling rotation, device, system and rotary drilling rig of rotary digging drill power head.
According to an aspect of the present invention, provide a kind of method for controlling rotation of rotary digging drill power head, having comprised: the force value according to unit head pressure sensor feedback judges whether unit head is in rotary state; If so, the rotation displacement of monitoring unit head in specifying duration; If, controlling this unit head less than displacement threshold value, this rotation displacement is in nonrotating state.
Above-mentioned force value according to unit head pressure sensor feedback judges whether unit head is in rotary state and comprises: the force value of feeding back when the unit head pressure sensor determines that unit head is in rotary state during greater than pressure threshold.
The rotation displacement of above-mentioned monitoring unit head in specifying duration comprises: by the rotation displacement of the monitoring of the angular displacement detecting device on the rotating disk that is arranged on unit head unit head in specifying duration.
Above-mentioned brake force head is in nonrotating state and comprises: the left and right sides revolving valve of closing unit head.
Above-mentioned control unit head is in nonrotating state and comprises: the trigger alarm device is to User Alarms, so that the handle of unit head is in the state of not stressing; Unit head still is in rotary state after the scheduled time if report to the police, and closes the left and right sides revolving valve of unit head.
According to a further aspect in the invention, provide a kind of control device for pivoting of rotary digging drill power head, having comprised: the unit head state judging equipment is used for judging according to the force value of unit head pressure sensor feedback whether unit head is in rotary state; The rotation displacement monitoring equipment is yes if be used for the judged result of unit head state judging equipment, the rotation displacement of monitoring unit head in specifying duration; Rotate control appliance, if the rotation displacement that is used for the monitoring of rotation displacement monitoring equipment less than displacement threshold value, is controlled unit head and is in nonrotating state.
Above-mentioned unit head state judging equipment comprises: the rotary state determining unit, when being used for the force value fed back when the unit head pressure sensor greater than pressure threshold, determine that unit head is in rotary state.
Above-mentioned rotation displacement monitoring equipment comprises: the rotation displacement monitoring means is used for by the rotation displacement of the monitoring of the angular displacement detecting device on the rotating disk that is arranged on unit head unit head in specifying duration.
Above-mentioned rotation control appliance comprises: the first control module, if the rotation displacement that is used for the monitoring of rotation displacement monitoring equipment is closed the left and right sides revolving valve of unit head less than displacement threshold value.
Above-mentioned rotation control appliance comprises: alarm unit, if the rotation displacement that is used for the monitoring of rotation displacement monitoring equipment less than displacement threshold value, the trigger alarm device is to User Alarms, so that the handle of unit head is in the state of not stressing; The second control module is if after being used for the alarm unit trigger alarm scheduled time, unit head still is in rotary state, closes the left and right sides revolving valve of unit head.
According to another aspect of the invention, provide a kind of rotation control system of rotary digging drill power head, having comprised: the unit head pressure sensor, for detection of the pressure of unit head, and the force value of feedback detection; Controller is used for receiving the force value that the unit head pressure sensor feeds back, when judging that according to force value unit head is in rotary state, and the rotation displacement of monitoring unit head in specifying duration; If rotation displacement is less than displacement threshold value, the control unit head is in nonrotating state.
Said system comprises: be arranged on the angular displacement detecting device on the rotating disk of unit head, for detection of the rotation displacement of unit head in specifying duration, and rotation displacement fed back to controller.
Above-mentioned angular displacement detecting device is the dfisplacement pulse encoder.
If above-mentioned controller also is used for rotation displacement less than displacement threshold value, send alarm command; If unit head still was in rotary state after alarm command sent the scheduled time, close the left and right sides revolving valve of unit head; Said system also comprises: warning device, be used for receiving the alarm command that controller sends, and report to the police to the user, so that the handle of unit head is in the state of not stressing.
Above-mentioned warning device comprises one of following equipment at least: buzzer siren, signal lamp alarm or phonetic alarm.
In accordance with a further aspect of the present invention, provide a kind of rotary drilling rig, comprised said system.
The present invention is by being in rotary state at unit head, and rotation displacement is smaller or unit head when substantially not rotating, this unit head of ACTIVE CONTROL is in nonrotating state, and then motor and hydraulic system stop operation, solved rotary drilling rig when brill digs than hard place point, unit head can't rotate because of the moment of torsion deficiency, and unit head continues the stressed impaired problem of equipment such as motor that causes, prolong the application life of rotary drilling rig, strengthened systematic function.
Description of drawings
The accompanying drawing that consists of the application's a part is used to provide a further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not consist of improper restriction of the present invention.In the accompanying drawings:
Fig. 1 is the method for controlling rotation flow chart according to the rotary digging drill power head of the embodiment of the invention;
Fig. 2 is the structured flowchart according to the control device for pivoting of the rotary digging drill power head of the embodiment of the invention;
Fig. 3 is the structured flowchart according to the rotation control system of the rotary digging drill power head of the embodiment of the invention; And
Fig. 4 is the concrete structure block diagram according to the rotation control system of the rotary digging drill power head of the embodiment of the invention.
The specific embodiment
Hereinafter also describe in conjunction with the embodiments the present invention in detail with reference to accompanying drawing.Need to prove that in the situation of not conflicting, embodiment and the feature among the embodiment among the application can make up mutually.
Consider that rotary drilling rig is when brill digs than hard place point, unit head can't rotate because of the moment of torsion deficiency, and the unit head of this moment continues stressed meeting and causes the equipment such as motor impaired, and the embodiment of the invention provides a kind of method for controlling rotation, device, system and rotary drilling rig of rotary digging drill power head.
The method for controlling rotation flow chart of rotary digging drill power head as shown in Figure 1, the method can be applied in the controller of rotary drilling rig and realize, controller can be PLC(Programmable Logic Controller, programmable logic controller (PLC)), the method may further comprise the steps:
Step S102 judges according to the force value of unit head pressure sensor feedback whether unit head is in rotary state;
Step S104 if so, monitors the rotation displacement of this unit head in specifying duration;
Step S106 is in nonrotating state if above-mentioned rotation displacement, is controlled this unit head less than displacement threshold value.
Wherein, above-mentioned appointment duration and displacement threshold value all can rule of thumb be set with actual needs.
Present embodiment is by being in rotary state at unit head, and rotation displacement is smaller or unit head when substantially not rotating, this unit head of ACTIVE CONTROL is in nonrotating state, and then motor and hydraulic system stop operation, solved rotary drilling rig when brill digs than hard place point, unit head can't rotate because of the moment of torsion deficiency, and unit head continues the stressed impaired problem of equipment such as motor that causes, prolong the application life of rotary drilling rig, strengthened systematic function.
In the present embodiment, the unit head pressure sensor can send the unit head pressure data in real time to PLC, if when unit head rotated, then this pressure data can be greater than the setting value of PLC, at this moment PLC will determine that this unit head is rotary state.Based on this, above-mentioned force value according to unit head pressure sensor feedback judges whether unit head is in rotary state and comprises: the force value of feeding back when the unit head pressure sensor determines that unit head is in rotary state during greater than pressure threshold.The existing device that this implementation can directly be used rotary drilling rig carries out, and realizes that simply cost is low.
In order to determine whether the place that current brill digs exists the motionless situation of boring, present embodiment is provided with angular displacement detecting device at the rotating disk of unit head, for example, the dfisplacement pulse encoder can judge whether this unit head rotates according to the testing result of angular displacement detecting device like this.Based on this, the rotation displacement of above-mentioned monitoring unit head in specifying duration can comprise: by the rotation displacement of the monitoring of the angular displacement detecting device on the rotating disk that is arranged on unit head unit head in specifying duration.The application mode of this angular displacement detecting device can detect the displacement size of unit head more exactly, ensures the accuracy of subsequent control.
Present embodiment needs this unit head of control be in nonrotating state when monitoring the rotation displacement of specifying in the duration less than displacement threshold value, when concrete control realizes, can adopt following dual mode, and the first is directly closed the left and right sides revolving valve of unit head; The second, first trigger alarm device is to User Alarms, so that the handle of unit head is in the state of not stressing; Unit head still is in rotary state after the scheduled time if report to the police, and then closes the left and right sides revolving valve of unit head again.Usually after the user receives warning, will unclamp the handle of unit head, so just make unit head be in nonrotating state, if because warning device fault or other reason cause the user not unclamp the handle of unit head, controller is trigger alarm after a period of time again, find that unit head still is in rotary state, then close the left and right sides revolving valve of unit head.These two kinds of implementations all can reach the purpose that unit head is stopped operating, the second way has more interactive with the user than first kind of way, allow the user can know that current operating condition in time responds, avoid the left and right sides revolving valve of unit head to close, the user is the phenomenon of the handle of operational power head firmly also.
Warning device in the embodiment of the invention can be one or more in buzzer siren, signal lamp alarm or the phonetic alarm etc.
Corresponding to said method, the embodiment of the invention also provides a kind of control device for pivoting of rotary digging drill power head, this device can be applied in the controller of rotary drilling rig, the structured flowchart of the control device for pivoting of rotary digging drill power head as shown in Figure 2, and this device comprises following equipment:
Unit head state judging equipment 22 is used for judging according to the force value of unit head pressure sensor feedback whether unit head is in rotary state;
Rotation displacement monitoring equipment 24 is yes if be used for the judged result of unit head state judging equipment 22, the rotation displacement of monitoring unit head in specifying duration;
The device of present embodiment is by being in rotary state at unit head, and rotation displacement is smaller or unit head when substantially not rotating, this unit head of ACTIVE CONTROL is in nonrotating state, and then motor and hydraulic system stop operation, solved rotary drilling rig when brill digs than hard place point, unit head can't rotate because of the moment of torsion deficiency, and unit head continues the stressed impaired problem of equipment such as motor that causes, prolong the application life of rotary drilling rig, strengthened systematic function.
The unit head state judging equipment 22 of present embodiment comprises: the rotary state determining unit, when being used for the force value fed back when the unit head pressure sensor greater than pressure threshold, determine that unit head is in rotary state.
Preferably, above-mentioned rotation displacement monitoring equipment 24 comprises: the rotation displacement monitoring means is used for by the rotation displacement of the monitoring of the angular displacement detecting device on the rotating disk that is arranged on unit head unit head in specifying duration.
Corresponding to above-mentioned two kinds of control modes, the rotation control appliance 26 of present embodiment can comprise: the first control module, if the rotation displacement that is used for the monitoring of rotation displacement monitoring equipment is closed the left and right sides revolving valve of unit head less than displacement threshold value.Perhaps, above-mentioned rotation control appliance 26 comprises: alarm unit, if the rotation displacement that is used for the monitoring of rotation displacement monitoring equipment less than displacement threshold value, the trigger alarm device is to User Alarms, so that the handle of unit head is in the state of not stressing; The second control module is if after being used for the alarm unit trigger alarm scheduled time, unit head still is in rotary state, closes the left and right sides revolving valve of unit head.
Corresponding to said method and device, the embodiment of the invention also provides a kind of rotation control system of rotary digging drill power head, the structured flowchart of the rotation control system of rotary digging drill power head as shown in Figure 3, and this system comprises following equipment:
Unit head pressure sensor 32, for detection of the pressure of unit head, and the force value of feedback detection;
When the system of present embodiment determines that by the force value of unit head pressure sensor feedback unit head is in rotary state, if the rotation displacement of unit head is smaller or unit head when substantially not rotating, this unit head of controller ACTIVE CONTROL is in nonrotating state, and then motor and hydraulic system stop operation, solved rotary drilling rig when brill digs than hard place point, unit head can't rotate because of the moment of torsion deficiency, and unit head continues the stressed impaired problem of equipment such as motor that causes, prolong the application life of rotary drilling rig, strengthened systematic function.
Preferably, this system also comprises: be arranged on the angular displacement detecting device on the rotating disk of unit head, for detection of the rotation displacement of unit head in specifying duration, and rotation displacement fed back to controller 34.Wherein, this angular displacement detecting device is the dfisplacement pulse encoder.
If the controller of present embodiment 34 also is used for rotation displacement less than displacement threshold value, send alarm command; If send alarm command after the scheduled time unit head still be in rotary state, close the left and right sides revolving valve of unit head; Correspondingly, this system also comprises: warning device, be used for receiving the alarm command that controller sends, and report to the police to the user, so that the handle of unit head is in the state of not stressing.
Above-mentioned warning device comprises one of following equipment at least: buzzer siren, signal lamp alarm or phonetic alarm.
The concrete structure block diagram of the rotation control system of rotary digging drill power head as shown in Figure 4 comprises in the system shown in this figure: PLC 41, unit head pressure sensor 42, dfisplacement pulse encoder 43, buzzer siren 44 and unit head left and right sides revolving valve 45.
Wherein, dfisplacement pulse encoder 43 is installed on the rotating disk of unit head, rotates with unit head, and the effect of dfisplacement pulse encoder 43 is displacements of judging that unit head rotates, and the real-time displacement state of transmission unit head is to PLC 41;
The effect of PLC 41 is the signal that receives the displacement pulse coder, judges and processing logic, and (prerequisite is that the operator did not unclamp the unit head operating grip after unit head rotated when small if displacement continues several seconds constant or change veries.Whether the operator unclamp operation handle, and 41 need of PLC read unit head pressure and get final product.) PLC 41 sends alarm signal to buzzer sirens makes operator's vigilance, if interior operator of rear several seconds time of warning is unclamp operation unit head handle not, PLC 41 autoshutdown unit head left and right sides revolving valve 45(time and displacement herein all can be determined by the actual conditions change), make unit head stop operating to protect power head motor and car load hydraulic structure system;
The effect of buzzer siren be unit head displacement minimum be that the rock stratum is beaten and sounded to remind the operator when motionless;
The effect of unit head pressure sensor 42 is to send the unit head pressure data to PLC 41, if unit head rotates, this pressure data can be greater than the setting value (being above-mentioned pressure threshold) of PLC 41.
As shown in the above, the PLC 41 of present embodiment assert that unit head is rotary state, and this rotary state is that PLC 41 sends the precondition of reporting to the police; If PLC 41 judge unit heads be rotary state and unit head displacement less than its minimum setting value (being above-mentioned displacement threshold value) and time greater than the time of fire alarming of setting, then PLC 41 sends alarm commands and makes its warning to buzzer siren 44; If alert if satisfies and the operator also do not unclamp the unit head handle then PLC 41 send instructions and close unit head left and right sides revolving valve 45, make unit head be failure to actuate to protect borer system; Simultaneously, the PLC in the present embodiment 41 carries out automatically reseting to original state behind after the above-mentioned control several seconds.
Said system also comprises other existing device of rotary drilling rig, such as power head motor etc., does not illustrate in Fig. 4.
Corresponding to said method, device and system, the embodiment of the invention also provides a kind of rotary drilling rig, and this rotary drilling rig comprises said system.
As can be seen from the above description, when the above embodiments of the present invention determine that by the force value of unit head pressure sensor feedback unit head is in rotary state, if the rotation displacement of unit head is smaller or unit head when substantially not rotating, this unit head of controller ACTIVE CONTROL is in nonrotating state, and then motor and hydraulic system stop operation, solved rotary drilling rig when brill digs than hard place point, unit head can't rotate because of the moment of torsion deficiency, and unit head continues the stressed impaired problem of equipment such as motor that causes, prolong the application life of rotary drilling rig, strengthened systematic function.
Obviously, those skilled in the art should be understood that, above-mentioned each equipment of the present invention or each step can realize with general calculation element, they can concentrate on the single calculation element, perhaps be distributed on the network that a plurality of calculation elements form, alternatively, they can be realized with the executable program code of calculation element, thereby, they can be stored in the storage device and be carried out by calculation element, and in some cases, can carry out step shown or that describe with the order that is different from herein, perhaps they are made into respectively each integrated circuit modules, perhaps a plurality of equipment in them or step are made into the single integrated circuit module and realize.Like this, the present invention is not restricted to any specific hardware and software combination.
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (16)
1. the method for controlling rotation of a rotary digging drill power head is characterized in that, comprising:
Force value according to unit head pressure sensor feedback judges whether unit head is in rotary state;
If so, monitor the rotation displacement of described unit head in specifying duration;
If, controlling described unit head less than displacement threshold value, described rotation displacement is in nonrotating state.
2. method according to claim 1 is characterized in that, judges according to the force value of unit head pressure sensor feedback whether unit head is in rotary state and comprises:
When the force value of unit head pressure sensor feedback during greater than pressure threshold, determine that unit head is in rotary state.
3. method according to claim 1 is characterized in that, monitors the rotation displacement of described unit head in specifying duration and comprises:
Monitor the rotation displacement of described unit head in specifying duration by the angular displacement detecting device on the rotating disk that is arranged on described unit head.
4. method according to claim 1 is characterized in that, controls described unit head and is in nonrotating state and comprises: the left and right sides revolving valve of closing described unit head.
5. method according to claim 1 is characterized in that, controls described unit head and is in nonrotating state and comprises:
The trigger alarm device is to User Alarms, so that the handle of described unit head is in the state of not stressing;
Described unit head still is in rotary state after the scheduled time if report to the police, and closes the left and right sides revolving valve of described unit head.
6. the control device for pivoting of a rotary digging drill power head is characterized in that, comprising:
The unit head state judging equipment is used for judging according to the force value of unit head pressure sensor feedback whether unit head is in rotary state;
The rotation displacement monitoring equipment is yes if be used for the judged result of described unit head state judging equipment, monitors the rotation displacement of described unit head in specifying duration;
Rotate control appliance, if the rotation displacement that is used for described rotation displacement monitoring equipment monitoring is controlled described unit head and is in nonrotating state less than displacement threshold value.
7. device according to claim 6 is characterized in that, described unit head state judging equipment comprises:
The rotary state determining unit when being used for the force value fed back when the unit head pressure sensor greater than pressure threshold, determines that unit head is in rotary state.
8. device according to claim 6 is characterized in that, described rotation displacement monitoring equipment comprises:
The rotation displacement monitoring means is used for monitoring the rotation displacement of described unit head in specifying duration by the angular displacement detecting device on the rotating disk that is arranged on described unit head.
9. device according to claim 6 is characterized in that, described rotation control appliance comprises: the first control module, if the rotation displacement that is used for described rotation displacement monitoring equipment monitoring is closed the left and right sides revolving valve of described unit head less than displacement threshold value.
10. device according to claim 6 is characterized in that, described rotation control appliance comprises:
Alarm unit, if the rotation displacement that is used for described rotation displacement monitoring equipment monitoring less than displacement threshold value, the trigger alarm device is to User Alarms, so that the handle of described unit head is in the state of not stressing;
The second control module is if after being used for the described alarm unit trigger alarm scheduled time, described unit head still is in rotary state, closes the left and right sides revolving valve of described unit head.
11. the rotation control system of a rotary digging drill power head is characterized in that, comprising:
The unit head pressure sensor, for detection of the pressure of unit head, and the force value of feedback detection;
Controller is used for receiving the force value that described unit head pressure sensor feeds back, and when judging that according to described force value described unit head is in rotary state, monitors the rotation displacement of described unit head in specifying duration; If, controlling described unit head less than displacement threshold value, described rotation displacement is in nonrotating state.
12. system according to claim 11, it is characterized in that, described system comprises: be arranged on the angular displacement detecting device on the rotating disk of described unit head, for detection of the rotation displacement of described unit head in specifying duration, and described rotation displacement fed back to described controller.
13. system according to claim 12 is characterized in that, described angular displacement detecting device is the dfisplacement pulse encoder.
14. system according to claim 11 is characterized in that, if described controller also is used for described rotation displacement less than displacement threshold value, sends alarm command; If described unit head still was in rotary state after described alarm command sent the scheduled time, close the left and right sides revolving valve of described unit head;
Described system also comprises: warning device, be used for receiving the described alarm command that described controller sends, and report to the police to the user, so that the handle of described unit head is in the state of not stressing.
15. system according to claim 14 is characterized in that, described warning device comprises one of following equipment at least: buzzer siren, signal lamp alarm or phonetic alarm.
16. a rotary drilling rig is characterized in that, comprises each described system in the claim 11 to 15.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210457735.8A CN102926737B (en) | 2012-11-14 | 2012-11-14 | Rotation control method, device and system for rotary drilling dig power head, and rotary drilling dig |
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| CN201210457735.8A CN102926737B (en) | 2012-11-14 | 2012-11-14 | Rotation control method, device and system for rotary drilling dig power head, and rotary drilling dig |
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| CN103696683A (en) * | 2013-12-12 | 2014-04-02 | 北京市三一重机有限公司 | Power head cruising drilling method, power head cruising drilling system and rotary drilling machine |
| CN103726826A (en) * | 2013-12-12 | 2014-04-16 | 北京市三一重机有限公司 | Power head cruising drilling method and system and rotary drilling rig |
| CN106121508A (en) * | 2016-06-24 | 2016-11-16 | 三重型能源装备有限公司 | Locking method, locking device, top drive apparatus and rig for revolving meber |
| CN106644566A (en) * | 2016-12-01 | 2017-05-10 | 北京卫星制造厂 | Unmanned independent self-adapting drilling method orienting complicated moon surface work conditions |
| CN106812518A (en) * | 2015-09-15 | 2017-06-09 | 山特维克矿山工程机械有限公司 | Equipment, rock drill and method for rock-boring |
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| CN106644566B (en) * | 2016-12-01 | 2019-04-09 | 北京卫星制造厂 | A kind of unmanned autonomically adaptive drilling method towards complicated lunar surface operating condition |
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| CN102926737B (en) | 2015-07-01 |
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