CN104405293A - Automatic leveling system for hydraulic legs of drilling machine, use method and micro-controller thereof - Google Patents
Automatic leveling system for hydraulic legs of drilling machine, use method and micro-controller thereof Download PDFInfo
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- CN104405293A CN104405293A CN201410686074.5A CN201410686074A CN104405293A CN 104405293 A CN104405293 A CN 104405293A CN 201410686074 A CN201410686074 A CN 201410686074A CN 104405293 A CN104405293 A CN 104405293A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000005553 drilling Methods 0.000 title abstract description 5
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 239000000295 fuel oil Substances 0.000 claims description 24
- 239000010720 hydraulic oil Substances 0.000 claims description 21
- 230000008676 import Effects 0.000 claims description 13
- 238000005520 cutting process Methods 0.000 claims description 10
- 239000003208 petroleum Substances 0.000 abstract description 9
- 230000001276 controlling effect Effects 0.000 description 13
- 230000008569 process Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 10
- 238000004590 computer program Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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- Engineering & Computer Science (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mining & Mineral Resources (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses an automatic leveling system for hydraulic legs of a drilling machine, a use method and a micro-controller thereof. The automatic leveling system for the hydraulic legs of the drilling machine comprises a hydraulic electromagnetic valve, hydraulic legs, an electronic control unit ECU, electromagnetic coils, pressure sensors and an oblique angle sensor, wherein the pressure sensors are connected with the hydraulic legs, one hydraulic leg is connected with one sensor, and each sensor is used for detecting the working state of the correspondingly connected hydraulic leg; the oblique angle sensor is used for detecting the horizontal position of each hydraulic leg; the electromagnetic coils are connected with the hydraulic electromagnetic valve for controlling the stretching of each hydraulic leg; the ECU is connected with the pressure sensors, oblique angle sensor and electromagnetic coils and used for controlling the stretching of each hydraulic leg through the electromagnetic coils and hydraulic electromagnetic valve according to the detection signals of the pressure sensors and oblique angle sensor. The automatic leveling system for the hydraulic legs of the drilling machine is capable of realizing the automatic leveling of a petroleum exploration gadding machine.
Description
Technical field
The present invention relates to petroleum exploration technical field, particularly relate to a kind of rig hydraulic leg automatic horizontal control system and using method, microcontroller.
Background technology
In petroleum exploration wagon drill hydraulic leg electric-hydraulic proportion leveling application, that prior art adopts is manual hand manipulation, and mode of operation is simple, and do not have superpressure alarm and automatic protection functions, safety is poor, and labour intensity is large.
Summary of the invention
The embodiment of the present invention provides a kind of rig hydraulic leg automatic horizontal control system, and in order to realize the self-leveling effect of petroleum exploration wagon drill, this system comprises:
Hydraulic buttery valve 26, hydraulic leg 1 ~ 4, electronic control unit ECU10, electromagnetic coil 6 ~ 9 and 20 ~ 23, pressure sensor 13 ~ 16, obliquity sensor 17; Wherein:
Pressure sensor 13 ~ 16, hydraulic leg of connection hydraulic leg connects a sensor, and each sensor is for detecting the duty of connected hydraulic leg;
Obliquity sensor 17, for detecting the horizontal level of each hydraulic leg;
Electromagnetic coil is connected with hydraulic buttery valve 26, for controlling the flexible of each hydraulic leg;
ECU10, with pressure sensor 13 ~ 16, obliquity sensor 17, electromagnetic coil is connected, for according to pressure sensor, the detection signal of obliquity sensor, the flexible of each hydraulic leg is controlled by electromagnetic coil and hydraulic buttery valve, wherein, according to the hydraulic leg being in extreme lower position in the detection signal determination hydraulic leg of obliquity sensor, control this hydraulic leg by electromagnetic coil and hydraulic buttery valve first to stretch out and after reaching predeterminated position, using the position of this hydraulic leg as leveling benchmark, control other hydraulic legs by electromagnetic coil and hydraulic buttery valve and carry out leveling.
In an embodiment, electromagnetic coil 6 ~ 9 is connected with hydraulic buttery valve 26 with 20 ~ 23, wherein, four solenoid controlled are stretched out, four solenoid controlled retractions, often organize electromagnetic coil and comprise the electromagnetic coil that electromagnetic coil that a control stretches out and control retraction, often organize stretching of electromagnetic coil and a hydraulic buttery valve co-controlling hydraulic leg.
In an embodiment, described system comprises further:
Over pressure alarm device 24, for when there is superpressure, sends alarm.
In an embodiment, described system comprises further:
Fuel oil Controlling solenoid valve 19, for when there is superpressure, cuts off the fuel oil supply of motor 29.
In an embodiment, described system comprises further:
ECU is further used for when there is superpressure, is controlled the reset of each hydraulic leg by electromagnetic coil and hydraulic buttery valve, and the hydraulic oil cutting off each hydraulic circuit supplies and imports hydraulic oil container 27.
The embodiment of the present invention also provides a kind of using method of above-mentioned rig hydraulic leg automatic horizontal control system, and in order to realize the self-leveling effect of petroleum exploration wagon drill, the method comprises:
ECU is according to the duty of the detection signal determination hydraulic leg of pressure sensor 13 ~ 16;
ECU determines according to the detection signal of obliquity sensor 17 hydraulic leg being in extreme lower position;
First the hydraulic leg that ECU controls to be in extreme lower position by electromagnetic coil and hydraulic buttery valve stretches out and reaches predeterminated position;
ECU, to be in the position of the hydraulic leg of extreme lower position as leveling benchmark, to control other hydraulic legs by electromagnetic coil and hydraulic buttery valve and carries out leveling.
In an embodiment, described method comprises further:
Out of service after hydraulic leg leveling, and lock after the hydraulic circuit turning off hydraulic leg.
In an embodiment, described method comprises further:
When there is superpressure, triggering over pressure alarm device 24 and sending alarm.
In an embodiment, described method comprises further:
When there is superpressure, cut off the fuel oil supply of motor 29 by fuel oil Controlling solenoid valve 19.
In an embodiment, described method comprises further:
When there is superpressure, ECU controls the reset of each hydraulic leg by electromagnetic coil and hydraulic buttery valve, and the hydraulic oil cutting off each hydraulic circuit supplies and imports hydraulic oil container 27.
The embodiment of the present invention also provides a kind of microcontroller for above-mentioned rig hydraulic leg automatic horizontal control system, and in order to realize the self-leveling effect of petroleum exploration wagon drill, this microcontroller comprises:
State determining module, for the duty of the detection signal determination hydraulic leg according to pressure sensor 13 ~ 16;
Position determination module, for determining according to the detection signal of obliquity sensor 17 hydraulic leg being in extreme lower position;
Leveling module, first stretches out for the hydraulic leg controlling to be in extreme lower position by electromagnetic coil and hydraulic buttery valve and reaches predeterminated position; To be in the position of the hydraulic leg of extreme lower position as leveling benchmark, to control other hydraulic legs by electromagnetic coil and hydraulic buttery valve and carry out leveling.
In an embodiment, described microcontroller comprises further:
Locking module, for out of service after hydraulic leg leveling, and locks after the hydraulic circuit turning off hydraulic leg.
In an embodiment, described microcontroller comprises further:
Alarm module, for when there is superpressure, triggering over pressure alarm device 24 and sending alarm.
In an embodiment, described microcontroller comprises further:
Fuel-cut module, for when there is superpressure, cuts off the fuel oil supply of motor 29 by fuel oil Controlling solenoid valve 19.
In an embodiment, described microcontroller comprises further:
Fuel oil imports module, and for when there is superpressure, ECU controls the reset of each hydraulic leg by electromagnetic coil and hydraulic buttery valve, and the hydraulic oil cutting off each hydraulic circuit supplies and imports hydraulic oil container 27.
The technical scheme that the embodiment of the present invention provides, can ensure that the derrick of wagon drill is rapidly and accurately perpendicular to ground, alleviates driller's labour intensity, make the normal work that rig is safe and reliable, make wagon drill by hydraulic leg at ECU (ElectronicControl Unit, electronic control unit; Also can be described as computer, microcomputer, microprocessor, microcontroller etc.) control under carry out rapidly electric-hydraulic proportion automatic leveling accurately, achieve the self-leveling effect of petroleum exploration wagon drill.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.In the accompanying drawings:
Fig. 1 is rig hydraulic leg automatic horizontal control system structural representation in the embodiment of the present invention;
Fig. 2 is the using method implementing procedure schematic diagram of rig hydraulic leg automatic horizontal control system in the embodiment of the present invention;
Fig. 3 is the microcontroller architecture schematic diagram for rig hydraulic leg automatic horizontal control system in the embodiment of the present invention;
Fig. 4 is instrument board button and indicator lamp position view in the embodiment of the present invention.
Detailed description of the invention
For making the object of the embodiment of the present invention, technical scheme and advantage clearly understand, below in conjunction with accompanying drawing, the embodiment of the present invention is described in further details.At this, schematic description and description of the present invention is for explaining the present invention, but not as a limitation of the invention.
The technical scheme provided in the embodiment of the present invention, for petroleum exploration wagon drill provides a kind of safe and reliable, easy and simple to handle, accurate rapidly, and is designed with the hydraulic leg electric-hydraulic proportion automatic horizontal control system of relatively complete security protection and warning system.Be described below.
Fig. 1 is rig hydraulic leg automatic horizontal control system structural representation in the embodiment of the present invention, as shown in Figure 1, this system comprises: hydraulic buttery valve 26, hydraulic leg 1 ~ 4, ECU10, electromagnetic coil 6 ~ 9 and 20 ~ 23, pressure sensor 13 ~ 16, obliquity sensor 17; Wherein:
Pressure sensor 13 ~ 16, hydraulic leg of connection hydraulic leg connects a sensor, and each sensor is for detecting the duty of connected hydraulic leg;
Obliquity sensor 17, for detecting the horizontal level of each hydraulic leg;
Electromagnetic coil is connected with hydraulic buttery valve 26, for controlling the flexible of each hydraulic leg;
ECU10, with pressure sensor 13 ~ 16, obliquity sensor 17, electromagnetic coil is connected, for according to pressure sensor, the detection signal of obliquity sensor, the flexible of each hydraulic leg is controlled by electromagnetic coil and hydraulic buttery valve, wherein, according to the hydraulic leg being in extreme lower position in the detection signal determination hydraulic leg of obliquity sensor, control this hydraulic leg by electromagnetic coil and hydraulic buttery valve first to stretch out and after reaching predeterminated position, using the position of this hydraulic leg as leveling benchmark, control other hydraulic legs by electromagnetic coil and hydraulic buttery valve and carry out leveling.
In enforcement, electromagnetic coil 6 ~ 9 is connected with hydraulic buttery valve 26 with 20 ~ 23, wherein, four solenoid controlled are stretched out, four solenoid controlled retractions, often organize electromagnetic coil and comprise the electromagnetic coil that electromagnetic coil that a control stretches out and control retraction, often organize stretching of electromagnetic coil and a hydraulic buttery valve co-controlling hydraulic leg.
In enforcement, can further include:
Over pressure alarm device 24, for when there is superpressure, sends alarm.
In enforcement, can further include:
Fuel oil Controlling solenoid valve 19, for when there is superpressure, cuts off the fuel oil supply of motor 29.
In enforcement, can further include:
ECU is further used for when there is superpressure, is controlled the reset of each hydraulic leg by electromagnetic coil and hydraulic buttery valve, and the hydraulic oil cutting off each hydraulic circuit supplies and imports hydraulic oil container 27.
Based on above-mentioned rig hydraulic leg automatic horizontal control system, additionally provide the using method of this system in the embodiment of the present invention, be described below.
Fig. 2 is the using method implementing procedure schematic diagram of rig hydraulic leg automatic horizontal control system in the embodiment of the present invention, as shown in Figure 2, can comprise the steps: in enforcement
Step 201, ECU are according to the duty of the detection signal determination hydraulic leg of pressure sensor 13 ~ 16;
Step 202, ECU determine according to the detection signal of obliquity sensor 17 hydraulic leg being in extreme lower position;
First the hydraulic leg that step 203, ECU control to be in extreme lower position by electromagnetic coil and hydraulic buttery valve stretches out and reaches predeterminated position;
Step 204, ECU, to be in the position of the hydraulic leg of extreme lower position as leveling benchmark, to control other hydraulic legs by electromagnetic coil and hydraulic buttery valve and carry out leveling.
In enforcement, can further include:
Out of service after hydraulic leg leveling, and lock after the hydraulic circuit turning off hydraulic leg.
In enforcement, can further include:
When there is superpressure, triggering over pressure alarm device 24 and sending alarm.
In enforcement, can further include:
When there is superpressure, cut off the fuel oil supply of motor 29 by fuel oil Controlling solenoid valve 19.
In enforcement, can further include:
When there is superpressure, ECU controls the reset of each hydraulic leg by electromagnetic coil and hydraulic buttery valve, and the hydraulic oil cutting off each hydraulic circuit supplies and imports hydraulic oil container 27.
Based on same design, additionally provide a kind of microcontroller for rig hydraulic leg automatic horizontal control system in the embodiment of the present invention, be described below.
Fig. 3 is the microcontroller architecture schematic diagram for rig hydraulic leg automatic horizontal control system in the embodiment of the present invention, as shown in Figure 3, can comprise in microcontroller:
State determining module 301, for the duty of the detection signal determination hydraulic leg according to pressure sensor 13 ~ 16;
Position determination module 302, for determining according to the detection signal of obliquity sensor 17 hydraulic leg being in extreme lower position;
Leveling module 303, first stretches out for the hydraulic leg controlling to be in extreme lower position by electromagnetic coil and hydraulic buttery valve and reaches predeterminated position; To be in the position of the hydraulic leg of extreme lower position as leveling benchmark, to control other hydraulic legs by electromagnetic coil and hydraulic buttery valve and carry out leveling.
In enforcement, can further include:
Locking module, for out of service after hydraulic leg leveling, and locks after the hydraulic circuit turning off hydraulic leg.
In enforcement, can further include:
Alarm module, for when there is superpressure, triggering over pressure alarm device 24 and sending alarm.
In enforcement, can further include:
Fuel-cut module, for when there is superpressure, cuts off the fuel oil supply of motor 29 by fuel oil Controlling solenoid valve 19.
In enforcement, can further include:
Fuel oil imports module, and for when there is superpressure, ECU controls the reset of each hydraulic leg by electromagnetic coil and hydraulic buttery valve, and the hydraulic oil cutting off each hydraulic circuit supplies and imports hydraulic oil container 27.
Be described with example more below, so that understand how to implement the present invention.
As shown in Figure 1, in rig hydraulic leg automatic horizontal control system, comprise the composition such as electromagnetic coil 6 ~ 9 and 20 ~ 23, pressure sensor 13 ~ 16, obliquity sensor 17, emergency stop switch 11, starting switch 12, fuel oil Controlling solenoid valve 19, Displaying Meter 18, indicator lamp 25, over pressure alarm device 24 of motor 29, hydraulic pump 28, hydraulic oil container 27, hydraulic buttery valve 26, hydraulic leg 1 ~ 4 (left front hydraulic leg 1, left back hydraulic leg 2, right front hydraulic leg 3, right back hydraulic leg 4), power switch 5, ECU10, hydraulic control electromagnetic valve 26.
In enforcement, the automatic leveling of the hydraulic leg 1,2,3,4 of wagon drill drives hydraulic pump 28 to work as whole hydraulic system provides pressure oil by motor 29, and carried out analyzing and computing according to the feedback signal of each pressure sensor 13 ~ 16 by ECU10, then come via each electromagnetic coil 6 ~ 9 and 20 ~ 23 hydraulic control electromagnetic valve 26 of hydraulic buttery valve 26.
Fig. 4 is instrument board button and indicator lamp position view in the embodiment of the present invention, can arrange instrument board button as shown in Figure 4 and indicator lamp in real work, so that control.
In enforcement, the automatic horizontal control system of the hydraulic leg 1,2,3,4 of wagon drill, power switch 5, emergency stop switch 11 and starting switch 12 3 knobs and indicator lamp 25, over pressure alarm device 24, Displaying Meter 18 are installed, and cause the work of console by driller's centralized Control leveling system respectively.
During concrete enforcement, can be as follows:
When wagon drill works, first power turn-on switch 5, system obtains electric and completes power-on self-test, enters ready holding state.
When system needs startup work, first by driller to ECU10 enabling signal of control system, first ECU detects the signal of each pressure sensor and judges which kind of duty is system be in, and then the signal of telecommunication of foundation obliquity sensor 17, undertaken analyzing, calculating by ECU, multilevel iudge goes out hydraulic leg 1 ~ 4, and which is in extreme lower position.The algorithm that analysis, calculating adopt can be preset therein, and algorithm can be drawn by practical experience, designs and judges that hydraulic leg is in the algorithm of extreme lower position, and this is easily realize for a person skilled in the art.
Then provide by ECU10 hydraulic leg that control signal controls this extreme lower position first to start and stretch out, reach predeterminated position (stretching out certain length by hydraulic jack bar) stop afterwards and maintain static (as leveling benchmark), then the signal fed back according to inclination angle sensor 17 by ECU10 again carry out computing by certain algorithm and compare with judge after, respectively via electromagnetic coil 6 ~ 9 and 20 ~ 23 hydraulic control electromagnetic valve 26 so that control other three roads hydraulic leg stroke to carry out leveling (levelling relative to first hydraulic leg), so repeatedly regulate until leveling completes.Indicator lamp 25 is bright, represents that system leveling completes.Wagon drill working platform can be carried out leveling fast by this control mode, ensures the normal work of the safety of rig, has safety, reliability and ease-to-operate.
In system works, each hydraulic leg 1,2,3,4 can control separately and independent operating.During work, except enabling signal is by except Artificial Control, whole leveling process, completes, all automatically without the need to manual intervention.
Namely out of service and locked by the hydraulic circuit manually turning off hydraulic leg after system leveling.System has pressure overpressure alarm and protection system and suddenly stops treatment mechanism.In work; as occurred, certain failure cause causes superpressure when certain fault (or occur by manually pressing emergency stop switch); ECU10 starts over pressure alarm device 24 immediately and reports to the police; and control the fuel oil supply that fuel oil Controlling solenoid valve 19 cuts off motor 29; force engine stop work; ECU10 also resets (being in meta) via electromagnetic coil 6 ~ 9 and 20 ~ 23 hydraulic control electromagnetic valve simultaneously; the hydraulic oil cutting off each hydraulic circuit supplies and imports hydraulic oil container 27, with the safety of protection system and personnel.This security mechanism, can fast and effectively, the safety of reliably protection system and personnel, there is safety, reliability and ease-to-operate.
In embodiment, the combined system of the mechanical-electrical-hydraulic integration that wagon drill hydraulic leg electric-hydraulic proportion automatic horizontal control system can be made up of hydraulic system (power source), four the hydraulic leg oil cylinders that can work independently, central microcontroller (ECU) system, hydraulic buttery valve, various sensor (pressure, position, obliquity sensor), instrument, control knob, over pressure alarm device and indicator lamps etc.In work, system electrification self-inspection completes and ready, when needs start, first control system (microcontroller) enabling signal is given, via controller detects the signal of telecommunication of obliquity sensor, and carry out (microcontroller preset algorithm) analysis, calculate and multilevel iudge (wagon drill is judged by square model) after, automatically four hydraulic legs controlling wagon drill respectively stretch, and monitor the signal of obliquity sensor at any time, carry out analyzing and judging according to this angle feed-back information again, then the stroke of (can independently also capable of being combinedly carry out) four hydraulic legs is automatically regulated, and finally reach self-leveling object.In system works, each hydraulic leg can control separately and independent operating, and except enabling signal is by except Artificial Control, whole leveling process, completes, all automatically without the need to manual intervention.It is namely out of service and locked by the hydraulic circuit manually turning off hydraulic leg after system completes leveling.This system has pressure overpressure alarm and protection system, and during work, as occurred, certain failure cause causes superpressure, starts automatically the quitting work of overpressure alarm immediately, with the safety of protection system and personnel.Wagon drill working platform can be carried out leveling fast by this control mode, ensures the normal work of the safety of rig, has safety, reliability and ease-to-operate.
Relative, in the prior art, although wagon drill hydraulic leg leveling system widely uses in geophysical drilling machine vehicle device, be manual control mode, the verticality on derrick and ground judges by artificial visually examine, the low low precision of efficiency.Be difficult to the demand meeting the geophysical prospecting market nowadays developed rapidly.For ensureing that the derrick of wagon drill is rapidly and accurately perpendicular to ground, alleviate driller's labour intensity, make the normal work that rig is safe and reliable, the technical scheme provided in the embodiment of the present invention makes wagon drill carry out rapidly electric-hydraulic proportion automatic leveling accurately under control of the ecu by hydraulic leg, achieves the self-leveling effect of petroleum exploration wagon drill.
Those skilled in the art should understand, embodiments of the invention can be provided as method, system or computer program.Therefore, the present invention can adopt the form of complete hardware embodiment, completely software implementation or the embodiment in conjunction with software and hardware aspect.And the present invention can adopt in one or more form wherein including the upper computer program implemented of computer-usable storage medium (including but not limited to magnetic disc store, CD-ROM, optical memory etc.) of computer usable program code.
The present invention describes with reference to according to the flow chart of the method for the embodiment of the present invention, equipment (system) and computer program and/or block diagram.Should understand can by the combination of the flow process in each flow process in computer program instructions realization flow figure and/or block diagram and/or square frame and flow chart and/or block diagram and/or square frame.These computer program instructions can being provided to the processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing device to produce a machine, making the instruction performed by the processor of computer or other programmable data processing device produce device for realizing the function of specifying in flow chart flow process or multiple flow process and/or block diagram square frame or multiple square frame.
These computer program instructions also can be stored in can in the computer-readable memory that works in a specific way of vectoring computer or other programmable data processing device, the instruction making to be stored in this computer-readable memory produces the manufacture comprising command device, and this command device realizes the function of specifying in flow chart flow process or multiple flow process and/or block diagram square frame or multiple square frame.
These computer program instructions also can be loaded in computer or other programmable data processing device, make on computer or other programmable devices, to perform sequence of operations step to produce computer implemented process, thus the instruction performed on computer or other programmable devices is provided for the step realizing the function of specifying in flow chart flow process or multiple flow process and/or block diagram square frame or multiple square frame.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; the protection domain be not intended to limit the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (15)
1. a rig hydraulic leg automatic horizontal control system, it is characterized in that, comprising: hydraulic buttery valve (26), hydraulic leg (1) ~ (4), electronic control unit ECU (10), electromagnetic coil (6) ~ (9) and (20) ~ (23), pressure sensor (13) ~ (16), obliquity sensor (17); Wherein:
Connect pressure sensor (13) ~ (16) of hydraulic leg, a hydraulic leg connects a sensor, and each sensor is for detecting the duty of connected hydraulic leg;
Obliquity sensor (17), for detecting the horizontal level of each hydraulic leg;
Electromagnetic coil is connected with hydraulic buttery valve (26), for controlling the flexible of each hydraulic leg;
ECU (10), with pressure sensor (13) ~ (16), obliquity sensor (17), electromagnetic coil is connected, for according to pressure sensor, the detection signal of obliquity sensor, the flexible of each hydraulic leg is controlled by electromagnetic coil and hydraulic buttery valve, wherein, according to the hydraulic leg being in extreme lower position in the detection signal determination hydraulic leg of obliquity sensor, control this hydraulic leg by electromagnetic coil and hydraulic buttery valve first to stretch out and after reaching predeterminated position, using the position of this hydraulic leg as leveling benchmark, control other hydraulic legs by electromagnetic coil and hydraulic buttery valve and carry out leveling.
2. the system as claimed in claim 1, it is characterized in that, electromagnetic coil (6) ~ (9) are connected with hydraulic buttery valve (26) with (20) ~ (23), wherein, four solenoid controlled are stretched out, four solenoid controlled retraction, often organizes electromagnetic coil and comprises the electromagnetic coil that electromagnetic coil that a control stretches out and control retraction, often organizes stretching of electromagnetic coil and a hydraulic buttery valve co-controlling hydraulic leg.
3. the system as claimed in claim 1, is characterized in that, comprises further:
Over pressure alarm device (24), for when there is superpressure, sends alarm.
4. the system as claimed in claim 1, is characterized in that, comprises further:
Fuel oil Controlling solenoid valve (19), for when there is superpressure, cuts off the fuel oil supply of motor (29).
5. the system as claimed in claim 1, is characterized in that, comprises further:
ECU is further used for when there is superpressure, is controlled the reset of each hydraulic leg by electromagnetic coil and hydraulic buttery valve, and the hydraulic oil cutting off each hydraulic circuit supplies and imports hydraulic oil container (27).
6. a using method for the rig hydraulic leg automatic horizontal control system as described in any one of claim 1 to 5, is characterized in that, comprising:
ECU is according to the duty of the detection signal determination hydraulic leg of pressure sensor (13) ~ (16);
ECU determines according to the detection signal of obliquity sensor (17) hydraulic leg being in extreme lower position;
First the hydraulic leg that ECU controls to be in extreme lower position by electromagnetic coil and hydraulic buttery valve stretches out and reaches predeterminated position;
ECU, to be in the position of the hydraulic leg of extreme lower position as leveling benchmark, to control other hydraulic legs by electromagnetic coil and hydraulic buttery valve and carries out leveling.
7. method as claimed in claim 6, is characterized in that, comprise further:
Out of service after hydraulic leg leveling, and lock after the hydraulic circuit turning off hydraulic leg.
8. method as claimed in claim 6, is characterized in that, comprise further:
When there is superpressure, triggering over pressure alarm device (24) and sending alarm.
9. method as claimed in claim 6, is characterized in that, comprise further:
When there is superpressure, cut off the fuel oil supply of motor (29) by fuel oil Controlling solenoid valve (19).
10. method as claimed in claim 6, is characterized in that, comprise further:
When there is superpressure, ECU controls the reset of each hydraulic leg by electromagnetic coil and hydraulic buttery valve, and the hydraulic oil cutting off each hydraulic circuit supplies and imports hydraulic oil container (27).
11. 1 kinds, for the microcontroller of the rig hydraulic leg automatic horizontal control system as described in any one of claim 1 to 5, is characterized in that, comprising:
State determining module, for the duty of the detection signal determination hydraulic leg according to pressure sensor (13) ~ (16);
Position determination module, for determining according to the detection signal of obliquity sensor (17) hydraulic leg being in extreme lower position;
Leveling module, first stretches out for the hydraulic leg controlling to be in extreme lower position by electromagnetic coil and hydraulic buttery valve and reaches predeterminated position; To be in the position of the hydraulic leg of extreme lower position as leveling benchmark, to control other hydraulic legs by electromagnetic coil and hydraulic buttery valve and carry out leveling.
12. microcontrollers as claimed in claim 11, is characterized in that, comprise further:
Locking module, for out of service after hydraulic leg leveling, and locks after the hydraulic circuit turning off hydraulic leg.
13. microcontrollers as claimed in claim 11, is characterized in that, comprise further:
Alarm module, for when there is superpressure, triggering over pressure alarm device (24) and sending alarm.
14. microcontrollers as claimed in claim 11, is characterized in that, comprise further:
Fuel-cut module, for when there is superpressure, cuts off the fuel oil supply of motor (29) by fuel oil Controlling solenoid valve (19).
15. microcontrollers as claimed in claim 11, is characterized in that, comprise further:
Fuel oil imports module, and for when there is superpressure, ECU controls the reset of each hydraulic leg by electromagnetic coil and hydraulic buttery valve, and the hydraulic oil cutting off each hydraulic circuit supplies and imports hydraulic oil container (27).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410686074.5A CN104405293B (en) | 2014-11-25 | 2014-11-25 | Rig hydraulic leg automatic horizontal control system and its using method, microcontroller |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410686074.5A CN104405293B (en) | 2014-11-25 | 2014-11-25 | Rig hydraulic leg automatic horizontal control system and its using method, microcontroller |
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| CN104405293A true CN104405293A (en) | 2015-03-11 |
| CN104405293B CN104405293B (en) | 2017-04-05 |
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Cited By (1)
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