CN105003206B - 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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- CN105003206B CN105003206B CN201510385813.1A CN201510385813A CN105003206B CN 105003206 B CN105003206 B CN 105003206B CN 201510385813 A CN201510385813 A CN 201510385813A CN 105003206 B CN105003206 B CN 105003206B
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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, especially a kind of rotary drilling rig, the landing leg stretching control of rotary drilling rig
System processed and control method.
Background technology
Used 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 dry
The pore-forming operation of formula (short spiral), wet type (rotary bucket) and rock stratum (rock core drill), and with installed power is big, output torque big,
Axial compressive force is big, maneuverability, efficiency of construction are high and the features such as many functions, therefore is widely used in urban construction, highway bridge
In the foundation construction engineering such as beam, skyscraper.
In order to effectively improve borehole accuracy, the stability of drilling machine construction is lifted, it is to avoid the potential safety hazard such as tumble backward, producer
Support meanss (such as supporting leg, leg structure) are designed with the afterbody of rotary drilling rig.Fig. 1 is that rotary drilling rig is entering in prior art
Structural representation during row bore operation, as shown in figure 1, in the prior art, when rotary drilling rig 100 needs to carry out bore operation
When, 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.Work as drill bit
When 130 rows are to ground level, operator stretch supporting leg 140 by operation handle, and are observed on a display screen by photographic head
Whether supporting leg 140 moves downwardly to ground, and when the drilling of rotary drilling rig 100 is finished needs revolution to unload soil, operator need logical
Cross operation handle supporting leg 140 is retracted, then drill bit 130 is removed to into specified location from hole carries out unloading native operation.
But the stretching, extension of the supporting leg 140 of rotary drilling rig 100 and retraction are all to need operator to go to judge in prior art
With control, work efficiency was both reduced in operation and cannot guarantee that safety.Arrive by the way that whether display screen observation supporting leg 140 stretches
Position might have the collimation error, cause the result judged by accident to occur.For example, in drilling, supporting leg 140 is not supported in completely ground,
Rotary drilling rig 100 can be made to have the danger tumbled.Also when operator forget supporting leg 140 is stretched or retracted to begin to next step
During operation, rotary drilling rig 100 can be also set to there is larger potential safety hazard.
The content of the invention
It is an object of the invention to provide a kind of landing leg stretching control system of rotary drilling rig, the control system can be automatic
Control supporting leg expanding-contracting action, while ensure that supporting leg it is flexible in place, it is to avoid the peace produced because of erroneous judgement and maloperation
Full accident, improves work efficiency, it is ensured that construction safety.
The present invention provides a kind of landing leg stretching control system of rotary drilling rig, including the first detector unit, the second detection list
Unit, controller and performance element；
First detector unit is used for the running status of the hoist engine for detecting rotary drilling rig and the drill bit position of rotary drilling rig
Position in drilling, and the first testing result is passed to into the controller；
Second detector unit is used for the stretching, extension of the supporting leg for detecting rotary drilling rig or the state in place of contractive action, and will
Second testing result passes to the controller；
Be preset with the controller drill bit apart from ground the first threshold values distance and drill bit apart from bottom hole the second threshold values
Distance, when hoist engine in the distance of decline state and drill bit away from bottom hole less than second threshold values apart from when, the controller is sentenced
It is disconnected to need to start supporting leg stretching and control the performance element to perform supporting leg stretching；When hoist engine is in propradation
And distance of the drill bit away from ground less than first threshold values apart from when, the controller judges to need to start supporting leg contractive action and control
Make the performance element and perform supporting leg contractive action；The controller judges that supporting leg stretches or receipts always according to second testing result
Contracting whether in place, and supporting leg stretch or shrink in place when control the performance element and stop supporting leg stretching or shrink dynamic
Make.
Further, first detector unit includes drill bit sounding gear and hoist engine motion detection element, the brill
Head sounding gear is used to detect the drill bit of rotary drilling rig away from ground or the distance away from bottom hole, and the hoist engine motion detection element is used
It is to be in propradation or decline state in the hoist engine for detecting rotary drilling rig.
Further, the drill bit sounding gear is depth encoder, and the hoist engine motion detection element is opened for pressure
Pass, sensor or electric control handle.
Further, second detector unit includes that supporting leg stretches detecting element in place and supporting leg shrinks and detect in place unit
Part, the supporting leg stretches the state in place of the stretching that detecting element in place is used to detect supporting leg, and the supporting leg shrinks in place
Detecting element is used for the state in place of the contractive action for detecting supporting leg.
Further, it is pressure switch or sensor that the supporting leg stretches detecting element in place, and the supporting leg shrinks in place
Detecting element is limit switch or proximity switch.
Further, the performance element include for control supporting leg stretching, extension stretching, extension electromagnetic valve and for control supporting leg receive
The contraction electromagnetic valve of contracting.
Further, the performance element also includes that supporting leg drives oil cylinder, the stretching, extension electromagnetic valve to drive with the supporting leg
The rodless cavity of oil cylinder is connected, and the electromagnetic valve that shrinks drives the rod chamber of oil cylinder to be connected with the supporting leg.
Present invention also offers a kind of method of rotary drilling rig landing leg stretching, it is any one that the method employing present invention is provided
The landing leg stretching control system of item rotary drilling rig, its step is as follows：
Running status and the drill bit position of rotary drilling rig of the hoist engine of rotary drilling rig are detected by first detector unit
Position in drilling, and the first testing result is passed to into the controller；
Stretching, extension or the state in place of contractive action of the supporting leg of rotary drilling rig are detected by second detector unit, and will
Second testing result passes to the controller；
When hoist engine in the distance of decline state and drill bit away from bottom hole less than second threshold values apart from when, the controller
Judgement needs to start supporting leg stretching and control the performance element to perform supporting leg stretching, when hoist engine is in rising shape
The distance of state and drill bit away from ground less than first threshold values apart from when, the controller judges to need to start supporting leg contractive action simultaneously
Control the performance element and perform supporting leg contractive action；And
Supporting leg stretching, extension is judged according to second testing result by the controller or is shunk whether in place, and in supporting leg
Stretch in place when control the performance element and stop supporting leg stretching, supporting leg shrink in place when control described to perform list
Unit stops supporting leg contractive action.
Present invention also offers a kind of rotary drilling rig, with rotary drilling rig landing leg stretching control system, the landing leg stretching
Control system is the landing leg stretching control system of the rotary drilling rig described in any one provided by the present invention.
In sum, the present invention, can be according to rotary drilling rig by arranging landing leg stretching control system on rotary drilling rig
Working condition in bore operation, automatically controls the expanding-contracting action of supporting leg, at the same ensure that supporting leg it is flexible in place, it is to avoid
The security incident that produces because of the erroneous judgement of operator and maloperation, improves work efficiency, it is ensured that construction safety.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of description, and in order to allow the present invention above and other objects, features and advantages can
Become apparent, below especially exemplified by preferred embodiment, and coordinate accompanying drawing, describe in detail as follows.
Description of the drawings
Fig. 1 is structural representation of the rotary drilling rig when bore operation is carried out 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 for the drill bit position in the borehole of rotary drilling rig structural representation.
Specific embodiment
Further to illustrate the present invention to reach technological means and effect that predetermined goal of the invention is taken, 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 churning driven in the embodiment of the present invention
The structured flowchart of the landing leg stretching control system of machine, Fig. 3 is the landing leg stretching control system of rotary drilling rig in the embodiment of the present invention
Control flow chart, Fig. 4 for the drill bit position in the borehole of rotary drilling rig structural representation.As shown in Figures 2 to 4, originally
The landing leg stretching control system of the provided rotary drilling rig of invention includes the first detector unit 20, the second detector unit 30, control
Device 40 and performance element 50.First detector unit 20, the second detector unit 30, between controller 40 and performance element 50 signal connect
Connect.Specifically, controller 40 is used to receive the detection signal that the first detector unit 20 and the detection of the second detector unit 30 are obtained, and
The action executing of performance element 50 is controlled according to these detection signals.
First detector unit 20 is used to detect that the running status of hoist engine and the drill bit of rotary drilling rig of rotary drilling rig are located at
Position (i.e. the first testing result) in drilling, and first testing result is passed to into controller 40.Controller 40 receives the
The first testing result that the detection of one detector unit 20 is obtained, determines whether that starting supporting leg stretches or contraction according to the first testing result
Action, and control performance element 50 performs supporting leg stretching, extension or contractive action when needing to start supporting leg stretching, extension or contractive action.The
Two detector units 30 are used for the stretching, extension of the supporting leg for detecting rotary drilling rig or the state in place (i.e. the second testing result) of contractive action,
And second testing result is passed to into controller 40.Controller 40 receives the second detection that the detection of the second detector unit 30 is obtained
As a result, in place whether controller 40 judge supporting leg stretching, extension or shrink according to the second testing result, and stretch or shrink in supporting leg
Performance element 50 is controlled when in place and stops supporting leg stretching, extension or contractive action.
Specifically, in the present embodiment, the first detector unit 20 includes drill bit sounding gear 21 and hoist engine motion detection
Element 22.Drill bit sounding gear 21 is specifically as follows depth encoder, but is not limited, and revolves for the detection of drill bit sounding gear
The position that the drill bit of rig is located in drilling is dug, i.e., drill bit is away from ground or the distance away from bottom hole, as shown in figure 4, representing brill with A
Distance (i.e. the bit depth of the display screen display of rotary drilling rig) of the head away from ground, depth (the i.e. churning driven in hole is represented with B
The hole depth of the display screen display of machine), distance of the drill bit away from bottom hole is represented with H, then H=B-A.Hoist engine motion detection element
22 are specifically as follows one or more in pressure switch, sensor and electric control handle, but are not limited, and enter in rotary drilling rig
During row bore operation, hoist engine motion detection element 22 is used for the running status of the hoist engine for detecting rotary drilling rig, i.e. hoist engine
Still decline state in propradation (drill bit is still moved downward upwards).Here is it should be noted that heretofore described
Hoist engine refer to the hoist engine being connected with drilling rod, for driving drilling rod and drill bit down or up.
Second detector unit 30 includes that supporting leg stretches detecting element 31 in place and supporting leg shrinks detecting element 32 in place.Supporting leg
Stretch one or more that detecting element 31 in place is specifically as follows in pressure switch and sensor, but be not limited, be used for
The state in place of the stretching of the supporting leg of detection rotary drilling rig.When supporting leg is stretched over ground, supporting leg stretches and detect in place unit
Part 31 will detect supporting leg and stretch status signal in place, and by supporting leg stretching, extension, in place status signal passes to controller 40, controls
Device 40 stretches the performance element 50 of status signal control in place and stops supporting leg stretching according to the supporting leg.Supporting leg shrinks and detects in place
Element 32 is specifically as follows one or more in limit switch and proximity switch, but is not limited, for detecting churning driven
The state in place of the contractive action of the supporting leg of machine.When supporting leg shrinks in place, supporting leg shrinks detecting element 32 in place will be detected
Supporting leg shrinks status signal in place, and in place status signal passes to controller 40 by supporting leg contraction, and controller 40 is according to this
Lower limb shrinks the performance element 50 of status signal control in place and stops supporting leg contractive action.
Controller 40 be specifically as follows programmable logic controller (PLC) (Programmable Logic Controller,
PLC), but it is not limited, the first threshold values distance and drill bit that drill bit is previously provided with controller 40 apart from ground is apart from hole
The second threshold values distance at bottom, the first threshold values distance and the second threshold values distance can set according to practical situation, for example, be all 10m.
Controller 40 is received after the signal of the transmission of the first detector unit 20, running status and drill bit position of the controller 40 according to hoist engine
Whether the position judgment in drilling starts supporting leg is stretched or contractive action, specifically, when hoist engine is in propradation and brill
Distance of the head away from ground less than the first threshold values apart from when, showing the drill bit of rotary drilling rig will pull out from drilling, rotary digging immediately
Rig needs to move (for example carry out unloading native operation), and now controller 40 judges to need to start supporting leg contractive action and control
Performance element 50 performs supporting leg contractive action, makes supporting leg be contracted to precalculated position, is beneficial to rotary drilling rig followed by movement；
When hoist engine in the distance of decline state and drill bit away from bottom hole less than the second threshold values apart from when, show the drill bit of rotary drilling rig i.e.
Bottom hole will be reached carries out bore operation, and now controller 40 judges to need to start supporting leg stretching and control performance element 50 to hold
Row supporting leg stretching, be stretched over supporting leg be supported in the face of the afterbody of rotary drilling rig, be beneficial to the whole of rotary drilling rig
Body is stablized, and prevents rotary drilling rig from the potential safety hazard tumbled backward occurring in the borehole.
Controller 40 is received after the signal of the transmission of the second detector unit 30, stretching, extension or contraction of the controller 40 according to supporting leg
Whether the condition adjudgement in place of action stops supporting leg being stretched or contractive action, specifically, is stretched when controller 40 receives supporting leg
When the supporting leg of the transmission of detecting element 31 in place stretches status signal in place, show that now supporting leg has reached ground, controller 40 is sentenced
Disconnected supporting leg stretches and in place and control performance element 50 and stop supporting leg stretching；Shrink in place when controller 40 receives supporting leg
When the supporting leg of the transmission of detecting element 32 shrinks status signal in place, show that now supporting leg is retracted to predetermined position, controller 40
Judge supporting leg shrink in place and control performance element 50 stop supporting leg contractive action.
Performance element 50 can specifically include the stretching, extension electromagnetic valve 51 for controlling supporting leg stretching, extension and receive for controlling supporting leg
The contraction electromagnetic valve 52 of contracting, performance element 50 can also include and stretch electromagnetic valve 51 and shrink the supporting leg drive that electromagnetic valve 52 is connected
Dynamic oil cylinder (not shown), for example, stretch electromagnetic valve 51 and drive the rodless cavity of oil cylinder to be connected with supporting leg, shrinks electromagnetic valve 52 and supporting leg
The rod chamber for driving oil cylinder is connected.When electromagnetic valve 51 is stretched in the control of controller 40 to be opened, the hydraulic system of rotary drilling rig drives
Supporting leg drives oil cylinder to make supporting leg perform stretching；When supporting leg stretches in place, the control of controller 40 is stretched electromagnetic valve 51 and is closed,
The stretching of supporting leg stops.When electromagnetic valve 52 is shunk in the control of controller 40 to be opened, the hydraulic system of rotary drilling rig drives props up
Lower limb drives oil cylinder to make supporting leg perform contractive action；When supporting leg shrinks in place, the control of controller 40 is shunk electromagnetic valve 52 and is closed,
The contractive action of lower limb stops.
It is to be appreciated that the quantity of the aft mounted supporting leg of rotary drilling rig can be for multiple, for example, two, left side and
Right side respectively arranges a supporting leg；The supporting leg stretches detecting element 31, supporting leg in place and shrinks the electricity of detecting element 32, supporting leg stretching, extension in place
It also can be multiple that magnet valve 51 and supporting leg shrink electromagnetic valve 52, respectively on each supporting leg, in order to controller 40 pairs
Each supporting leg is controlled.
Present invention also offers a kind of landing leg stretching controlling party of the landing leg stretching control system based on above-mentioned rotary drilling rig
Method, the landing leg stretching control method comprises the steps：
Detect that the running status of hoist engine and the drill bit of rotary drilling rig of rotary drilling rig are located at by the first detector unit 20
Position in drilling, and the first testing result is passed to into controller 40；
Detect stretching, extension or the state in place of contractive action of the supporting leg of rotary drilling rig by the second detector unit 30, and by the
Two testing results pass to controller 40；
Determine whether that starting supporting leg stretches or contractive action according to the first testing result by controller 40, and needing to open
Performance element 50 is controlled during dynamic supporting leg stretching and performs supporting leg stretching, the control when needing to start supporting leg contractive action is held
Row unit 50 performs supporting leg contractive action testing result；And
Supporting leg stretching, extension is judged according to the second testing result by controller 40 or whether in place to be shunk, and stretched in supporting leg
When in place control performance element 50 stop supporting leg stretching, supporting leg shrink in place when control performance element 50 stop
Lower limb contractive action.
Specifically, the first detector unit 20 includes drill bit sounding gear 21 and hoist engine motion detection element 22.Drill bit is surveyed
Deep device 21 is used to detect that the drill bit of rotary drilling rig to be located at the position in drilling, i.e., drill bit is away from ground or the distance away from bottom hole.Volume
The motor-driven running status for making the hoist engine that detecting element 22 is used to detect rotary drilling rig is raised, i.e. hoist engine is in propradation still
Decline state (drill bit is still moved downward upwards).
Second detector unit 30 includes that supporting leg stretches detecting element 31 in place and supporting leg shrinks detecting element 32 in place.Supporting leg
Stretching detecting element 31 in place is used for the state in place of stretching of the supporting leg for detecting rotary drilling rig.Supporting leg shrinks and detects in place
Element 32 is used for the state in place of the contractive action of the supporting leg for detecting rotary drilling rig.
Performance element 50 includes the stretching, extension electromagnetic valve 51 for controlling supporting leg stretching, extension and the contraction for controlling supporting leg contraction
Electromagnetic valve 52.Performance element 50 can also include and stretch that the supporting leg that electromagnetic valve 51 and contraction electromagnetic valve 52 are connected drives oil cylinder,
Stretching electromagnetic valve 51 can drive the rodless cavity of oil cylinder to be connected with supporting leg, and shrinking electromagnetic valve 52 can drive having for oil cylinder with supporting leg
Rod cavity is connected.
Controller 40 can be programmable logic controller (PLC), and drill bit is preset with the controller 40 apart from the of ground
One threshold values distance and drill bit apart from bottom hole the second threshold values distance.Controller 40 is single according to the first detector unit 20 and the second detection
The testing result of unit 30 stretches to supporting leg or the control of contraction is characterized in particular in：
When hoist engine in the distance of propradation and drill bit away from ground less than the first threshold values apart from when, controller 40 judges
Now need to start supporting leg contractive action and control contraction electromagnetic valve 52 to open, drive supporting leg to drive oil cylinder to drive by hydraulic system
Supporting leg shrinks；When supporting leg shrinks in place, the control of controller 40 is shunk electromagnetic valve 52 and is closed, and supporting leg shrinks and stops；And
When hoist engine in the distance of decline state and drill bit away from bottom hole less than the second threshold values apart from when, controller 40 judges
Now need to start supporting leg stretching and control stretching, extension electromagnetic valve 51 to open, drive supporting leg to drive oil cylinder to drive by hydraulic system
Supporting leg stretches；When supporting leg stretches in place, the control of controller 40 is stretched electromagnetic valve 51 and is closed, and supporting leg stretches and stops.
Present invention also offers a kind of rotary drilling rig, with above-mentioned landing leg stretching control system, the rotary drilling rig its
He may refer to prior art at feature, will not be described here.
In sum, the present invention, can be according to rotary drilling rig by arranging landing leg stretching control system on rotary drilling rig
Working condition in bore operation, automatically controls the expanding-contracting action of supporting leg, at the same ensure that supporting leg it is flexible in place, it is to avoid
The security incident that produces because of the erroneous judgement of operator and maloperation, improves work efficiency, it is ensured that construction safety.
The above, is only presently preferred embodiments of the present invention, and any pro forma restriction is not made to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, in the range of without departing from technical solution of the present invention, when making a little change or modification using the technology contents of the disclosure above
For the Equivalent embodiments of equivalent variations, as long as being without departing from technical solution of the present invention content, according to the technical spirit pair of the present invention
Any simple modification, equivalent variations and modification that above example is made, still fall within the range of technical solution of the present invention.
Claims (9)
1. the landing leg stretching control system of a kind of rotary drilling rig, it is characterised in that single including the first detector unit, the second detection
Unit, controller and performance element；
The drill bit of running status and rotary drilling rig that first detector unit is used for the hoist engine for detecting rotary drilling rig is located at and bores
Position in hole, and the first testing result is passed to into the controller；
Second detector unit is used for the stretching, extension of the supporting leg for detecting rotary drilling rig or the state in place of contractive action, and by second
Testing result passes to the controller；
Be preset with the controller drill bit apart from ground the first threshold values distance and drill bit apart from bottom hole the second threshold values distance,
When hoist engine in the distance of decline state and drill bit away from bottom hole less than second threshold values apart from when, the controller judges to need
Start supporting leg stretching and control the performance element and perform supporting leg stretching；When hoist engine is in propradation and drill bit
Distance away from ground less than first threshold values apart from when, the controller judges to need to start supporting leg contractive action and described in controlling
Performance element performs supporting leg contractive action；The controller judges that supporting leg stretches or whether is contraction always according to second testing result
In place, and supporting leg stretch or shrink in place when control the performance element and stop supporting leg stretching or contractive action.
2. the landing leg stretching control system of rotary drilling rig according to claim 1, it is characterised in that：First detection is single
Unit includes drill bit sounding gear and hoist engine motion detection element, and the drill bit sounding gear is used to detect the drill bit of rotary drilling rig
Away from ground or the distance away from bottom hole, the hoist engine that the hoist engine motion detection element is used to detect rotary drilling rig is in rising
State still declines state.
3. the landing leg stretching control system of rotary drilling rig according to claim 2, it is characterised in that：The drill bit depth measurement dress
Depth encoder is set to, the 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 characterised in that：Second detection is single
Unit includes that supporting leg stretches detecting element in place and supporting leg shrinks detecting element in place, and the supporting leg stretches detecting element in place to be used for
The state in place of the stretching of detection supporting leg, the supporting leg shrinks detecting element in place to be used to detect the contractive action of supporting leg
State in place.
5. the landing leg stretching control system of rotary drilling rig according to claim 4, it is characterised in that：The supporting leg is stretched over
Position detecting element is pressure switch or sensor, and it is limit switch or proximity switch that the supporting leg shrinks detecting element in place.
6. the landing leg stretching control system of rotary drilling rig according to claim 1, it is characterised in that：The performance element bag
Include the stretching, extension electromagnetic valve for controlling 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 characterised in that：The performance element is also
Oil cylinder, the stretching, extension electromagnetic valve is driven to drive the rodless cavity of oil cylinder to be connected with the supporting leg including supporting leg, the contraction electromagnetic valve
The rod chamber that oil cylinder is driven with the supporting leg is connected.
8. the landing leg stretching control method of a kind of rotary drilling rig, it is characterised in that the landing leg stretching control method is using as weighed
Profit requires the landing leg stretching control system of the rotary drilling rig in 1 to 7 described in any one, and the landing leg stretching control method
Comprise the steps：
Detect that the running status of the hoist engine of rotary drilling rig and the drill bit of rotary drilling rig are located at and bore by first detector unit
Position in hole, and the first testing result is passed to into the controller；
Stretching, extension or the state in place of contractive action of the supporting leg of rotary drilling rig are detected by second detector unit, and by second
Testing result passes to the controller；
When hoist engine in the distance of decline state and drill bit away from bottom hole less than second threshold values apart from when, the controller judges
Need to start supporting leg stretching and control the performance element to perform supporting leg stretching, when hoist engine in propradation and
Distance of the drill bit away from ground less than first threshold values apart from when, the controller judges to need to start supporting leg contractive action and control
The performance element performs supporting leg contractive action；And
Supporting leg stretching, extension is judged according to second testing result by the controller or whether in place to be shunk, and stretched in supporting leg
The performance element is controlled when in place and stops supporting leg stretching, supporting leg shrink in place when control the performance element and stop
Only supporting leg contractive action.
9. a kind of rotary drilling rig, it is characterised in that：The rotary drilling rig has as claimed in any of claims 1 to 7 in one of claims
The landing leg stretching control system of rotary drilling rig.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510385813.1A CN105003206B (en) | 2015-06-30 | 2015-06-30 | Rotary drilling rig, support leg extending or retracting control system of rotary drilling rig and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510385813.1A CN105003206B (en) | 2015-06-30 | 2015-06-30 | Rotary drilling rig, support leg extending or retracting control system of rotary drilling rig and control method |
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| CN105003206A CN105003206A (en) | 2015-10-28 |
| CN105003206B true CN105003206B (en) | 2017-04-26 |
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| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7600585B2 (en) * | 2005-05-19 | 2009-10-13 | Schlumberger Technology Corporation | Coiled tubing drilling rig |
| CN102108854A (en) * | 2010-12-24 | 2011-06-29 | 北京市三一重机有限公司 | Automatic anti-overturn control system and control method thereof for rotary drilling rig |
| CN102044129B (en) * | 2011-01-12 | 2013-01-30 | 徐州博汇东明机械制造有限公司 | Electric control alarm device for preventing drilling rod-dropping accident of rotary drilling rig |
| EP2713002B1 (en) * | 2012-10-01 | 2016-10-26 | Sandvik Mining and Construction Oy | Rock drilling rig and method of positioning rock drilling unit |
| CN203978277U (en) * | 2014-07-29 | 2014-12-03 | 山河智能装备股份有限公司 | A kind of band bar complete machine transport rotary drilling rig |
| CN104563855B (en) * | 2014-12-18 | 2016-08-24 | 上海中联重科桩工机械有限公司 | Rotary drilling rig, the getting rid of soil series system and based on this system get rid of indigenous method of rotary drilling rig |
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