CN104405293B - Rig hydraulic leg automatic horizontal control system and its using method, microcontroller - Google Patents
Rig hydraulic leg automatic horizontal control system and its using method, microcontroller Download PDFInfo
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- CN104405293B CN104405293B CN201410686074.5A CN201410686074A CN104405293B CN 104405293 B CN104405293 B CN 104405293B CN 201410686074 A CN201410686074 A CN 201410686074A CN 104405293 B CN104405293 B CN 104405293B
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 239000000295 fuel oil Substances 0.000 claims description 24
- 230000008676 import Effects 0.000 claims description 13
- 239000003921 oil Substances 0.000 claims description 12
- 239000010720 hydraulic oil Substances 0.000 claims description 11
- 238000005520 cutting process Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 239000003208 petroleum Substances 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 6
- 230000008569 process Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 10
- 238000004590 computer program Methods 0.000 description 7
- 238000004422 calculation algorithm Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 210000003141 lower extremity Anatomy 0.000 description 3
- 241001074085 Scophthalmus aquosus Species 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 230000003137 locomotive effect Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002828 fuel tank Substances 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
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method 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)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Analytical Chemistry (AREA)
- Chemical & Material Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a kind of rig hydraulic leg automatic horizontal control system and its using method, microcontroller, the wherein system include：Hydraulic buttery valve, hydraulic leg, electronic control unit ECU, solenoid, pressure transducer, obliquity sensor；Wherein：The pressure transducer of connection hydraulic leg, connects a sensor on a hydraulic leg, each sensor is used for the working condition of the hydraulic leg for detecting connected；Obliquity sensor, for detecting the horizontal level of each hydraulic leg；Solenoid is connected with hydraulic buttery valve, for controlling the flexible of each hydraulic leg；ECU, is connected with pressure transducer, obliquity sensor, solenoid, for the detection signal according to pressure transducer, obliquity sensor, controls the flexible of each hydraulic leg by solenoid and hydraulic buttery valve.The self-leveling effect of petroleum exploration wagon drill can be realized using the present invention.
Description
Technical field
The present invention relates to petroleum exploration technical field, more particularly to a kind of rig hydraulic leg automatic horizontal control system and its make
With method, microcontroller.
Background technology
In petroleum exploration wagon drill hydraulic leg electric-hydraulic proportion leveling application, prior art uses artificial hand
Dynamic operation, mode of operation are simple, no superpressure alarm and automatic protection functions, and safety is poor, high labor intensive.
The content of the invention
The embodiment of the present invention provides a kind of rig hydraulic leg automatic horizontal control system, to realize petroleum exploration wagon drill
Self-leveling effect, the system include：
Hydraulic buttery valve 26, hydraulic leg 1～4, electronic control unit ECU10, solenoid 6～9 and 20～23, pressure
Sensor 13～16, obliquity sensor 17；Wherein：
The pressure transducer 13～16 of connection hydraulic leg, connects a sensor on a hydraulic leg, each sensing
Device is used for the working condition of the hydraulic leg for detecting connected；
Obliquity sensor 17, for detecting the horizontal level of each hydraulic leg；
Solenoid is connected with hydraulic buttery valve 26, for controlling the flexible of each hydraulic leg；
ECU10, is connected with pressure transducer 13～16, obliquity sensor 17, solenoid, for according to pressure sensing
The detection signal of device, obliquity sensor, controls the flexible of each hydraulic leg by solenoid and hydraulic buttery valve, wherein, root
The hydraulic leg in hydraulic leg in extreme lower position is determined according to the detection signal of obliquity sensor, by solenoid and hydraulic pressure
After the solenoid valve control hydraulic leg stretches out first and reaches predeterminated position, the position using the hydraulic leg as leveling benchmark,
Other hydraulic legs are controlled by solenoid and hydraulic buttery valve carries out leveling；
Fuel oil controls electromagnetic valve 19, for when there is superpressure, cutting off the fuel oil supply of electromotor 29.
In one embodiment, solenoid 6～9 and 20～23 is connected with hydraulic buttery valve 26, wherein, four solenoids
Control is stretched out, four solenoid controlled retractions, the solenoid and that every group of solenoid is respectively stretched out comprising a control
The solenoid of individual control retraction, every group of solenoid are flexible with one hydraulic leg of hydraulic buttery valve co- controlling.
In one embodiment, described system is further included：
Over pressure alarm device 24, for when there is superpressure, sending alarm.
In one embodiment, described system is further included：
ECU is further used for when there is superpressure, controls answering for each hydraulic leg by solenoid and hydraulic buttery valve
Position, and cut off the high pressure oil supply of each hydraulic circuit and import 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, to reality
The self-leveling effect of existing petroleum exploration wagon drill, the method include：
ECU determines the working condition of hydraulic leg according to the detection signal of pressure transducer 13～16；
ECU determines the hydraulic leg in extreme lower position according to the detection signal of obliquity sensor 17；
ECU passes through the hydraulic leg of solenoid and hydraulic buttery valve control in extreme lower position and stretches out first and reach pre-
If position；
ECU using in extreme lower position hydraulic leg position as leveling benchmark, by solenoid and hydraulic electromagnetic
Valve controls other hydraulic legs and carries out leveling；
When there is superpressure, the fuel oil supply that electromagnetic valve 19 cuts off electromotor 29 is controlled by fuel oil.
In one embodiment, described method is further included：
It is out of service after hydraulic leg leveling, and locked after the hydraulic circuit of shut-off hydraulic leg.
In one embodiment, described method is further included：
When there is superpressure, triggering over pressure alarm device 24 sends alarm.
In one embodiment, described method is further included：
When there is superpressure, ECU passes through solenoid and hydraulic buttery valve controls the reset of each hydraulic leg, and cuts off each
The high pressure oil supply of hydraulic circuit simultaneously 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, uses
To realize the self-leveling effect of petroleum exploration wagon drill, the microcontroller includes：
State determining module, for the work shape of hydraulic leg is determined according to the detection signal of pressure transducer 13～16
State；
Position determination module, for the hydraulic pressure in extreme lower position is determined according to the detection signal of obliquity sensor 17
Lower limb；
Leveling module, stretches first for the hydraulic leg by solenoid and hydraulic buttery valve control in extreme lower position
Go out and reach predeterminated position；Using in extreme lower position hydraulic leg position as leveling benchmark, by solenoid and liquid
Pressure electromagnetic valve controls other hydraulic legs and carries out leveling；
Fuel-cut module, for when there is superpressure, controlling the fuel oil that electromagnetic valve 19 cuts off electromotor 29 by fuel oil
Supply.
In one embodiment, described microcontroller is further included：
Locking module, for out of service after hydraulic leg leveling, and in the hydraulic circuit of shut-off hydraulic leg
After locked.
In one embodiment, described microcontroller is further included：
Alarm module, for when there is superpressure, triggering over pressure alarm device 24 sends alarm.
In one embodiment, described microcontroller is further included：
Fuel oil import modul, for when there is superpressure, ECU passes through solenoid and hydraulic buttery valve controls each hydraulic pressure
The reset of lower limb, and cut off the high pressure oil supply of each hydraulic circuit and import hydraulic oil container 27.
Technical scheme provided in an embodiment of the present invention, ensure that the derrick of wagon drill rapidly and accurately perpendicular to ground,
Mitigate driller's labor intensity, make the normal work that rig is safe and reliable, make wagon drill by hydraulic leg in ECU
(Electronic Control Unit, electronic control unit；It is also referred to as computer, microcomputer, microprocessor, microcontroller etc.)
Control under carry out rapid accurately electric-hydraulic proportion automatic leveling, realize the self-leveling effect of petroleum exploration wagon drill.
Description of the drawings
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, below will be to making needed for embodiment description
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, can be obtaining other according to these accompanying drawings
Accompanying drawing.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 implementation process diagram of rig hydraulic leg automatic horizontal control system in the embodiment of the present invention；
Fig. 3 is the microcontroller architecture schematic diagram in the embodiment of the present invention for rig hydraulic leg automatic horizontal control system；
Fig. 4 is instrumental panel button and display lamp position view in the embodiment of the present invention.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention becomes more apparent, below in conjunction with the accompanying drawings to this
Bright embodiment is described in further details.Here, the schematic description and description of the present invention is used to explain the present invention, but and
It is not as a limitation of the invention.
The technical scheme provided in the embodiment of the present invention, provides a kind of safe and reliable, operation letter for petroleum exploration wagon drill
Just it is, rapid accurate, and it is designed with the hydraulic leg electric-hydraulic proportion automatic horizontal control system of relatively complete security protection and warning system.Under
Face illustrates.
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 is
System includes：Hydraulic buttery valve 26, hydraulic leg 1～4, ECU10, solenoid 6～9 and 20～23, pressure transducer 13～
16th, obliquity sensor 17；Wherein：
The pressure transducer 13～16 of connection hydraulic leg, connects a sensor on a hydraulic leg, each sensing
Device is used for the working condition of the hydraulic leg for detecting connected；
Obliquity sensor 17, for detecting the horizontal level of each hydraulic leg；
Solenoid is connected with hydraulic buttery valve 26, for controlling the flexible of each hydraulic leg；
ECU10, is connected with pressure transducer 13～16, obliquity sensor 17, solenoid, for according to pressure sensing
The detection signal of device, obliquity sensor, controls the flexible of each hydraulic leg by solenoid and hydraulic buttery valve, wherein, root
The hydraulic leg in hydraulic leg in extreme lower position is determined according to the detection signal of obliquity sensor, by solenoid and hydraulic pressure
After the solenoid valve control hydraulic leg stretches out first and reaches predeterminated position, the position using the hydraulic leg as leveling benchmark,
Other hydraulic legs are controlled by solenoid and hydraulic buttery valve carries out leveling.
In enforcement, solenoid 6～9 and 20～23 is connected with hydraulic buttery valve 26, wherein, four solenoid controlleds are stretched
Go out, four solenoid controlled retractions, every group of solenoid respectively includes solenoid and the control that a control is stretched out
The solenoid of retraction, every group of solenoid are flexible with one hydraulic leg of hydraulic buttery valve co- controlling.
In enforcement, can further include：
Over pressure alarm device 24, for when there is superpressure, sending alarm.
In enforcement, can further include：
Fuel oil controls electromagnetic valve 19, for when there is superpressure, cutting off the fuel oil supply of electromotor 29.
In enforcement, can further include：
ECU is further used for when there is superpressure, controls answering for each hydraulic leg by solenoid and hydraulic buttery valve
Position, and cut off the high pressure oil supply of each hydraulic circuit and import hydraulic oil container 27.
Based on above-mentioned rig hydraulic leg automatic horizontal control system, the user of the system in the embodiment of the present invention, is additionally provided
Method, is illustrated below.
Fig. 2 is the using method implementation process diagram of rig hydraulic leg automatic horizontal control system in the embodiment of the present invention,
As shown in Fig. 2 may include steps of in implementing：
Step 201, ECU determine the working condition of hydraulic leg according to the detection signal of pressure transducer 13～16；
Step 202, ECU determine the hydraulic leg in extreme lower position according to the detection signal of obliquity sensor 17；
Step 203, ECU pass through the hydraulic leg of solenoid and hydraulic buttery valve control in extreme lower position and stretch out first
And reach predeterminated position；
Step 204, ECU using the position of the hydraulic leg in extreme lower position as leveling benchmark, by solenoid and
Hydraulic buttery valve controls other hydraulic legs and carries out leveling.
In enforcement, can further include：
It is out of service after hydraulic leg leveling, and locked after the hydraulic circuit of shut-off hydraulic leg.
In enforcement, can further include：
When there is superpressure, triggering over pressure alarm device 24 sends alarm.
In enforcement, can further include：
When there is superpressure, the fuel oil supply that electromagnetic valve 19 cuts off electromotor 29 is controlled by fuel oil.
In enforcement, can further include：
When there is superpressure, ECU passes through solenoid and hydraulic buttery valve controls the reset of each hydraulic leg, and cuts off each
The high pressure oil supply of hydraulic circuit simultaneously imports hydraulic oil container 27.
Based on same design, additionally provide in the embodiment of the present invention a kind of for rig hydraulic leg automatic horizontal control system
Microcontroller, is illustrated below.
Fig. 3 is the microcontroller architecture schematic diagram in the embodiment of the present invention for rig hydraulic leg automatic horizontal control system,
As shown in figure 3, can include in microcontroller：
State determining module 301, for the work of hydraulic leg is determined according to the detection signal of pressure transducer 13～16
State；
Position determination module 302, for the hydraulic pressure in extreme lower position is determined according to the detection signal of obliquity sensor 17
Supporting leg；
Leveling module 303, it is first for the hydraulic leg by solenoid and hydraulic buttery valve control in extreme lower position
First stretch out and reach predeterminated position；Using in extreme lower position hydraulic leg position as leveling benchmark, by solenoid
Other hydraulic legs are controlled with hydraulic buttery valve carries out leveling.
In enforcement, can further include：
Locking module, for out of service after hydraulic leg leveling, and in the hydraulic circuit of shut-off hydraulic leg
After locked.
In enforcement, can further include：
Alarm module, for when there is superpressure, triggering over pressure alarm device 24 sends alarm.
In enforcement, can further include：
Fuel-cut module, for when there is superpressure, controlling the fuel oil that electromagnetic valve 19 cuts off electromotor 29 by fuel oil
Supply.
In enforcement, can further include：
Fuel oil import modul, for when there is superpressure, ECU passes through solenoid and hydraulic buttery valve controls each hydraulic pressure
The reset of lower limb, and cut off the high pressure oil supply of each hydraulic circuit and import hydraulic oil container 27.
Below again with example illustrating, in order to understand how to implement the present invention.
As shown in figure 1, in rig hydraulic leg automatic horizontal control system, including electromotor 29, hydraulic pump 28, hydraulic oil container
27th, hydraulic buttery valve 26, hydraulic leg 1～4 (left front hydraulic leg 1, left back hydraulic leg 2, it is right before hydraulic leg 3, liquid behind the right side
Pressure supporting leg 4), on and off switch 5, ECU10, control hydraulic buttery valve 26 solenoid 6～9 and 20～23, pressure transducer 13
～16, obliquity sensor 17, emergency stop switch 11, activate switch 12, fuel oil control electromagnetic valve 19, display instrument 18, display lamp 25,
24 grade of over pressure alarm device is constituted.
In enforcement, the automatic leveling of the hydraulic leg 1,2,3,4 of wagon drill is to drive hydraulic pump 28 to work by electromotor 29
There is provided pressure oil for whole hydraulic system, and be analyzed according to the feedback signal of each pressure transducer 13～16 by ECU10 and
Computing, then controls hydraulic buttery valve 26 to complete via each solenoid 6～9 and 20～23 of hydraulic buttery valve 26.
Fig. 4 is instrumental panel button and display lamp position view in the embodiment of the present invention, can be arranged such as in real work
Instrumental panel button and display lamp shown in Fig. 4, in order to control.
In enforcement, the automatic horizontal control system of the hydraulic leg 1,2,3,4 of wagon drill is provided with and off switch 5, emergency stop switch
11 and 12 3 knobs of activate switch and display lamp 25, over pressure alarm device 24, display instrument 18, and bench board is respectively led into by taking charge of
Bore the work of centralized Control leveling system.
When being embodied as, can be as follows：
When wagon drill works, power turn-on switch 5 first, system is obtained electric and completes power-on self-test, into ready standby
State.
When system needs to start work, first by driller to control system mono- enabling signal of ECU10, ECU examined first
Survey the signal of each pressure transducer and system is judged in which kind of working condition, then again according to the telecommunications of obliquity sensor 17
Number, it is analyzed by ECU, is calculated, multilevel iudge goes out hydraulic leg 1～4, and which is in extreme lower position.Analysis, calculating are adopted
Algorithm can be preset in inside which, algorithm can be drawn by practical experience, design judge that hydraulic leg be in lowest order
The algorithm put, this is easily to realize for a person skilled in the art.
Then control signal is provided by ECU10 and controls the hydraulic leg of the extreme lower position and started first and stretch out, reached default
(will hydraulic oil cylinder rod stretch out certain length) stops afterwards and maintains static (as leveling benchmark) for position, then again by ECU10
The signal fed back according to inclination angle sensor 17 by certain algorithm carry out computing and compare with after judgement, respectively via solenoid
6～9 and 20～23 control hydraulic buttery valves 26 so control the stroke of other three road hydraulic legs carry out leveling (relative to
First hydraulic leg is levelling), so adjust repeatedly until leveling is completed.Display lamp 25 is bright, represents that system leveling is completed.This
Planting control mode can carry out quick leveling by wagon drill work platformses, it is ensured that the safe normal work of rig, with safety
Property, reliability and ease-to-operate.
In system work, each hydraulic leg 1,2,3,4 individually can be controlled and independent operating.During work, except enabling signal by
Artificial control is outer, and whole leveling process is automatically performed, without the need for manual intervention.
It is that out of service and by manually shut-off hydraulic leg hydraulic circuit is locked after system leveling.System sets
In respect of pressure overpressure alarm and protection system and jerk treatment mechanism.In work, such as occur certain failure cause cause superpressure (or
By manually pressing emergency stop switch when there is certain failure), ECU10 starts over pressure alarm device 24 immediately and reports to the police, and controls fuel oil control
The fuel oil supply of the cut-out electromotor 29 of electromagnetic valve processed 19, forces engine stop to work, while ECU10 is also via solenoid 6
～9 and 20～23 control hydraulic buttery valves reset (be in middle position), cut off the high pressure oil supply of each hydraulic circuit and import hydraulic pressure
Fuel tank 27, with protection system and the safety of personnel.The security mechanism, can quickly and effectively and reliably protection system and personnel
Safety, with safety, reliability and ease-to-operate.
In embodiment, wagon drill hydraulic leg electric-hydraulic proportion automatic horizontal control system can be by hydraulic system (power source),
Four the hydraulic leg oil cylinders that can be worked independently, central microcontroller (ECU) system, hydraulic buttery valve, various sensors (pressures
Power, position, obliquity sensor), instrument, control knob, the group of the mechanical-electrical-hydraulic integration of composition such as over pressure alarm device and display lamp
Syzygy is united.In work, system electrification self-inspection is completed and ready, when needing to start, gives control system (microcontroller first
Device) enabling signal, via controller detects the signal of telecommunication of obliquity sensor, and carries out (microcontroller preset algorithm) point
After analysis, calculating and multilevel iudge (wagon drill is judged by square model), four liquid of wagon drill are automatically controlled respectively
Pressure landing leg stretching, and the signal of obliquity sensor is monitored at any time, it is analyzed and judges further according to this angle feed-back information, then
The stroke of (independently also can be combined is carried out) four hydraulic legs is automatically adjusted, and is finally reached self-leveling purpose.System
In system work, each hydraulic leg individually can be controlled and independent operating, in addition to enabling signal is by artificial control, whole leveling process,
It is automatically performed, without the need for manual intervention.System completes i.e. out of service after leveling and by the hydraulic pressure system for manually turning off hydraulic leg
System loop is locked.The system design has pressure overpressure alarm and protection system, during work, certain failure cause such as occurs and draws
Superpressure is played, start overpressure alarm immediately is automatically stopped work, with protection system and the safety of personnel.This control mode can
Wagon drill work platformses are carried out into quick leveling, it is ensured that the safe normal work of rig, with safety, reliability and operation
Simplicity.
Relative, in the prior art, although wagon drill hydraulic leg leveling system is wide in geophysical drilling machine vehicle device
General use, but manual control mode is, the perpendicularity on derrick and ground manually estimates judgement, the low low precision of efficiency.It is difficult to
The demand of the geophysical prospecting market that satisfaction is nowadays developed rapidly.To ensure the derrick of wagon drill rapidly and accurately perpendicular to ground
Face, mitigates driller's labor intensity, makes the normal work that rig is safe and reliable, make brill in technical scheme provided in an embodiment of the present invention
Locomotive carries out rapid accurately electric-hydraulic proportion automatic leveling under control of the ecu by hydraulic leg, realizes petroleum exploration brill
The self-leveling effect of locomotive.
Those skilled in the art are it should be appreciated that embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can adopt complete hardware embodiment, complete software embodiment or with reference to the reality in terms of software and hardware
Apply the form of example.And, the present invention can be using the computer for wherein including computer usable program code at one or more
The computer program implemented in usable storage medium (including but not limited to disk memory, CD-ROM, optical memory etc.) is produced
The form of product.
The present invention be with reference to method according to embodiments of the present invention, equipment (system), and computer program flow process
Figure and/or block diagram are describing.It should be understood that can be by computer program instructions flowchart and/or each stream in block diagram
The combination of journey and/or square frame and flow chart and/or flow process and/or square frame in block diagram.These computer programs can be provided
The processor of general purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced for reality by the instruction of computer or the computing device of other programmable data processing devices
The device of the function of specifying in present one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or multiple square frames.
These computer program instructions may be alternatively stored in and can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory is produced to be included referring to
Make the manufacture of device, the command device realize in one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or
The function of specifying in multiple square frames.
These computer program instructions can be also loaded in computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented process, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow process of flow chart or multiple flow processs and/or block diagram one
The step of function of specifying in individual square frame or multiple square frames.
Particular embodiments described above, has been carried out to the purpose of the present invention, technical scheme and beneficial effect further in detail
Describe bright, the be should be understood that specific embodiment that the foregoing is only the present invention, the guarantor being not intended to limit the present invention in detail
Shield scope, all any modification, equivalent substitution and improvements within the spirit and principles in the present invention, done etc., should be included in this
Within the protection domain of invention.
Claims (12)
1. a kind of rig hydraulic leg automatic horizontal control system, it is characterised in that include：Hydraulic buttery valve (26), hydraulic leg (1
～4), electronic control unit ECU (10), solenoid (6～9 and 20～23), pressure transducer (13～16), obliquity sensor
(17)；Wherein：
The pressure transducer (13～16) of connection hydraulic leg, connects a sensor, each sensor on a hydraulic leg
For detecting the working condition of connected hydraulic leg；
Obliquity sensor (17), for detecting the horizontal level of each hydraulic leg；
Solenoid is connected with hydraulic buttery valve (26), for controlling the flexible of each hydraulic leg；
ECU (10), is connected with pressure transducer (13～16), obliquity sensor (17), solenoid, for according to pressure sensing
The detection signal of device, obliquity sensor, controls the flexible of each hydraulic leg by solenoid and hydraulic buttery valve, wherein, root
The hydraulic leg in hydraulic leg in extreme lower position is determined according to the detection signal of obliquity sensor, by solenoid and hydraulic pressure
After the solenoid valve control hydraulic leg stretches out first and reaches predeterminated position, the position using the hydraulic leg as leveling benchmark,
Other hydraulic legs are controlled by solenoid and hydraulic buttery valve carries out leveling；
Fuel oil control electromagnetic valve (19), for when there is superpressure, cutting off the fuel oil supply of electromotor (29).
2. the system as claimed in claim 1, it is characterised in that solenoid (6～9 and 20～23) and hydraulic buttery valve (26)
It is connected, wherein, four solenoid controlleds are stretched out, and four solenoid controlled retractions, every group of solenoid are respectively controlled comprising one
Solenoid and the solenoid of a control retraction, every group of solenoid and hydraulic buttery valve co- controlling one that system is stretched out
Prop up the flexible of hydraulic leg.
3. the system as claimed in claim 1, it is characterised in that further include：
Over pressure alarm device (24), for when there is superpressure, sending alarm.
4. the system as claimed in claim 1, it is characterised in that further include：
ECU is further used for when there is superpressure, controls the reset of each hydraulic leg by solenoid and hydraulic buttery valve, and
Cut off the high pressure oil supply of each hydraulic circuit and import hydraulic oil container (27).
5. a kind of using method of the rig hydraulic leg automatic horizontal control system as described in any one of Claims 1-4, its feature
It is, including：
ECU determines the working condition of hydraulic leg according to the detection signal of pressure transducer (13～16)；
ECU determines the hydraulic leg in extreme lower position according to the detection signal of obliquity sensor (17)；
ECU passes through the hydraulic leg of solenoid and hydraulic buttery valve control in extreme lower position and stretches out first and reach default position
Put；
ECU using in extreme lower position hydraulic leg position as leveling benchmark, by solenoid and hydraulic buttery valve control
Making other hydraulic legs carries out leveling；
When there is superpressure, the fuel oil supply that electromagnetic valve (19) cuts off electromotor (29) is controlled by fuel oil.
6. method as claimed in claim 5, it is characterised in that further include：
It is out of service after hydraulic leg leveling, and locked after the hydraulic circuit of shut-off hydraulic leg.
7. method as claimed in claim 5, it is characterised in that further include：
When there is superpressure, triggering over pressure alarm device (24) sends alarm.
8. method as claimed in claim 5, it is characterised in that further include：
When there is superpressure, ECU passes through solenoid and hydraulic buttery valve controls the reset of each hydraulic leg, and cuts off each hydraulic pressure
The high pressure oil supply in loop simultaneously imports hydraulic oil container (27).
9. a kind of microcontroller of the rig hydraulic leg automatic horizontal control system for as described in any one of Claims 1-4, its
It is characterised by, including：
State determining module, for the working condition of hydraulic leg is determined according to the detection signal of pressure transducer (13～16)；
Position determination module, for the hydraulic leg in extreme lower position is determined according to the detection signal of obliquity sensor (17)；
Leveling module, stretches out simultaneously first for the hydraulic leg by solenoid and hydraulic buttery valve control in extreme lower position
Reach predeterminated position；Using the position of the hydraulic leg in extreme lower position as leveling benchmark, by solenoid and hydraulic pressure electricity
Magnet valve controls other hydraulic legs and carries out leveling；
Fuel-cut module, for when there is superpressure, controlling the fuel oil that electromagnetic valve (19) cuts off electromotor (29) by fuel oil
Supply.
10. microcontroller as claimed in claim 9, it is characterised in that further include：
Locking module, for out of service after hydraulic leg leveling and laggard in the hydraulic circuit of shut-off hydraulic leg
Row locking.
11. microcontrollers as claimed in claim 9, it is characterised in that further include：
Alarm module, for when there is superpressure, triggering over pressure alarm device (24) sends alarm.
12. microcontrollers as claimed in claim 9, it is characterised in that further include：
Fuel oil import modul, for when there is superpressure, ECU passes through solenoid and hydraulic buttery valve controls each hydraulic leg
Reset, and cut off the high pressure oil supply of each hydraulic circuit and import hydraulic oil container (27).
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| 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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| 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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| CN104405293B true CN104405293B (en) | 2017-04-05 |
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| CN106437698A (en) * | 2016-09-29 | 2017-02-22 | 中交第三航务工程勘察设计院有限公司 | Underwater platform for exploration sampling or in-situ test and using method thereof |
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| FR2655131B1 (en) * | 1989-11-27 | 1992-03-06 | Bercon Jean Yves | DEVICE FOR ADJUSTING AND PRESERVING THE PLATE OF A VERTICALLY MOBILE SUPPORT. |
| CN100564987C (en) * | 2008-04-24 | 2009-12-02 | 上海交通大学 | Moving carrier automatic leveling system |
| CN101781971A (en) * | 2010-02-12 | 2010-07-21 | 徐州博汇东明机械制造有限公司 | Automatic mast angle adjustment device for core-drilling machine |
| CN102079298B (en) * | 2010-12-28 | 2013-06-05 | 三一重工股份有限公司 | Mobile engineering machine and control system of support leg thereof |
| CN102174794B (en) * | 2011-03-07 | 2012-08-15 | 江苏科技大学 | Automatic leveling system and method for six-point support bridging platform |
| CN103352882B (en) * | 2013-06-17 | 2016-01-20 | 三一汽车起重机械有限公司 | Landing leg stretching pattern switching valve and engineering machinery |
| CN103423221B (en) * | 2013-07-24 | 2015-10-28 | 三一汽车起重机械有限公司 | Multi-oil-cylinder sequence telescopic hydraulic system and engineering machinery |
| CN104044561B (en) * | 2014-06-24 | 2016-04-06 | 中联重科股份有限公司 | Control system, method and device for adjusting supporting legs of engineering vehicle and engineering vehicle |
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