CN105003206A - Rotary drilling rig, support leg extending or retracting control system of rotary drilling rig and control method - Google Patents
Rotary drilling rig, support leg extending or retracting control system of rotary drilling rig and control method Download PDFInfo
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- CN105003206A CN105003206A CN201510385813.1A CN201510385813A CN105003206A CN 105003206 A CN105003206 A CN 105003206A CN 201510385813 A CN201510385813 A CN 201510385813A CN 105003206 A CN105003206 A CN 105003206A
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Abstract
The invention relates to a support leg extending or retracting control system of a rotary drilling rig. The support leg extending or retracting control system comprises a first detection unit, a second detection unit, a controller and an executing unit, wherein the first detection unit is used for detecting the operation state of a windlass of the rotary drilling rig and the position, positioned in a drill hole, of a drill bit of the rotary drilling rig, and transmits the first detection result to the controller; the second detection unit is used for detecting the in-place state of the extending or retracting action of a support leg of the rotary drilling rig and transmits the second detection result to the controller; and the controller judges whether to start the support leg extending or retracting action or not according to the second detection result, judges whether the support leg extending or retracting action is in place or not according to the second detection result, and controls the executing unit to stop the support leg extending or retracting action. The support leg extending or retracting control system of the rotary drilling rig has the advantages that the extending or retracting action of the support leg can be automatically controlled according to the work state of the rotary drilling rig; meanwhile, the extending or retracting action of the support leg is enabled to be in place; safety accidents due to wrong judgment and misoperation are avoided; the work efficiency is improved; and the construction safety is ensured.
Description
Technical field
The present invention relates to the technical field of engineering machinery, the landing leg stretching control system of especially a kind of rotary drilling rig, rotary drilling rig and control method.
Background technology
As a kind of large-scale engineering mechanical device, rotary drilling rig can not only coordinate different drilling tools because of it, be adapted to the pore-forming operation of dry type (short spiral), wet type (rotary bucket) and rock stratum (rock core drill), and have that installed power is large, output torque is large, axial compression is large, maneuverability, efficiency of construction are high and the feature such as function is many, be therefore widely used in the foundation construction engineerings such as urban construction, highway bridge, highrise building.
In order to effectively improve borehole accuracy, promote the stability of drilling machine construction, avoid potential safety hazards such as tumbling backward, producer is all provided with bracing or strutting arrangement (as the structure such as supporting leg, leg) at the afterbody of rotary drilling rig.Fig. 1 is the structural representation of rotary drilling rig when carrying out bore operation in prior art, as shown in Figure 1, in the prior art, when rotary drilling rig 100 needs to carry out bore operation, unit head 110 drives drilling rod 120 to move downward, and drill bit 130 carries out bore operation under the drive of drilling rod 120.When drill bit 130 walks to ground line, operating personnel make supporting leg 140 stretch by operating grip, and observe supporting leg 140 on a display screen by camera and whether move downwardly to ground, when rotary drilling rig 100 hole complete needs revolution unload soil time, operating personnel need to be retracted by supporting leg 140 by operating grip, then drill bit 130 are removed to assigned address from hole and carry out unloading native operation.
But in prior art the supporting leg 140 of rotary drilling rig 100 stretching, extension and to retract be all need operating personnel to go to judge and control, both reduced operating efficiency can not ensure safety when operating.Put in place may have the collimation error by whether display screen observation supporting leg 140 is flexible, cause the result judged by accident to occur.Such as, when holing, supporting leg 140 is not supported in ground completely, and rotary drilling rig 100 can be made to have the danger of tumbling.Also have when operating personnel forget supporting leg 140 stretched or retracts just start next step operation time, rotary drilling rig 100 also can be made to there is larger potential safety hazard.
Summary of the invention
The object of the present invention is to provide a kind of landing leg stretching control system of rotary drilling rig, this control system can control the expanding-contracting action of supporting leg automatically, can ensure that the flexible of supporting leg puts in place simultaneously, avoid the security incident produced because of erroneous judgement and maloperation, increase work efficiency, ensure construction safety.
The invention provides a kind of landing leg stretching control system of rotary drilling rig, comprise the first detecting unit, the second detecting unit, controller and performance element;
Described first detecting unit is arranged in the position of boring for the drill bit of the running status and rotary drilling rig that detect the hoist engine of rotary drilling rig, and the first testing result is passed to described controller;
Second testing result for the state that puts in place of the stretching, extension or contractive action that detect the supporting leg of rotary drilling rig, and is passed to described controller by described second detecting unit;
According to this first testing result, described controller determines whether that startup supporting leg stretches or contractive action, and control described performance element execution supporting leg stretching, extension or contractive action when needs start supporting leg stretching, extension or contractive action; Whether described controller also puts in place according to this second testing result judgement supporting leg stretching, extension or contraction, and controls described performance element stopping supporting leg stretching, extension or contractive action when supporting leg stretches or shrink and put in place.
Further, described first probe unit comprises drill bit sounding gear and hoist engine motion detection element, described drill bit sounding gear is for detecting the drill bit of rotary drilling rig apart from the distance at the bottom of ground or distance hole, and described hoist engine motion detection element is in propradation or decline state for the hoist engine detecting rotary drilling rig.
Further, described drill bit sounding gear is depth encoder, and described hoist engine motion detection element is pressure switch, sensor or electric control handle.
Further, described second detecting unit comprises supporting leg and stretches put in place detecting element and supporting leg and shrink the detecting element that puts in place, described supporting leg stretches and puts detecting element in place for detecting the state that puts in place of the stretching of supporting leg, and described supporting leg shrinks and puts detecting element in place for detecting the state that puts in place of the contractive action of supporting leg.
Further, it is pressure switch or sensor that described supporting leg stretches the detecting element that puts in place, and it is limit switch or proximity switch that described supporting leg shrinks the detecting element that puts in place.
Further, described performance element comprises for controlling the stretching, extension electromagnetic valve of supporting leg stretching, extension and the contraction electromagnetic valve for controlling supporting leg contraction.
Further, described performance element also comprises supporting leg and drives oil cylinder, and described stretching, extension electromagnetic valve and described supporting leg drive the rodless cavity of oil cylinder to be connected, and described contraction electromagnetic valve and described supporting leg drive the rod chamber of oil cylinder to be connected.
Further, the first threshold values distance and the second threshold values distance of drill bit distance at the bottom of hole on drill bit distance ground is preset with in described controller, when hoist engine is in propradation and drill bit is less than this first threshold values distance apart from the distance on ground, described controller judges to need to start supporting leg contractive action and controls described contraction electromagnetic valve to be opened supporting leg is shunk; When supporting leg contraction puts in place, described controller controls described contraction closed electromagnetic valve makes supporting leg shrink stopping; When hoist engine is in decline state and drill bit is less than this second threshold values distance apart from the distance at the bottom of hole, described controller judges to need to start supporting leg stretching and controls described stretching, extension electromagnetic valve to be opened supporting leg is stretched; When supporting leg stretching, extension puts in place, described controller controls described stretching, extension closed electromagnetic valve makes supporting leg stretch stopping.
Present invention also offers a kind of method of rotary drilling rig landing leg stretching, the method adopts the landing leg stretching control system of any one rotary drilling rig provided by the invention, and its step is as follows:
Detect by described first detecting unit the position that the running status of hoist engine of rotary drilling rig and the drill bit of rotary drilling rig are arranged in boring, and the first testing result is passed to described controller;
Detected the stretching, extension of supporting leg or the state that puts in place of contractive action of rotary drilling rig by described second detecting unit, and the second testing result is passed to described controller;
Determine whether that starting supporting leg stretches or contractive action by described controller according to this first testing result, and described performance element execution supporting leg stretching is controlled when needs start supporting leg stretching, control described performance element when needs start supporting leg contractive action and perform supporting leg contractive action; And
Judge that supporting leg stretches or shrinks by described controller according to this second testing result whether to put in place, and described performance element stopping supporting leg stretching is controlled when supporting leg stretches and puts in place, control described performance element when supporting leg shrinks and puts in place and stop supporting leg contractive action.
Present invention also offers a kind of rotary drilling rig, have rotary drilling rig landing leg stretching control system, described landing leg stretching control system is any one landing leg stretching control system provided by the present invention.
In sum, the present invention by arranging landing leg stretching control system on rotary drilling rig, can according to the duty of rotary drilling rig in bore operation, the expanding-contracting action of automatic control supporting leg, can ensure that the flexible of supporting leg puts in place simultaneously, avoid the security incident produced because of the erroneous judgement of operating personnel and maloperation, increase work efficiency, ensure construction safety.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to technological means of the present invention can be better understood, and can be implemented according to the content of manual, and can become apparent to allow above and other object of the present invention, feature and advantage, below especially exemplified by preferred embodiment, and coordinate accompanying drawing, be described in detail as follows.
Accompanying drawing explanation
Fig. 1 is the structural representation of rotary drilling rig when carrying out bore operation in prior art.
Fig. 2 is the structured flowchart of the landing leg stretching control system of rotary drilling rig in the embodiment of the present invention.
Fig. 3 is the control flow chart of the landing leg stretching control system of rotary drilling rig in the embodiment of the present invention.
Fig. 4 is the structural representation of the drill bit position in the borehole of rotary drilling rig.
Detailed description of the invention
For further setting forth the present invention for the technological means reaching predetermined goal of the invention and take and effect, below in conjunction with accompanying drawing and preferred embodiment, it is as follows that the present invention is described in detail.
The invention provides a kind of landing leg stretching control system of rotary drilling rig.Fig. 2 is the structured flowchart of the landing leg stretching control system of rotary drilling rig in the embodiment of the present invention, Fig. 3 is the control flow chart of the landing leg stretching control system of rotary drilling rig in the embodiment of the present invention, and Fig. 4 is the structural representation of the drill bit position in the borehole of rotary drilling rig.As shown in Figures 2 to 4, the landing leg stretching control system of rotary drilling rig provided by the present invention comprises the first detecting unit 20, second detecting unit 30, controller 40 and performance element 50.Between first detecting unit 20, second detecting unit 30, controller 40 and performance element 50, signal connects.Particularly, controller 40 for receiving the detection signal of the first detecting unit 20 and the second detecting unit 30 detection acquisition, and controls the action executing of performance element 50 according to these detection signals.
First detecting unit 20 is arranged in the position (i.e. the first testing result) of boring for the drill bit of the running status and rotary drilling rig that detect the hoist engine of rotary drilling rig, and this first testing result is passed to controller 40.Controller 40 receives the first detecting unit 20 and detects the first testing result obtained, determine whether that startup supporting leg stretches or contractive action according to the first testing result, and control performance element 50 performs supporting leg stretching, extension or contractive action when needs start supporting leg stretching, extension or contractive action.This second testing result for the state that puts in place (i.e. the second testing result) of the stretching, extension or contractive action that detect the supporting leg of rotary drilling rig, and is passed to controller 40 by the second detecting unit 30.Controller 40 receives the second detecting unit 30 and detects the second testing result obtained, controller 40 stretches according to the second testing result judgement supporting leg or whether contraction puts in place, and control performance element 50 stops supporting leg stretching or contractive action when supporting leg stretches or contraction puts in place.
Particularly, in the present embodiment, the first detecting unit 20 comprises drill bit sounding gear 21 and hoist engine motion detection element 22.Drill bit sounding gear 21 is specifically as follows depth encoder, but not as limit, drill bit for drill bit sounding gear detection rotary drilling rig is arranged in the position of boring, namely drill bit is apart from ground or apart from the distance at the bottom of hole, as shown in Figure 4, the distance (i.e. the bit depth of the display screen display of rotary drilling rig) of drill bit apart from ground is represented with A, the degree of depth (i.e. the hole depth of the display screen display of rotary drilling rig) in hole is represented with B, represent that drill bit is apart from the distance at the bottom of hole with H, then H=B-A.Hoist engine motion detection element 22 be specifically as follows in pressure switch, sensor and electric control handle one or more, but not as limit, when rotary drilling rig carries out bore operation, hoist engine motion detection element 22 is for detecting the running status of the hoist engine of rotary drilling rig, and namely hoist engine is in propradation and still declines state (drill bit upwards still moves downward).It should be noted that at this, the hoist engine described in the present invention refers to the hoist engine be connected with drilling rod, declines for driving drilling rod and drill bit or rises.
Second detecting unit 30 comprises supporting leg and stretches put in place detecting element 31 and supporting leg and shrink the detecting element 32 that puts in place.Supporting leg stretch that the detecting element 31 that puts in place is specifically as follows in pressure switch and sensor one or more, but not as limit, for detecting the state that puts in place of the stretching of the supporting leg of rotary drilling rig.When supporting leg is stretched over ground, supporting leg stretches the detecting element 31 that puts in place will detect that supporting leg stretches the status signal that puts in place, and the status signal that supporting leg stretching, extension put in place passes to controller 40, controller 40 stretches according to this supporting leg the status signal control performance element 50 that puts in place and stops supporting leg stretching.Supporting leg shrink that the detecting element 32 that puts in place is specifically as follows in limit switch and proximity switch one or more, but not as limit, for detecting the state that puts in place of the contractive action of the supporting leg of rotary drilling rig.When supporting leg contraction puts in place, supporting leg shrinks the detecting element 32 that puts in place will detect that supporting leg shrinks the status signal that puts in place, and the status signal that supporting leg contraction put in place passes to controller 40, controller 40 shrinks according to this supporting leg the status signal control performance element 50 that puts in place and stops supporting leg contractive action.
Controller 40 is specifically as follows programmable logic controller (PLC) (Programmable Logic Controller, PLC), but not as limit, the first threshold values distance and the second threshold values distance of drill bit distance at the bottom of hole on drill bit distance ground is previously provided with in controller 40, first threshold values distance and the second threshold values distance can set according to actual conditions, such as, be all 10m.After controller 40 receives the signal of the first detecting unit 20 transmission, whether the position judgment that controller 40 is arranged in boring according to the running status of hoist engine and drill bit starts supporting leg stretching, extension or contractive action, particularly, when hoist engine is in propradation and the distance on drill bit distance ground is less than the first threshold values distance, show that the drill bit of rotary drilling rig is about to pull-out from boring, rotary drilling rig needs to carry out moving (such as carrying out unloading native operation) immediately, this Time Controller 40 judges to need to start supporting leg contractive action and control performance element 50 to perform supporting leg contractive action, supporting leg is made to be contracted to precalculated position, be beneficial to rotary drilling rig next move, when hoist engine is in decline state and drill bit is less than the second threshold values distance apart from the distance at the bottom of hole, show that the drill bit of rotary drilling rig is about to arrive at the bottom of hole and carry out bore operation, this Time Controller 40 judges to need to start supporting leg stretching and control performance element 50 to perform supporting leg stretching, supporting leg is stretched in the face of rotary drilling rig afterbody support, be beneficial to the monolithic stability of rotary drilling rig, prevent rotary drilling rig from the potential safety hazard of tumbling backward occurring in the borehole.
After controller 40 receives the signal of the second detecting unit 30 transmission, whether controller 40 stops supporting leg stretching or contractive action according to the condition adjudgement that puts in place of the stretching, extension of supporting leg or contractive action, particularly, when controller 40 receive supporting leg stretch put in place detecting element 31 transmit supporting leg stretch put in place status signal time, show that now supporting leg reaches ground, controller 40 judges that supporting leg stretches to have put in place and controlled performance element 50 and stops supporting leg stretching; When controller 40 receive supporting leg shrink supporting leg that the detecting element 32 that puts in place transmits shrink put status signal in place time, show that now supporting leg is retracted to preposition, controller 40 judges that supporting leg shrinks and has put in place and controlled performance element 50 and stop supporting leg contractive action.
Performance element 50 specifically can comprise for controlling the stretching, extension electromagnetic valve 51 of supporting leg stretching, extension and the contraction electromagnetic valve 52 for controlling supporting leg contraction, performance element 50 can also comprise and drives oil cylinder (not shown) with stretching electromagnetic valve 51 and shrink the supporting leg that electromagnetic valve 52 is connected, such as stretching electromagnetic valve 51 drives the rodless cavity of oil cylinder to be connected with supporting leg, shrinks electromagnetic valve 52 and drives the rod chamber of oil cylinder to be connected with supporting leg.When controller 40 control stretching, extension electromagnetic valve 51 is opened, the hydraulic system of rotary drilling rig drives supporting leg to drive oil cylinder to make supporting leg perform stretching; When supporting leg stretching, extension puts in place, controller 40 controls to stretch electromagnetic valve 51 and cuts out, and the stretching of supporting leg stops.When controller 40 control contraction electromagnetic valve 52 is opened, the hydraulic system of rotary drilling rig drives supporting leg to drive oil cylinder to make supporting leg perform contractive action; When supporting leg contraction puts in place, controller 40 controls to shrink electromagnetic valve 52 and cuts out, and the contractive action of supporting leg stops.
Understandably, the quantity of the aft mounted supporting leg of rotary drilling rig can be multiple, and be such as two, left side and right side respectively arrange a supporting leg; This supporting leg stretches the detecting element 31 that puts in place, supporting leg shrinks the detecting element 32 that puts in place, supporting leg stretches electromagnetic valve 51 and supporting leg contraction electromagnetic valve 52 also can, for multiple, lay respectively on each supporting leg, so that controller 40 controls each supporting leg.
Present invention also offers a kind of landing leg stretching control method of the landing leg stretching control system based on above-mentioned rotary drilling rig, this landing leg stretching control method comprises the steps:
The drill bit of the running status and rotary drilling rig that detect the hoist engine of rotary drilling rig by the first detecting unit 20 is arranged in the position of boring, and the first testing result is passed to controller 40;
Detect the stretching, extension of the supporting leg of rotary drilling rig or the state that puts in place of contractive action by the second detecting unit 30, and the second testing result is passed to controller 40;
Determine whether that starting supporting leg stretches or contractive action by controller 40 according to the first testing result, and control performance element 50 performs supporting leg stretching when needs start supporting leg stretching, control performance element 50 when needs start supporting leg contractive action and perform supporting leg contractive action testing result; And
Judge that supporting leg stretches or shrinks by controller 40 according to the second testing result whether to put in place, and when supporting leg stretching, extension puts in place, control performance element 50 stops supporting leg stretching, controls performance element 50 stop supporting leg contractive action when supporting leg shrinks and puts in place.
Particularly, the first detecting unit 20 comprises drill bit sounding gear 21 and hoist engine motion detection element 22.Drill bit sounding gear 21 is arranged in the position of boring for the drill bit detecting rotary drilling rig, and namely drill bit is apart from ground or apart from the distance at the bottom of hole.Hoist engine motion detection element 22 is for detecting the running status of the hoist engine of rotary drilling rig, and namely hoist engine is in propradation and still declines state (drill bit upwards still moves downward).
Second detecting unit 30 comprises supporting leg and stretches put in place detecting element 31 and supporting leg and shrink the detecting element 32 that puts in place.Supporting leg stretches and puts detecting element 31 in place for detecting the state that puts in place of the stretching of the supporting leg of rotary drilling rig.Supporting leg shrinks and puts detecting element 32 in place for detecting the state that puts in place of the contractive action of the supporting leg of rotary drilling rig.
Performance element 50 comprises for controlling the stretching, extension electromagnetic valve 51 of supporting leg stretching, extension and the contraction electromagnetic valve 52 for controlling supporting leg contraction.Performance element 50 can also comprise and drives oil cylinder with stretching electromagnetic valve 51 and shrinks the supporting leg that electromagnetic valve 52 is connected, and stretching, extension electromagnetic valve 51 can drive the rodless cavity of oil cylinder to be connected with supporting leg, and contraction electromagnetic valve 52 can drive the rod chamber of oil cylinder to be connected with supporting leg.
Controller 40 can be programmable logic controller (PLC), and in controller 40, be preset with the first threshold values distance and the second threshold values distance of drill bit distance at the bottom of hole on drill bit distance ground.Controller 40 is specifically according to the control of testing result to supporting leg stretching, extension or contraction of the first detecting unit 20 and the second detecting unit 30:
When hoist engine is in propradation and the distance on drill bit distance ground is less than the first threshold values distance, controller 40 judges now to need to start supporting leg contractive action and controls to shrink electromagnetic valve 52 to be opened, and drives oil cylinder to drive supporting leg to shrink by hydraulic system driving supporting leg; When supporting leg contraction puts in place, controller 40 controls to shrink electromagnetic valve 52 and cuts out, and supporting leg shrinks and stops; And
When hoist engine is in decline state and drill bit is less than the second threshold values distance apart from the distance at the bottom of hole, controller 40 judges now to need to start supporting leg stretching and controls to stretch electromagnetic valve 51 to be opened, and drives supporting leg to drive oil cylinder to drive supporting leg to stretch by hydraulic system; When supporting leg stretching, extension puts in place, controller 40 controls to stretch electromagnetic valve 51 and cuts out, and supporting leg stretches and stops.
Present invention also offers a kind of rotary drilling rig, have above-mentioned landing leg stretching control system, other features of this rotary drilling rig see prior art, can not repeat them here.
In sum, the present invention by arranging landing leg stretching control system on rotary drilling rig, can according to the duty of rotary drilling rig in bore operation, the expanding-contracting action of automatic control supporting leg, can ensure that the flexible of supporting leg puts in place simultaneously, avoid the security incident produced because of the erroneous judgement of operating personnel and maloperation, increase work efficiency, ensure construction safety.
The above, it is only preferred embodiment of the present invention, not any pro forma restriction is done to the present invention, although the present invention discloses as above with preferred embodiment, but and be not used to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, make a little change when the technology contents of above-mentioned announcement can be utilized or be modified to the Equivalent embodiments of equivalent variations, in every case be do not depart from technical solution of the present invention content, according to any simple modification that technical spirit of the present invention is done above embodiment, equivalent variations and modification, all still belong in the scope of technical solution of the present invention.
Claims (10)
1. a landing leg stretching control system for rotary drilling rig, is characterized in that, comprises the first detecting unit, the second detecting unit, controller and performance element;
Described first detecting unit is arranged in the position of boring for the drill bit of the running status and rotary drilling rig that detect the hoist engine of rotary drilling rig, and the first testing result is passed to described controller;
Second testing result for the state that puts in place of the stretching, extension or contractive action that detect the supporting leg of rotary drilling rig, and is passed to described controller by described second detecting unit;
According to this first testing result, described controller determines whether that startup supporting leg stretches or contractive action, and control described performance element execution supporting leg stretching, extension or contractive action when needs start supporting leg stretching, extension or contractive action; Whether described controller also puts in place according to this second testing result judgement supporting leg stretching, extension or contraction, and controls described performance element stopping supporting leg stretching, extension or contractive action when supporting leg stretches or shrink and put in place.
2. the landing leg stretching control system of rotary drilling rig according to claim 1, it is characterized in that: described first probe unit comprises drill bit sounding gear and hoist engine motion detection element, described drill bit sounding gear is for detecting the drill bit of rotary drilling rig apart from the distance at the bottom of ground or distance hole, and described hoist engine motion detection element is in propradation or decline state for the hoist engine detecting rotary drilling rig.
3. the landing leg stretching control system of rotary drilling rig according to claim 2, is characterized in that: described drill bit sounding gear is depth encoder, and described hoist engine motion detection element is pressure switch, sensor or electric control handle.
4. the landing leg stretching control system of rotary drilling rig according to claim 1, it is characterized in that: described second detecting unit comprises supporting leg and stretches put in place detecting element and supporting leg and shrink the detecting element that puts in place, described supporting leg stretches and puts detecting element in place for detecting the state that puts in place of the stretching of supporting leg, and described supporting leg shrinks and puts detecting element in place for detecting the state that puts in place of the contractive action of supporting leg.
5. the landing leg stretching control system of rotary drilling rig according to claim 4, is characterized in that: it is pressure switch or sensor that described supporting leg stretches the detecting element that puts in place, and it is limit switch or proximity switch that described supporting leg shrinks the detecting element that puts in place.
6. the landing leg stretching control system of rotary drilling rig according to claim 1, is characterized in that: described performance element comprises for controlling the stretching, extension electromagnetic valve of supporting leg stretching, extension and the contraction electromagnetic valve for controlling supporting leg contraction.
7. the landing leg stretching control system of rotary drilling rig according to claim 6, it is characterized in that: described performance element also comprises supporting leg and drives oil cylinder, described stretching, extension electromagnetic valve and described supporting leg drive the rodless cavity of oil cylinder to be connected, and described contraction electromagnetic valve and described supporting leg drive the rod chamber of oil cylinder to be connected.
8. the landing leg stretching control system of rotary drilling rig according to claim 6, it is characterized in that: the first threshold values distance and the second threshold values distance of drill bit distance at the bottom of hole that are preset with drill bit distance ground in described controller, when hoist engine is in propradation and drill bit is less than this first threshold values distance apart from the distance on ground, described controller judges to need to start supporting leg contractive action and controls described contraction electromagnetic valve to be opened supporting leg is shunk; When supporting leg contraction puts in place, described controller controls described contraction closed electromagnetic valve makes supporting leg shrink stopping; When hoist engine is in decline state and drill bit is less than this second threshold values distance apart from the distance at the bottom of hole, described controller judges to need to start supporting leg stretching and controls described stretching, extension electromagnetic valve to be opened supporting leg is stretched; When supporting leg stretching, extension puts in place, described controller controls described stretching, extension closed electromagnetic valve makes supporting leg stretch stopping.
9. the landing leg stretching control method of a rotary drilling rig, it is characterized in that, described landing leg stretching control method adopts the landing leg stretching control system of rotary drilling rig as claimed in any of claims 1 to 8 in one of claims, and described landing leg stretching control method comprises the steps:
Detect by described first detecting unit the position that the running status of hoist engine of rotary drilling rig and the drill bit of rotary drilling rig are arranged in boring, and the first testing result is passed to described controller;
Detected the stretching, extension of supporting leg or the state that puts in place of contractive action of rotary drilling rig by described second detecting unit, and the second testing result is passed to described controller;
Determine whether that starting supporting leg stretches or contractive action by described controller according to this first testing result, and described performance element execution supporting leg stretching is controlled when needs start supporting leg stretching, control described performance element when needs start supporting leg contractive action and perform supporting leg contractive action; And
Judge that supporting leg stretches or shrinks by described controller according to this second testing result whether to put in place, and described performance element stopping supporting leg stretching is controlled when supporting leg stretches and puts in place, control described performance element when supporting leg shrinks and puts in place and stop supporting leg contractive action.
10. a rotary drilling rig, is characterized in that: described rotary drilling rig has landing leg stretching control system as claimed in any of claims 1 to 8 in one of claims.
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| CN107558989A (en) * | 2017-10-19 | 2018-01-09 | 上海中联重科桩工机械有限公司 | Rotary drilling rig intelligent controlling device, rotary drilling rig intelligent control method and system |
| CN107558988A (en) * | 2017-10-19 | 2018-01-09 | 上海中联重科桩工机械有限公司 | Rotary drilling rig intelligent controlling device, rotary drilling rig intelligent control method and system |
| CN107558989B (en) * | 2017-10-19 | 2020-12-22 | 上海中联重科桩工机械有限公司 | Intelligent control device of rotary drilling rig, intelligent control method and system of rotary drilling rig |
| CN107558988B (en) * | 2017-10-19 | 2021-01-12 | 上海中联重科桩工机械有限公司 | Intelligent control device of rotary drilling rig, intelligent control method and system of rotary drilling rig |
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| CN105003206B (en) | 2017-04-26 |
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