CN103912218A - Rotary drilling rig and gravity center control method and system of entire machine - Google Patents
Rotary drilling rig and gravity center control method and system of entire machine Download PDFInfo
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- CN103912218A CN103912218A CN201410146328.4A CN201410146328A CN103912218A CN 103912218 A CN103912218 A CN 103912218A CN 201410146328 A CN201410146328 A CN 201410146328A CN 103912218 A CN103912218 A CN 103912218A
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Abstract
The invention provides a rotary drilling rig and a gravity center control method and system of an entire machine. The rotary drilling rig comprises an upper machine (60), a working device at the front end of the upper machine (60) and a counterweight (61) at the rear end of the upper machine (60), wherein the working device comprises a derricking cylinder (52) and a movable arm (51). The gravity center control method of the entire machine includes: acquiring torque between the working device and the gravity center of the entire machine when the working device is in different working states; computing a target position of the counterweight (61) according to the torque; controlling the counterweight (61) to move to the target position. The rotary drilling rig and the gravity center control method and system of the entire machine have the advantages that stable controlling for the gravity center of the entire machine can be realized, and the controlling method is simple; among different types of the rotary drilling rigs, although the counterweights are different in weight, the counterweight (61) can be universalized by changing the position of the counterweight (61), so that the rotary drilling rig is better in stability and economical efficiency, and the counterweight (61) can be lighter.
Description
Technical field
The present invention relates to engineering machinery field, relate in particular to rotary drilling rig and car load center of gravity control method thereof, system.
Background technology
Rotary drilling rig is the modal pore-forming equipment in a kind of foundation construction, and it mainly comprises chassis 9, get on the bus 8 and equipment, and wherein, equipment mainly comprises the parts such as mast 1, drilling rod 2, unit head 3, drilling tool 4, jib lubbing mechanism 5, hoisting mechanism.Please refer to Fig. 1-Fig. 3, Fig. 1-Fig. 3 has shown often residing three kinds of states of rotary drilling rig, and the first state is that equipment is treated folding or state to be launched, as shown in Figure 1, drilling rod 2, mast 1 and drilling tool 4 are relatively got on the bus and 8 are erectility, and near getting on the bus 8; The second state is the state that equipment launches, and as shown in Figure 2, drilling rod 2, mast 1 and drilling tool 4 are relatively got on the bus and 8 be erectility and 8 keep at a certain distance away and make drilling tool 4 and boring 6 centerings (now can directly implement drilling operation) with getting on the bus; The third state is the folding state of equipment, as shown in Figure 3, and the 8 convenient transports that are the level of state thereby drilling rod 2, mast 1 and drilling tool 4 are got on the bus relatively.Rotary drilling rig switches between above-mentioned three kinds of states through being everlasting, and from Fig. 1-Fig. 3, can find out, the position of rotary drilling rig car load center of gravity P under three kinds of states changes.
Rotary drilling rig 8 rear portions of getting on the bus are provided with counterweight 7, for strengthening the stability of complete machine, consider transport and the needs of installing, current counterweight 7 is generally to make removably, described counterweight 7 can need to increase or reduce accordingly according to self the quantity of counterweight 7, but the installation site of counterweight 7 its relative complete machines is constant.Due to the equipment of rotary drilling rig, be that the parts such as mast 1, drilling rod 2, unit head 3 and drilling tool 4 move, its variation of being everlasting when getting on the bus 8 horizontal range, and range of movement is larger, and counterweight 7 relatively goes up truck position and fixes, so can cause the car load unbalance of car load, under ultimate limit state or operation have because of carelessness the hidden danger of overturning.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of revolving and digs the control method of boring car load center of gravity, and this control method can make the steadily of centre of gravity of rotary drilling rig, reduces the dangerous situations such as overturning.
Rotary drilling rig car load center of gravity control method provided by the invention, this rotary drilling rig comprises the counterweight of getting on the bus, being positioned at the equipment of the front end of getting on the bus and be positioned at the rear end of getting on the bus, described equipment comprises jib lubbing mechanism, described jib lubbing mechanism comprises amplitude oil cylinder and swing arm, this equipment is connected and by the flexible switching that realizes different operating state of amplitude oil cylinder, described control method comprises with getting on the bus by amplitude oil cylinder: obtain the moment of described equipment under different operating state and between car load center of gravity; By the target location of counterweight described in described Calculating Torque during Rotary; Control described counterweight and move to described target location.
Further, the step of obtaining the moment of described equipment under different operating state and between car load center of gravity comprises: the center of gravity of obtaining described jib lubbing mechanism is to the distance between described car load center of gravity, and calculates the distance between center of gravity and the described car load center of gravity of equipment according to this distance; Calculate the moment of described equipment under different operating state and between car load center of gravity according to the weighing scale of the distance between described equipment and described car load center of gravity and equipment.
Further, the center of gravity of obtaining described jib lubbing mechanism described in comprises to the step of the distance between described car load center of gravity: the inclination angle that obtains described swing arm; Calculate the center of gravity of described jib lubbing mechanism by the inclination angle of described swing arm to the distance between described car load center of gravity.
Further, the step of obtaining the inclination angle of described swing arm described in comprises: the length that detects described amplitude oil cylinder; According to the relation at the inclination angle of the length of described amplitude oil cylinder and described swing arm, calculate described inclination angle.
Further, described rotary drilling rig also comprises chassis, described in get on the bus by the revolution of the relatively described chassis of the centre of gyration, described car load center of gravity is positioned at described centre of gyration place, with respect to the moment at this centre of gyration place and the weight of counterweight, calculate the target location of described counterweight according to described equipment.
Further, described rotary drilling rig comprises the telescopic oil cylinder that is connected and drives counterweight to seesaw with described counterweight; Move to described target location by controlling the flexible of described telescopic oil cylinder and then controlling described counterweight.
Further, control in the step that described counterweight moves to described target location, control described telescopic oil cylinder and described amplitude oil cylinder is synchronized with the movement.
The present invention also provides rotary drilling rig car load Center of Gravity Control System, this rotary drilling rig comprises the counterweight of getting on the bus, being positioned at the equipment of the front end of getting on the bus and be positioned at the rear end of getting on the bus, described equipment comprises jib lubbing mechanism, described jib lubbing mechanism comprises amplitude oil cylinder and swing arm, this equipment is connected and by the flexible switching that realizes different operating state of amplitude oil cylinder with getting on the bus by amplitude oil cylinder, described control system comprises: receiving system, for obtaining the positional information of described equipment under different operating state; Control device, for according to the moment of equipment under different operating state and between car load center of gravity described in described positional information calculation, by the target location of counterweight described in described Calculating Torque during Rotary, and then controls described counterweight and moves to described target location.
Further, described control device also comprises angle detection device, and for detection of the inclination angle of described swing arm, the inclination angle of described swing arm is the positional information of described equipment at different operating state; Described control device arrives the distance between described car load center of gravity for the center of gravity of calculating described equipment by the inclination angle of described swing arm, and calculates the moment of described equipment under different operating state and between car load center of gravity according to the weighing scale of the distance between the center of gravity of described equipment and described car load center of gravity and equipment
Further, described control device also comprises displacement detector, and for detection of the length of described amplitude oil cylinder, the length of described amplitude oil cylinder is the positional information of described equipment under different operating state; Described control device is according to the relation at the inclination angle of the length of described amplitude oil cylinder and described swing arm, calculate the inclination angle of described swing arm, calculate the center of gravity of described equipment by the inclination angle of described swing arm to the distance between described car load center of gravity, and calculate the moment of described equipment under different operating state and between car load center of gravity according to the weighing scale of the distance between the center of gravity of described equipment and described car load center of gravity and equipment.
Further, described rotary drilling rig comprise be connected with described counterweight and drive the telescopic oil cylinder of counterweight motion and be connected to hydraulic oil source and described telescopic oil cylinder between electromagnetic valve; The automatically controlled end of described electromagnetic valve is electrically connected with described control device, drives described counterweight to move to described target location for receiving the control signal that described control device sends and then controlling described telescopic oil cylinder.
Further, described control system also comprises the displacement transducer that detects described telescopic oil cylinder distance of stretch out and draw back, and described displacement transducer is electrically connected with described control device.
The invention provides a kind of rotary drilling rig, this rotary drilling rig comprises the counterweight of getting on the bus, being positioned at the equipment of the front end of getting on the bus and be positioned at the rear end of getting on the bus, described equipment comprises jib lubbing mechanism, described jib lubbing mechanism comprises amplitude oil cylinder and swing arm, this equipment is connected and by the flexible switching that realizes different operating state of amplitude oil cylinder, also comprises above-mentioned car load Center of Gravity Control System with getting on the bus by amplitude oil cylinder.
Car load center of gravity control method of the present invention can realize the stability control of rotary drilling rig car load center of gravity, control method is simple, in addition, adopt control method of the present invention, between the type of different rotary drilling rigs, although the weight of counterweight is not etc., but can, by the position of control method mobile counterweight of the present invention, make its generalization, adopt the rotary drilling rig stability of this moveable counter weight better, good economy performance, counterweight can be done gentlyer.
Brief description of the drawings
Fig. 1 is the rotary drilling rig structural representation of prior art, and wherein, rotary drilling rig is treated folding or state to be launched in equipment;
Fig. 2 is the rotary drilling rig structural representation of prior art, wherein, and the state that rotary drilling rig launches in equipment;
Fig. 3 is the rotary drilling rig structural representation of prior art, and wherein, rotary drilling rig is in the folding state of equipment;
Fig. 4 is the rotary drilling rig structural representation of one embodiment of the invention, and wherein, rotary drilling rig is treated folding or state to be launched in equipment;
Fig. 5 is the rotary drilling rig structural representation of one embodiment of the invention, wherein, and the state that rotary drilling rig launches in equipment;
Fig. 6 is swing arm and the amplitude oil cylinder structural representation of Fig. 4 centre circle I part;
Fig. 7 is the simplification mechanics structural representation in Fig. 6.
Description of reference numerals
10, mast 20, drilling rod 30, unit head 40, drilling tool
50, jib lubbing mechanism 51, swing arm 52, amplitude oil cylinder 60, get on the bus
61, counterweight 62, telescopic oil cylinder 63, hoisting mechanism 70, chassis
90, boring 511, angle detection device 521, displacement detector 65, slide rail
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.Should be understood that, detailed description of the invention described herein only, for description and interpretation the present invention, is not limited to the present invention.
In the present invention, in the situation that not doing contrary explanation, the noun of locality using is for the mutual alignment relationship description word between each parts under rotary drilling rig normal operating conditions as " forward and backward ", wherein, taking direction shown in Fig. 4 as reference direction, the direction at the equipment place of the rotary drilling rig in Fig. 4 is " front ", and the direction at counterweight place is " afterwards ".
Refer to Fig. 4 and Fig. 5, usually, rotary drilling rig mainly comprises chassis 70, get on the bus 60 and equipment, wherein, equipment mainly comprises mast 10, drilling rod 20, unit head 30, drilling tool 40, jib lubbing mechanism 50, hoisting mechanism 63 parts such as grade, described jib lubbing mechanism 50 comprises amplitude oil cylinder 52 and swing arm 51, this equipment 60 is connected and by the flexible switching that realizes different operating state of amplitude oil cylinder 52 with getting on the bus by amplitude oil cylinder 52, get on the bus 60 rear portion disposes counterweight, described counterweight 61 can relatively described rotary drilling rig 60 motions of getting on the bus, get on the bus and 60 can drive equipment to turn round with respect to chassis 70.In Fig. 4, rotary drilling rig is in the first duty, now the equipment of rotary drilling rig with get on the bus 60 close together, and there is certain distance with boring 90, in treating folding or state to be launched; In Fig. 5, rotary drilling rig is in the second duty, and now, the equipment of rotary drilling rig launches, and it is 60 relatively far away that equipment distance is got on the bus, equipment and boring 90 almost coaxials, the state launching in equipment.Equipment is by the flexible switching that realizes the first state and the second state of amplitude oil cylinder 52.(not shown) in the time of the duty of rotary drilling rig in boring, drilling tool 40, in holing in 90, constantly tunnels and exits boring the material discharging in boring is realized and being crept in boring by drilling tool 40.
Described equipment is under different operating state time, and as when equipment is under the second duty, described equipment gets on the bus 60 and chassis 70 away from described, can cause the car load position of centre of gravity of car load forwards to move; When equipment is under the first duty, described equipment near described in get on the bus 60 and chassis 70, can cause car load position of centre of gravity rearward to move.On the other hand, described counterweight 61 along described in get on the bus 60 while seesawing, also can cause the variation of car load position of centre of gravity, in the time that counterweight 61 is moved backward, can cause the car load position of centre of gravity of car load rearward to move; In the time that counterweight 61 travels forward, can cause the car load position of centre of gravity of car load forwards to move.And rotary drilling rig in the course of the work, except the motion of equipment and counterweight 61, remaining part remains static substantially, and therefore, the car load position of centre of gravity of rotary drilling rig depends primarily on position and the weight of equipment and counterweight 61.
The rotary drilling rig car load center of gravity control method that the embodiment of the present invention provides, comprising: obtain the moment of described equipment under different operating state and between car load center of gravity; By the target location of counterweight described in described Calculating Torque during Rotary; Control described counterweight and move to described target location.Due to rotary drilling rig boring duty time, drilling rod 20 in equipment, unit head 30, drilling tool 40 parts such as grade only do moving along boring 90 axis directions, the horizontal range of itself and center of gravity for car loaded remains unchanged, therefore be convenient to calculate the moment of equipment with respect to car load center of gravity according to the weighing scale of this distance and equipment, make car load center of gravity control method in the present embodiment can realize the stability control of rotary drilling rig car load center of gravity, control method is simple, in addition, adopt this control method, between the type of different rotary drilling rigs, although the weight of counterweight is not etc., but can be by the position of control method mobile counterweight of the present invention, make its generalization, moveable counter weight stability is better, good economy performance, counterweight can be done gentlyer.
In above-mentioned car load center of gravity control method, the moment of described equipment under different operating state and between car load center of gravity can calculate by diverse ways, arrive the distance between described car load center of gravity such as but not limited to the center of gravity by obtaining described jib lubbing mechanism 50, calculate the distance between center of gravity and the described car load center of gravity of equipment according to this distance, and calculate the moment of described equipment under different operating state and between car load center of gravity according to the weighing scale of the distance between the center of gravity of described equipment and described car load center of gravity and equipment.
It should be noted that, the distance between center of gravity and the described car load center of gravity of described equipment (comprising jib lubbing mechanism 50, mast 10, drilling rod 20, unit head 30, drilling tool 40) refers to the gravity of described equipment with respect to the arm of force of described car load center of gravity (being the distance in horizontal direction).
Special due to rotary drilling rig equipment structure, the center of gravity that the center of gravity that makes equipment equals described jib lubbing mechanism 50 to the change of distance size of car load center of gravity in the horizontal direction in the horizontal direction with the change of distance size of car load center of gravity, in the present embodiment, using the center of gravity of described jib lubbing mechanism 50 to the distance between described car load center of gravity as detecting foundation, and then control the car load position of centre of gravity of car load.
Further, the center of gravity that can calculate by obtaining the tilt meter of described swing arm 51 described jib lubbing mechanism 50 arrives the distance between described car load center of gravity, then the center of gravity that calculates described jib lubbing mechanism 50 by the tilt meter of described swing arm 51 is to the distance between described car load center of gravity.It should be noted that, described inclination angle can be the axis of described swing arm 51 and the angle of vertical plane, can be also the axis of described swing arm 51 and the angle of horizontal plane.The change of pitch angle of described swing arm 51 can reflect the distance between equipment and car load center of gravity.In the present embodiment, taking the axis of described swing arm 51 and the angle of horizontal plane as example, describe content of the present invention in detail.In the time that described inclination angle reduces, described equipment gets on the bus 60 and chassis 70 away from described, can cause car load position of centre of gravity forwards to move; In the time that described inclination angle increases, described equipment near described in get on the bus 60 and chassis 70, can cause the car load position of centre of gravity of car load rearward to move.In addition, the center of gravity that the variation at described inclination angle can reflect jib lubbing mechanism 50 in the horizontal direction with the change of distance of car load center of gravity, in the present embodiment, using the inclination angle of described swing arm 51 as detecting foundation, and then the car load position of centre of gravity of control car load, detection means is simple, convenient.
Acquisition can directly be detected by angle sensing equipment in described inclination angle.Particularly, described angle detection device 511 is installed on described swing arm 51, described angle detection device 511 can directly be measured the angle of swing arm 51 and horizontal plane; Certainly type that, also can selected angle checkout gear 511 makes it can directly measure the angle of swing arm 51 and vertical plane.
Described inclination angle can also be detected the length of described amplitude oil cylinder 52 and be obtained according to the relation at the length of described amplitude oil cylinder 52 and described inclination angle by displacement detector 521.The length of described amplitude oil cylinder 52 refers to the total length of amplitude oil cylinder 52, comprises the length of cylinder tube and the length of stretching out the piston rod of cylinder barrel.
In the present embodiment, described rotary drilling rig comprises with described counterweight 61 and is connected and drives the telescopic oil cylinder 62 that counterweight 61 is moved, and moves to described target location by controlling the flexible of described telescopic oil cylinder 62 and then controlling described counterweight 61.Adopt telescopic oil cylinder 62, can make structure and control all fairly simple, and the range ability of telescopic oil cylinder 62 is more accurate.Those skilled in the art can know, and except telescopic oil cylinder 62, can also take other driving mechanisms to drive the motion of described counterweight 61, such as gear & rack structure etc., do not repeat them here.
Refer to Fig. 6, Fig. 6 is the simplified structure schematic diagram of jib lubbing mechanism 50, jib lubbing mechanism 50 comprises and also comprises tripod, wherein, the swing arm 51 of jib lubbing mechanism 50 is the first pin joint G with the hinge point of tripod, the hinge point of one end of amplitude oil cylinder 52 and swing arm 51 is the second pin joint H, and swing arm 51 is the 3rd pin joint E with 60 the hinge point of getting on the bus, and the other end of amplitude oil cylinder 52 is the 4th pin joint F with 60 the hinge point of getting on the bus.In the time that the length (HF in Fig. 7) of amplitude oil cylinder 52 changes, can cause the EG in swing arm 51(Fig. 7) change with the angle of horizon EE ', the position of the subpoint G ' of the first pin joint G on horizon EE ' is changed, and then cause the distance of the parts such as mast 10, unit head 30, drilling rod 20, drilling tool 40 and car load center of gravity to change.
Now obtain described inclination angle as example taking the length that detects described amplitude oil cylinder 52 by displacement detector 521, describe the relation each other of target location of length, inclination angle, the counterweight of described amplitude oil cylinder 52 in detail.
Refer in Fig. 7, Fig. 7 is the simplification mechanics structural representation of swing arm 51 and amplitude oil cylinder 52, in Fig. 7, respectively taking the 3rd pin joint E, the 4th pin joint F and the second pin joint H as summit in the triangle EFH of composition, angle between line EF between line EH between the 3rd pin joint E and the second pin joint H and the 3rd pin joint E and the 4th pin joint F is the first angle α, according to the cosine law
EH
2+EF
2-2EH*EFcosα=HF
2；
In formula, the length value of line EF between length value, the 3rd pin joint E and the 4th pin joint F of line EH between the 3rd pin joint E and the second pin joint H is the known basic data of rotary drilling rig, the length value of line HF between the second pin joint H and the 4th pin joint F obtains for detecting, therefore, can calculate the angle of the first angle α:
α=arccos((EH
2+EF
2-HF
2)/2EH*EF)；
Respectively taking the first pin joint G, the 3rd pin joint E and subpoint G ' in the triangle EGG ' on summit, there is following relation in the projected length EG ' of the line EG between the size of the first angle α and the first pin joint G and the 3rd pin joint E on horizon EE ':
EG’=EG*sin(α+γ-β)
Angle between line EH between line EG between the first pin joint G and the 3rd pin joint E and the second pin joint H and the 3rd pin joint E is the second angle γ, line EF between the 3rd pin joint E and the 4th pin joint F and the 3rd pin joint E and and horizon EE ' between angle be the 3rd angle β, the known basic data that the value of line EG between the second angle γ, the 3rd angle β and the first pin joint G and the 3rd pin joint E is rotary drilling rig, therefore, can calculate the value of projected length EG '.
Be understandable that, establishing described inclination angle is θ, θ=α+γ-β, and EG '=EG*sin θ, as can be seen here, and when described in use angle checkout gear 511 direct-detections when inclination angle, can clipped computational process.
Please again consult Fig. 7, in the time that the length of the line HF between the second pin joint H and the 4th pin joint F changes (length of amplitude oil cylinder 52 changes), the first angle α changes, and the value of described inclination angle and projected length EG ' also changes.The variation reflection of the value of projected length EG ' be the parts such as jib lubbing mechanism 50, mast 10, drilling rod 20 and drilling tool 40, unit head 30 center of gravity in the horizontal direction with the change of distance of car load center of gravity.
Described getting on the bus 60 can be rotated around described chassis 70 by the centre of gyration, and the centre of gyration that makes described car load center of gravity drop on car load is the optimum position (being the position that the P in Fig. 4 and Fig. 5 is ordered) of car load center of gravity.In the present invention, described car load center of gravity is arranged to described centre of gyration place.When the length HF of amplitude oil cylinder 52 is the longest, establish HF=HF
max, when the stroke of amplitude oil cylinder 52 is maximum, the angle value maximum of corresponding the first angle α, i.e. α=α
max, now, projected length EG ' is the shortest, i.e. EG '=EG '
min.Now, equipment moment relative and that this centre of gyration produces is:
T1=G1*S1+G2*S2+G3*S3+G4*S4；
This moment T1 is clockwise direction, in formula, G1 represents that weight (comprising the weight of drilling rod 20, drilling tool 40), the G2 of drill rod mechanism represent that weight, the G3 of mast 10 and catead represent that weight, the G4 of jib lubbing mechanism 50 represent unit head 30 weight, the unit of G1, G2, G3, G4 is every square of second of kilogram * rice, and S1 represents that the center of gravity of drill rod mechanism represents that to distance, the S2 of car load center of gravity the center of gravity of mast 10 and catead represents that to distance, the S3 of car load center of gravity the center of gravity of jib lubbing mechanism 50 represents that to distance, the S4 of car load center of gravity the center of gravity of unit head 30 is to the distance of car load center of gravity.It should be noted that, the unit of above-mentioned S1-S4 is rice.
It should be noted that, in the embodiment of the present invention, the center of gravity of described equipment is decomposed into center of gravity, the center of gravity of jib lubbing mechanism 50 and the center of gravity of unit head 30 of center of gravity, mast 10 and the catead of drill rod mechanism (comprising drilling rod 20, drilling tool 40).
As α=α
maxtime, the known basic data that described G1-G4 and S1-S4 are rotary drilling rig, therefore can calculate moment T1.Now, above-mentioned equipment is nearest apart from the centre of gyration (being car load center of gravity), and therefore, counterweight 61 is the most close centre of gyration (car load center of gravity) also, and the moment that counterweight produces with respect to the centre of gyration is:
T2=G5*S5；
This moment T2 is counterclockwise, and in formula, G5 represents the weight of counterweight 61, and the unit of G5 be every square of second of kilogram * rice, and S5 represents the distance of counterweight 61 to the centre of gyration, and the unit of S5 is meter.
For making car load balance, T1=T2, can calculate the counterweight distance of the close centre of gyration by this formula, now, can control counterweight 61 and move to the target location apart from centre of gyration S5.
Along with the length of amplitude oil cylinder 52 changes, the size of described S1-S4 all can change.The length of supposing amplitude oil cylinder 52 is random length HF
x, the length of corresponding amplitude oil cylinder 52 is HF
xtime the value of the first angle α be made as α
x, the length of corresponding amplitude oil cylinder 52 is HF
xtime EG ' be made as EG ' x, change in length value Δ EG '=EG ' of EG '
x-EG '
min, now described equipment to the distance of the centre of gyration changes,
S1
x=S1+ΔEG’；
S2
x=S2+ΔEG’；
S3
x=S3+ΔEG’；
S4
x=S4+ΔEG’；
In above formula, S1
x-S4
xthe length that represents respectively amplitude oil cylinder 52 is random length HF
xtime, the center of gravity of drill rod mechanism arrives the distance of car load center of gravity to the distance of car load center of gravity, the center of gravity of jib lubbing mechanism 50 to the distance of car load center of gravity, the center of gravity of unit head 30 to the center of gravity of distance, mast 10 and the catead of car load center of gravity.It should be noted that above-mentioned S1
x-S4
xunit be long measure.
Now, the moment T1 that described equipment produces with respect to the centre of gyration is:
T1
x=G1*S1
x+G2*S2
x+G3*S3
x+G4*S4
x
Moment T1
xdirection be clockwise direction.It is S5 that now establishing weighs 61 distances apart from the centre of gyration
x, the moment T2 that counterweight 61 produces with respect to the centre of gyration
x=G5*S5
x, T2
xdirection be counterclockwise.
For making car load balance, T1
x=T2
x
Can calculate the distance S5 of counterweight 61 apart from the centre of gyration by above formula
x.
The present invention also provides a kind of rotary drilling rig car load Center of Gravity Control System, and described control system comprises
Receiving system, for obtaining the positional information of described equipment under different operating state;
Control device, be used for according to the moment of equipment under different operating state and between car load center of gravity described in described positional information calculation, by the target location of counterweight 61 described in described Calculating Torque during Rotary, and then control described counterweight 61 and move to described target location, and then control described counterweight 61 and move to described target location.
Further, described control device also comprises checkout gear.Described checkout gear can be described displacement detector 521, and for detection of the length of described amplitude oil cylinder 52, the length of described amplitude oil cylinder 52 is the positional information of described equipment under different operating state, the signal of the length of the described amplitude oil cylinder 52 detecting is sent to described control device by described displacement detector 521, described control device is according to the relation at the inclination angle of the length of described amplitude oil cylinder 52 and described swing arm 51, calculate the inclination angle of described swing arm 51, calculate the center of gravity of described equipment by the inclination angle of described swing arm 51 to the distance between described car load center of gravity, and calculate the moment of described equipment under different operating state and between car load center of gravity according to the weighing scale of the distance between the center of gravity of described equipment and described car load center of gravity and equipment.
Described checkout gear can be also described angle detection device 511, for detection of the inclination angle of described swing arm 51, the inclination angle of described swing arm 51 is the positional information of described equipment at different operating state, the signal at the inclination angle of the described swing arm 51 detecting is sent to described receiving system by described angle detection device 511, described control device arrives the distance between described car load center of gravity for the center of gravity of calculating described equipment by the inclination angle of described swing arm 51, and calculate the moment of described equipment under different operating state and between car load center of gravity according to the weighing scale of the distance between the center of gravity of described equipment and described car load center of gravity and equipment.
Described rotary drilling rig comprise be connected and drive with described counterweight 61 telescopic oil cylinder 62 that counterweight 61 moves and be connected to hydraulic oil source and described telescopic oil cylinder 62 between electromagnetic valve, the automatically controlled end of described electromagnetic valve is electrically connected with described control device, drives described counterweight 61 to move to described target location for receiving the control signal that described control device sends and then controlling described telescopic oil cylinder 62.
The concrete structure of described electromagnetic valve is not limit, as long as the control signal of can receiving control device sending control telescopic oil cylinder 62 and carry out corresponding stretching motion.In the present embodiment, described electromagnetic valve is three position four-way electromagnetic valve, described oil sources is hydraulic pump, the oil-in of described electromagnetic valve is communicated with described oil sources, the oil return opening of described electromagnetic valve is communicated with fuel tank, two actuator ports of described electromagnetic valve are connected with rod chamber and the rodless cavity of described telescopic oil cylinder 62 respectively, and the automatically controlled end of the opposite end of described electromagnetic valve is all electrically connected with control device.Described electromagnetic valve at least has the first working position, meta, the second working position; Described electromagnetic valve is in meta, and oil-in, oil return opening were blocked with being connected all of two actuator ports described in described electromagnetic valve, and the piston rod of described telescopic oil cylinder 62 is failure to actuate; Described electromagnetic valve is in the first working position, and described oil-in is communicated with the rodless cavity of telescopic oil cylinder 62, and described oil return opening is communicated with the rod chamber of telescopic oil cylinder 62, and the piston rod of described telescopic oil cylinder 62 stretches out; Described electromagnetic valve is in the second working position, and described oil-in is communicated with the rod chamber of telescopic oil cylinder 62, and described oil return opening is communicated with the rodless cavity of telescopic oil cylinder 62, and the piston rod of described telescopic oil cylinder 62 is retracted.
For the ease of the motion of counterweight, reduce the resistance of motion of counterweight, described rotary drilling rig also comprises and is arranged at the slide rail 65 of getting on the bus on 60, described telescopic oil cylinder 62 do stretching motion with drive described counterweight along described slide rail 65 slide so that by car load center of gravity all-the-time stable at centre of gyration place.
For the ease of knowing the range ability of described counterweight 61, described control system also comprises the displacement transducer being arranged on described telescopic oil cylinder 62, described displacement transducer can detect the position of the end of the piston rod of telescopic oil cylinder 62 in real time, and be sent to control device, position and target location that described control device obtains this displacement transducer compare, in the time that both are equal, described control device stops sending the signal of telecommunication to the automatically controlled end of described electromagnetic valve, described electromagnetic valve switches to meta, the piston rod stop motion of described telescopic oil cylinder 62, now, described counterweight 61 moves to target location.
Now, with the described equipment Δ EG ' that travelled forward, it is example that described counterweight 61 need move to S5x backward, specifically sets forth control procedure.
Described control device calculates described counterweight and need move to backward the distance of S5x, be sent to the corresponding automatically controlled end of described electromagnetic valve, described electromagnetic valve switches to the first working position by meta, the piston rod of described telescopic oil cylinder 62 stretches out, counterweight 61 is moved backward, described displacement transducer detects the position of the end of the piston rod of telescopic oil cylinder 62 in real time, once the position that the piston rod of described telescopic oil cylinder 62 stretches out arrives assigned address, be that described counterweight 61 is while moving to target location, electromagnetic valve dead electricity also switches to meta, the piston rod that described telescopic oil cylinder 62 stops stops stretching out.
In like manner, as the described equipment Δ EG ' that moved backward, the control principle that described counterweight 61 need move forward is identical with above-mentioned control principle, does not repeat them here.
It should be noted that, as long as the length of amplitude oil cylinder 52 changes, telescopic oil cylinder 62 also will move immediately, the amplitude oil cylinder 52 such as do not need to extend out to halted state completely, it between them, is the relation of a real-time matching, be that telescopic oil cylinder 62 is synchronized with the movement with described amplitude oil cylinder 52, realize the optimum control of car load center of gravity.
The present invention also provides a kind of rotary drilling rig, and described rotary drilling rig comprises above-mentioned car load Center of Gravity Control System.
Below describe by reference to the accompanying drawings a preferred embodiment of the present invention in detail, still, be not limited to the detail in above-mentioned embodiment.Within the scope of technical conceive of the present invention, can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
Claims (13)
1. rotary drilling rig car load center of gravity control method, this rotary drilling rig comprises get on the bus (60), is positioned at the equipment and the counterweight (61) that is positioned at (60) rear end of getting on the bus of (60) front end of getting on the bus, described equipment comprises jib lubbing mechanism (50), described jib lubbing mechanism (50) comprises amplitude oil cylinder (52) and swing arm (51), this equipment is connected and passes through the flexible switching that realizes different operating state of amplitude oil cylinder (52) with get on the bus (60) by amplitude oil cylinder (52), it is characterized in that, described control method comprises:
Obtain the moment of described equipment under different operating state and between car load center of gravity;
By the target location of counterweight (61) described in described Calculating Torque during Rotary;
Control described counterweight (61) and move to described target location.
2. rotary drilling rig car load center of gravity control method as claimed in claim 1, is characterized in that, described in obtain the moment of described equipment under different operating state and between car load center of gravity step comprise:
The center of gravity of obtaining described jib lubbing mechanism (50) is to the distance between described car load center of gravity, and calculates the distance between center of gravity and the described car load center of gravity of equipment according to this distance;
Calculate the moment of described equipment under different operating state and between car load center of gravity according to the weighing scale of the distance between the center of gravity of described equipment and described car load center of gravity and equipment.
3. rotary drilling rig car load center of gravity control method as claimed in claim 2, is characterized in that, described in obtain described jib lubbing mechanism (50) center of gravity comprise to the step of the distance between described car load center of gravity:
Obtain the inclination angle of described swing arm (51);
Calculate the center of gravity of described jib lubbing mechanism (50) by the tilt meter of described swing arm (51) to the distance between described car load center of gravity.
4. rotary drilling rig car load center of gravity control method as claimed in claim 3, is characterized in that, described in obtain the inclination angle of described swing arm (51) step comprise: the length that detects described amplitude oil cylinder (52);
According to the relation at the inclination angle of the length of described amplitude oil cylinder (52) and described swing arm (51), calculate described inclination angle.
5. rotary drilling rig car load center of gravity control method as claimed in claim 1, described rotary drilling rig also comprises chassis (70), described getting on the bus (60) is by the relatively described chassis of the centre of gyration (70) revolution, it is characterized in that, described car load center of gravity is positioned at described centre of gyration place, with respect to the moment at this centre of gyration place and the weight of counterweight (61), calculate the target location of described counterweight (61) according to described equipment.
6. rotary drilling rig car load center of gravity control method as claimed in claim 1, is characterized in that, described rotary drilling rig comprises the telescopic oil cylinder (62) that is connected with described counterweight (61) and drives counterweight (61) motion; Move to described target location by controlling the flexible of described telescopic oil cylinder (62) and then controlling described counterweight (61).
7. rotary drilling rig car load center of gravity control method as claimed in claim 6, it is characterized in that, control described counterweight (61) and move in the step of described target location, control telescopic oil cylinder (62) and be synchronized with the movement with described amplitude oil cylinder (52).
8. rotary drilling rig car load Center of Gravity Control System, this rotary drilling rig comprises get on the bus (60), is positioned at the equipment and the counterweight (61) that is positioned at (60) rear end of getting on the bus of (60) front end of getting on the bus, described equipment comprises jib lubbing mechanism (50), described jib lubbing mechanism (50) comprises amplitude oil cylinder (52) and swing arm (51), this equipment is connected and passes through the flexible switching that realizes different operating state of amplitude oil cylinder (52) with get on the bus (60) by amplitude oil cylinder (52), it is characterized in that, described control system comprises:
Receiving system, for obtaining the positional information of described equipment under different operating state;
Control device, be used for according to the moment of equipment under different operating state and between car load center of gravity described in described positional information calculation, by the target location of counterweight (61) described in described Calculating Torque during Rotary,, and then control described counterweight (61) and move to described target location.
9. rotary drilling rig car load Center of Gravity Control System as claimed in claim 8, is characterized in that, described control system also comprises:
Angle detection device (511), for detection of the inclination angle of described swing arm (51), the inclination angle of described swing arm (51) is the positional information of described equipment at different operating state;
Described control device arrives the distance between described car load center of gravity for the center of gravity of calculating described equipment by the inclination angle of described swing arm (51), and calculates the moment of described equipment under different operating state and between car load center of gravity according to the weighing scale of the distance between the center of gravity of described equipment and described car load center of gravity and equipment.
10. rotary drilling rig car load Center of Gravity Control System as claimed in claim 8, is characterized in that, described control system also comprises:
Displacement detector (521), for detection of the length of described amplitude oil cylinder (52), the length of described amplitude oil cylinder (52) is the positional information of described equipment under different operating state;
Described control device is according to the relation at the inclination angle of the length of described amplitude oil cylinder (52) and described swing arm (51), calculate the inclination angle of described swing arm (51), calculate the center of gravity of described equipment by the inclination angle of described swing arm (51) to the distance between described car load center of gravity, and calculate the moment of described equipment under different operating state and between car load center of gravity according to the weighing scale of the distance between the center of gravity of described equipment and described car load center of gravity and equipment.
11. rotary drilling rig car load Center of Gravity Control Systems as claimed in claim 8, it is characterized in that, described rotary drilling rig comprise be connected with described counterweight (61) and drive the telescopic oil cylinder (62) of counterweight (61) motion and be connected to hydraulic oil source and described telescopic oil cylinder (62) between electromagnetic valve; The automatically controlled end of described electromagnetic valve is electrically connected with described control device, drives described counterweight (61) to move to described target location for receiving the control signal that described control device sends and then controlling described telescopic oil cylinder (62).
12. rotary drilling rig car load Center of Gravity Control Systems as claimed in claim 11, is characterized in that, described control system also comprises the displacement transducer that detects described telescopic oil cylinder (62) distance of stretch out and draw back, and described displacement transducer is electrically connected with described control device.
13. 1 kinds of rotary drilling rigs, this rotary drilling rig comprises get on the bus (60), be positioned at the equipment and the counterweight (61) that is positioned at (60) rear end of getting on the bus of (60) front end of getting on the bus, described equipment comprises jib lubbing mechanism (50), described jib lubbing mechanism (50) comprises amplitude oil cylinder (52) and swing arm (51), this equipment is connected and passes through the flexible switching that realizes different operating state of amplitude oil cylinder (52) with get on the bus (60) by amplitude oil cylinder (52), it is characterized in that, this rotary drilling rig also comprises the rotary drilling rig car load Center of Gravity Control System described in any one in claim 8-12.
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| CN112252994A (en) * | 2020-10-14 | 2021-01-22 | 安徽亘浩机械设备制造有限公司 | Self-adaptive counterweight type drilling machine |
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