CN105715247A - Rotary drilling rig control system for automatically controlling drilling according to stratums - Google Patents
Rotary drilling rig control system for automatically controlling drilling according to stratums Download PDFInfo
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- 238000005553 drilling Methods 0.000 title claims abstract description 117
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 33
- 239000010959 steel Substances 0.000 claims abstract description 33
- 238000010276 construction Methods 0.000 claims description 93
- 238000002474 experimental method Methods 0.000 claims description 68
- 238000000034 method Methods 0.000 claims description 67
- 230000008859 change Effects 0.000 claims description 37
- 238000000465 moulding Methods 0.000 claims description 26
- 230000008569 process Effects 0.000 claims description 21
- 230000015572 biosynthetic process Effects 0.000 claims description 20
- 238000012544 monitoring process Methods 0.000 claims description 19
- 239000011435 rock Substances 0.000 claims description 18
- 239000002689 soil Substances 0.000 claims description 18
- 230000035515 penetration Effects 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 10
- 235000008733 Citrus aurantifolia Nutrition 0.000 claims description 9
- 235000011941 Tilia x europaea Nutrition 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 9
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- 238000004458 analytical method Methods 0.000 claims description 5
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- 238000009412 basement excavation Methods 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
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- 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
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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Abstract
The invention relates to a rotary drilling rig control system for automatically controlling drilling according to stratums. The rotary drilling rig control system comprises a drilling rig, a drill rod, a main winching steel wire rope, a main winch, a main winch motor, a main winch proportional electromagnetic valve, a power head, a hydraulic motor, a power head electric-hydraulic proportional valve, pressurizing oil cylinder, a pressurizing electric-hydraulic proportional valve, a main winch tension sensor and a depth measuring sensor, wherein the drill rod is used for driving the drill jig, the main winching steel wire rope is used for pulling the drill rod to move up and down, the main winch is connected with the main winching steel wire rope, the main winch motor is connected with the main winch, the main winch proportional electromagnetic valve is connected with the main winch motor, the power head is used for driving the drill rod to work, and the hydraulic motor is connected with the power head; the power head electric-hydraulic proportional valve is connected with the hydraulic motor, the pressurizing oil cylinder is connected with the power head, and the pressurizing electric-hydraulic proportional valve is connected with the pressurizing oil cylinder; the main winch tension sensor is connected with the main winching steel wire rope and is used for acquiring a tensile force borne by the steel wire rope; and the depth measuring sensor is connected with the main winching steel wire rope and is used for measuring the length and the depth of the down released steel wire rope and acquiring the drilling speed and depth and the position of the drill jig.
Description
Technical field
The present invention relates to a kind of control system, especially relate to a kind of rotary drilling rig crept into that automatically controls according to stratum and control system, belong to technical field of engineering machinery.
Background technology
Rotary drilling rig is a kind of multiduty foundation pile of building construction equipment, it is possible to construct under various stratum, and the requirement that rotary drilling rig is crept into engineering method by different stratum is different.China is vast in territory, and stratum is different, and also different on the stratum of same position different depth.Rotary drilling rig construction is main to be manually established as master.Because of underground construction, need when creeping into rely on to set up the observation rate of penetration that tractor driver is real-time, the change of perception pilot handle pressure adjusts moulding pressure, unit head moment of torsion changes drilling method, the experience accumulation setting up tractor driver becomes a highly important factor of safe and efficient construction, in recent years along with the constantly accumulation of construction experience and summary, relevant department and enterprise define the construction file of system on this basis, construct in order to guide field, the application that the specification of construction and application are largely rotary drilling rig serves popularizing action, but construction is to need study, grasp and skillfully application could be effective, also there is relevant rotary drilling rig foreign market, but these structures are mostly more complicated, relatively costly, once go wrong, maintenance cost is higher, therefore a kind of new scheme of exigence solves above-mentioned technical problem.
Summary of the invention
The present invention is just for Problems existing in prior art design, provide a kind of rotary drilling rig crept into that automatically controls according to stratum and control system, the part construction method that this technical scheme creeps into foundation rotary drilling rig is cured in the electrohydraulic control system of equipment by the mode of software and hardware, allow a new rotary drilling rig set up tractor driver and can pass through the simple construction drilling construction set up and just can well apply maturation, reduce work difficulty, improve work efficiency.
To achieve these goals, the technical solution used in the present invention is as follows, a kind of rotary drilling rig crept into that automatically controls according to stratum controls system, it is characterized in that, described rotary drilling rig controls system and includes drilling tool, drive the drilling rod that described drilling tool creeps into, pull the master winch steel wire rope of described drilling rod knee-action, the master winch being connected with described master winch steel wire rope, the main winch motor being connected with described master winch, the master winch proportional solenoid being connected with described main winch motor, drive the unit head of described drilling rod spinning movement, the unit head hydraulic motor being connected with described unit head, the unit head electro-hydraulic proportional valve being connected with described hydraulic motor, compressing cylinder is added with described unit head is connected, the pressurization electro-hydraulic proportional valve that compressing cylinder is connected is added with described；The main hoisting tension sensor being connected with described master winch steel wire rope, for obtaining the pulling force suffered by described steel wire rope；The depth sensor being connected with described master winch steel wire rope, for measuring length and the speed that described steel wire rope is transferred, obtains the position of the speed of boring, the degree of depth and drilling tool；The unit head torque sensor being connected with described unit head, for measuring the operating pressure of described power head motor, by calculating the change in torque data obtaining described unit head；The moulding pressure sensor that compressing cylinder is connected is added with described, for adding the pressure change of compressing cylinder described in measuring, the compressing cylinder plus-pressure delta data to described unit head is added described in acquisition, with described main hoisting tension sensor, depth sensor, unit head torque sensor, the controller (CPU) that moulding pressure sensor connects is by collecting and analyze described pulling force sensor, depth sensor, unit head torque sensor, the data of moulding pressure sensor also drive described master winch proportional solenoid again in conjunction with database analysis, unit head proportional solenoid and pressurization proportional solenoid action, realize rotary drilling rig to automatically control according to stratum and creep into function.Described master winch drives described master winch steel wire rope to transfer described drilling rod and drilling tool bottom hole, starts and automatically creeps into, and master winch floats, and under standard press power and standard torque, rotary drilling rig starts to creep into work.
The change of described unit head torque sensor monitoring power head motor inlet pressure, and strong described controller (CPU) is transmitted in the change of described pressure, so that described controller (CPU) goes out unit head change in torque according to described power head motor inlet pressure change calculations, according to described change in torque as judge stratum that described drilling tool creeps into according to one of.
Described depth sensor monitors the lowering velocity of described master winch steel wire rope, the i.e. rate of penetration of described drilling tool.And described rate of penetration is delivered to described controller (CPU), so that one of basis for estimation on stratum of creeping into as drilling tool according to described rate of penetration of described controller (CPU).
The stressed change of compressing cylinder is added described in described moulding pressure Sensor monitoring, and described stressed change is delivered to described controller (CPU) so that the interpretation on stratum crept into as drilling tool according to the change of described moulding pressure of described controller (CPU) according to one of.
When described drilling tool creeps into, according to the monitor database that described unit head change in torque, drilling tool rate of penetration, moulding pressure change and internal system are integrated, the formation information that described drilling tool creeps into now can be judged.
As a modification of the present invention, described controller (CPU) includes cpu signal collecting unit, cpu logic control unit, CPU communication control unit and CPU proportioning valve driver element；Described cpu signal collecting unit collects the related data of moulding pressure sensor, main hoisting tension sensor, unit head torque sensor and depth sensor, cpu logic control unit calculates the actual stratum crept into, information feedback is held display interface by CPU communication control unit, cpu logic control unit retrieval construction data-base, look for and call arrangement and method for construction, control to add compressing cylinder, power head motor and main winch motor action by CPU proportioning valve driver element.
Automatically control the rotary drilling rig crept into according to stratum and control the method for building up of system, said method comprising the steps of:
1) construction data-base is set up.For Mud Ground, artificial earth fill's layer, cohesive soil stratum, sandy soils, broken, pebble layer, mudstone stratum, conglomerate, sandstone formation, lime rock stratum, hard rock stratum etc., the maximally effective construction method of rotary drilling rig, arrange respectively and building database, mainly there is the content of two aspects, first is monitor database (setting up process as shown in Figure 2), how rig is measured automatically is construct on that stratum, second is construction data-base (setting up process as shown in Figure 3), arrangement and method for construction (arrangement and method for construction derives from substantial amounts of experiment and summary of experience) for various stratum；
2) implant data storehouse is in the control system of rotary drilling rig；
3) the delta data Input Monitor Connector data base of in real time the unit head moment of torsion of monitoring, moulding pressure in work progress, and which kind of stratum what creeping in conjunction with geologic report automatic decision be；
4) the formation information input construction data-base monitored out in real time；
5) construction data-base calls corresponding arrangement and method for construction and drives unit head, adds compressing cylinder and master file action reaches best drilling effect；
6) the every construction data of complete machine stores central control portion, improves in order to data analysis and system.
As a modification of the present invention, comprising the following steps that in described step 1), 11) monitoring data base set up process,
(111) collect stratum characteristic, form each stratum character subset,
(112) field experiment is built, diameter 5M, the cylinder of downward 5 to 10M from earth's surface, one, every kind of stratum, build up single stratum experimental site, such as Mud Ground field experiment, artificial earth fill's layer field experiment, cohesive soil stratum field experiment, sandy soils field experiment, broken, pebble layer field experiment, mudstone stratum field experiment, conglomerate field experiment, sandstone formation field experiment, lime rock stratum field experiment, hard rock stratum field experiment etc.;
(1113) collecting experimental data, churning driven is constructed at single stratum experimental site respectively, under the standard press power of 100KN and the standard torque of 220KN.m: by described depth sensor, obtain the speed data Δ V of boring；By described unit head torque sensor, it is thus achieved that the change in torque data Δ P of described unit head；By described moulding pressure sensor, described in acquisition, add the compressing cylinder plus-pressure delta data Δ N to described unit head, by data acquisition module, enter the signal gathering unit of described controller, form change curve and store the subdata base on corresponding stratum;
(1114) each stratum character subset is combined into monitoring data base with the subdata base on various stratum；
12) construction data-base set up process,
(121) field experiment is built, diameter 5M, the cylinder of downward 5 to 10M from earth's surface, one, every kind of stratum, build up single stratum experimental site, such as Mud Ground field experiment, artificial earth fill's layer field experiment, cohesive soil stratum field experiment, sandy soils field experiment, broken, pebble layer field experiment, mudstone stratum field experiment, conglomerate field experiment, sandstone formation field experiment, lime rock stratum field experiment, hard rock stratum field experiment etc.；
(122) churning driven is constructed at single stratum experimental site respectively, in conjunction with construction, by the master winch proportional solenoid that namely the driving current data of three proportional solenoids of controller manual adjustments is connected with described main winch motor, the unit head electro-hydraulic proportional valve being connected with described hydraulic motor, adds, with described, the pressurization electro-hydraulic proportional valve that compressing cylinder is connected；Make rate of penetration and drilling quality best, collect driving current data now, by data acquisition module, enter the logic control element B of described controller, form the drive scheme on corresponding stratum, store the drill mode subdata base on corresponding stratum,
(123) the drill mode subdata base composition construction data-base on various stratum.
Automatically control the rotary drilling rig crept into according to stratum and control the control method of system, it is characterised in that described control method is as follows,
1) rotary drilling rig carries out preparation of construction；
2) electro-hydraulic proportional valve of master winch raising and lowering drives master winch lowering drill pipes drill bit, and the pulling force measured when the pulling force sensor of master winch steel wire rope lift heavy stops transferring less than 2 ton hours, and drill bit bottoms out；
3) display interface starts automatically creep into function；
4) system automatically enters: the standard press power of 100KN and the standard torque of 220KN.m, and drives pressurization proportional solenoid and unit head proportional solenoid to start to creep into；
Real-time monitoring pressure pressure and unit head moment of torsion in drilling process, and combine the data faced in monitor database and be transferred to cpu logic control unit and calculate that the drilling tool of current construction is actual now creeps into stratum；
5) arrangement and method for construction in cpu logic control unit retrieval construction data-base, as it is shown on figure 3, the drilling tool actual stratum of creeping into now that root is currently constructed, selects drill mode, and calls corresponding arrangement and method for construction；In cpu logic control unit analytical calculation process, real-time result is transferred to display interface by CPU communication control unit shows in real time；
6) arrangement and method for construction being best suitable for current formation that CPU proportioning valve driver element provides according to cpu logic control unit, driving adds compressing cylinder, power head motor and main winch motor work and realizes arrangement and method for construction.
7) in whole automatic drilling process, because construction stratum is complicated and changeable, controlling system needs the data variation of real-time monitoring sensor, it is judged that drilling tool is from a kind of stratum to another kind of stratum, and formation variation controls system and automatically changes corresponding arrangement and method for construction.Such as creeping into mud from artificial earth fill's layer, need control system automatically from artificial earth fill's layer working mode change to mud mode of operation as shown in Figure 3, corresponding arrangement and method for construction is also changed.In whole automatic drilling construction, circulation performs above procedure；
8) when the degree of depth of depth sensor feedback reaches boring requirement, or when stopping manually, automatically creep into and quit work.
Relative to prior art, advantages of the present invention is as follows: 1) overall construction design is novel, simple, reliable；2) this technical scheme achieves churning driven and enters automatically controlling in process, it is applied to the effect promoting having the following aspects in rotary drilling rig construction: churning driven enters process, automatically control the artificial foundation of replacement, reduce the labor intensity of personnel, improve response speed and construction accuracy；Rotation excavation construction engineering method is by, in database application to construction, improve the hole quality of rotary drilling rig；The construction experience setting up personnel is cured in construction data-base, improves efficiency of construction；Decrease rotary drilling rig and set up training and the practice requirement of tractor driver, reduce waste and reduce cost；3) the equipment part of rotary drilling rig is integrated into an entirety by control unit by this technical scheme, adjust premolded package in real time by the change of sensor sensing unit head moment of torsion, rate of penetration and moulding pressure, rotary drilling rig drilling construction carries out automatically adopting optimum control.Reach energy-efficient purpose.
Accompanying drawing explanation
Fig. 1 is rotary drilling rig structural representation；
Fig. 2 is monitor database structural representation；
Fig. 3 is construction data-base structural representation；
Fig. 4 is system principle work sheet；
Fig. 5 is local principle schematic.
In figure: 1, unit head hydraulic motor, 2, drilling rod, 3, master winch steel wire rope, 4, master file poplar, 5, main winch motor, 6, unit head, 7, unit head hydraulic motor, 8, add compressing cylinder.
Detailed description of the invention
In order to deepen the understanding of the present invention and understanding, below in conjunction with accompanying drawing, the invention will be further described and introduces.
Embodiment 1:
Referring to Fig. 1, Fig. 4, Fig. 5, a kind of rotary drilling rig crept into that automatically controls according to stratum controls system, described rotary drilling rig controls system and includes drilling tool, drive the drilling rod 2 that described drilling tool creeps into, pull the master winch steel wire rope 3 of described drilling rod 2 knee-action, the master winch 4 being connected with described master winch steel wire rope, the main winch motor 5 being connected with described master winch, the master winch proportional solenoid being connected with described main winch motor 5, drive the unit head 6 of described drilling rod spinning movement, the unit head hydraulic motor 7 being connected with described unit head.The unit head electro-hydraulic proportional valve being connected with described hydraulic motor, what be connected with described unit head adds compressing cylinder 8, adds, with described, the pressurization electro-hydraulic proportional valve that compressing cylinder is connected；The main hoisting tension sensor being connected with described master winch steel wire rope, for obtaining the pulling force suffered by described steel wire rope；The depth sensor being connected with described master winch steel wire rope, for measuring length and the speed that described steel wire rope is transferred, obtains the position of the speed of boring, the degree of depth and drilling tool；The unit head torque sensor being connected with described unit head, for measuring the operating pressure of described power head motor, by calculating the change in torque data obtaining described unit head；The moulding pressure sensor that compressing cylinder is connected is added with described, for adding the pressure change of compressing cylinder described in measuring, the compressing cylinder plus-pressure delta data to described unit head is added described in acquisition, with described main hoisting tension sensor, depth sensor, unit head torque sensor, the controller (CPU) that moulding pressure sensor connects is by collecting and analyze described pulling force sensor, depth sensor, unit head torque sensor, the data of moulding pressure sensor also drive described master winch proportional solenoid again in conjunction with database analysis, unit head proportional solenoid and pressurization proportional solenoid action, realize rotary drilling rig to automatically control according to stratum and creep into function.
Its described institute controller includes: signal gathering unit, logic control element A, logic control element B, communication control unit and five parts of proportioning valve driver element.Wherein, described signal gathering unit, for collecting the related data of moulding pressure sensor, main hoisting tension sensor, unit head torque sensor and depth sensor；For relative analysis, described logic control element A, judges that drilling tool is actual now and creeps into stratum；Described communication control unit, is used for will send information to display interface；Described logic control element B, is used for retrieving construction data-base, calls arrangement and method for construction, by described proportioning valve driver element, controls to add compressing cylinder, power head motor and main winch motor action.In this technical scheme, described master winch drives described master winch steel wire rope to transfer described drilling rod and drilling tool bottom hole, starts and automatically creeps into, and master winch floats, and under standard press power and standard torque, rotary drilling rig starts to creep into work；The change of described unit head torque sensor monitoring power head motor inlet pressure, and strong described control unit is transmitted in the change of described pressure, so that described control unit goes out unit head change in torque according to described power head motor inlet pressure change calculations, according to described change in torque as judge stratum that described drilling tool creeps into according to one of；Described depth sensor monitors the lowering velocity of described master winch steel wire rope, the i.e. rate of penetration of described drilling tool.And described rate of penetration is delivered to described control unit, so that one of basis for estimation on stratum of creeping into as drilling tool according to described rate of penetration of described control unit；Add the stressed change of compressing cylinder described in described moulding pressure Sensor monitoring, and described stressed change be delivered to described control unit so that the interpretation on stratum crept into as drilling tool according to the change of described moulding pressure of described control unit according to one of；When described drilling tool creeps into, according to the monitor database that described unit head change in torque, drilling tool rate of penetration, moulding pressure change and internal system are integrated, the formation information that described drilling tool creeps into now can be judged.
Automatically control the rotary drilling rig crept into according to stratum and control the method for building up of system, said method comprising the steps of:
1) construction data-base is set up.For Mud Ground, artificial earth fill's layer, cohesive soil stratum, sandy soils, broken, pebble layer, mudstone stratum, conglomerate, sandstone formation, lime rock stratum, hard rock stratum etc., the maximally effective construction method of rotary drilling rig, arrange respectively and building database, mainly there is the content of two aspects, first is monitor database (setting up process as shown in Figure 2), how rig is measured automatically is construct on that stratum, second is construction data-base (setting up process as shown in Figure 3), arrangement and method for construction (arrangement and method for construction derives from substantial amounts of experiment and summary of experience) for various stratum；
Comprising the following steps that in described step 1), 11) monitoring data base set up process, as shown in Figure 2:
(111) collect stratum characteristic, form each stratum character subset,
(112) field experiment is built, diameter 5M, the cylinder of downward 5 to 10M from earth's surface, one, every kind of stratum, build up single stratum experimental site, such as Mud Ground field experiment, artificial earth fill's layer field experiment, cohesive soil stratum field experiment, sandy soils field experiment, broken, pebble layer field experiment, mudstone stratum field experiment, conglomerate field experiment, sandstone formation field experiment, lime rock stratum field experiment, hard rock stratum field experiment etc.;
(1113) collecting experimental data, churning driven is constructed at single stratum experimental site respectively, under the standard press power of 100KN and the standard torque of 220KN.m: by described depth sensor, obtain the speed data Δ V of boring；By described unit head torque sensor, it is thus achieved that the change in torque data Δ P of described unit head；By described moulding pressure sensor, described in acquisition, add the compressing cylinder plus-pressure delta data Δ N to described unit head, by data acquisition module, enter the signal gathering unit of described controller, form change curve and store the subdata base on corresponding stratum；
(1114) each stratum character subset is combined into monitoring data base with the subdata base on various stratum；
12) process of setting up of construction data-base is as shown in Figure 3:
(121) field experiment is built, diameter 5M, the cylinder of downward 5 to 10M from earth's surface, one, every kind of stratum, build up single stratum experimental site, such as Mud Ground field experiment, artificial earth fill's layer field experiment, cohesive soil stratum field experiment, sandy soils field experiment, broken, pebble layer field experiment, mudstone stratum field experiment, conglomerate field experiment, sandstone formation field experiment, lime rock stratum field experiment, hard rock stratum field experiment etc.；
(122) churning driven is constructed at single stratum experimental site respectively, in conjunction with construction, by the master winch proportional solenoid that namely the driving current data of three proportional solenoids of controller manual adjustments is connected with described main winch motor, the unit head electro-hydraulic proportional valve being connected with described hydraulic motor, adds, with described, the pressurization electro-hydraulic proportional valve that compressing cylinder is connected；Make rate of penetration and drilling quality best, collect driving current data now, by data acquisition module, enter the logic control element B of described controller, form the drive scheme on corresponding stratum, store the drill mode subdata base on corresponding stratum,
(123) the drill mode subdata base composition construction data-base on various stratum.
2) implant data storehouse is in the control system of rotary drilling rig；
3) the delta data Input Monitor Connector data base of in real time the unit head moment of torsion of monitoring, moulding pressure in work progress, and which kind of stratum what creeping in conjunction with geologic report automatic decision be；
4) the formation information input construction data-base monitored out in real time；
5) construction data-base calls corresponding arrangement and method for construction and drives unit head, adds compressing cylinder and master file action reaches best drilling effect；
6) the every construction data of complete machine stores central control portion, improves in order to data analysis and system.
Automatically controlling the rotary drilling rig crept into according to stratum and control the control method of system, described control method is as follows,
1) rotary drilling rig carries out preparation of construction；
2) electro-hydraulic proportional valve of master winch raising and lowering drives master winch lowering drill pipes drill bit, and the pulling force measured when the pulling force sensor of master winch steel wire rope lift heavy stops transferring less than 2 ton hours, and drill bit bottoms out；
3) display interface starts automatically creep into function；
4) system automatically enters: the standard press power of 100KN and the standard torque of 220KN.m, and drives pressurization proportional solenoid and unit head proportional solenoid to start to creep into；
Real-time monitoring pressure pressure and unit head moment of torsion in drilling process, and combine the data faced in monitor database and be transferred to cpu logic control unit and calculate that the drilling tool of current construction is actual now creeps into stratum；
5) arrangement and method for construction in cpu logic control unit retrieval construction data-base, as it is shown on figure 3, the drilling tool actual stratum of creeping into now that root is currently constructed, selects drill mode, and calls corresponding arrangement and method for construction；In cpu logic control unit analytical calculation process, real-time result is transferred to display interface by CPU communication control unit shows in real time；
6) arrangement and method for construction being best suitable for current formation that CPU proportioning valve driver element provides according to cpu logic control unit, driving adds compressing cylinder, power head motor and main winch motor work and realizes arrangement and method for construction；
7) in whole automatic drilling process, because construction stratum is complicated and changeable, controlling system needs the data variation of real-time monitoring sensor, it is judged that drilling tool is from a kind of stratum to another kind of stratum, and formation variation controls system and automatically changes corresponding arrangement and method for construction.Such as creeping into mud from artificial earth fill's layer, need control system automatically from artificial earth fill's layer working mode change to mud mode of operation as shown in Figure 3, corresponding arrangement and method for construction is also changed.In whole automatic drilling construction, circulation performs above procedure.
It should be noted that above-described embodiment, be not used for limiting protection scope of the present invention, equivalents done on the basis of technique scheme or replacement each fall within the scope that the claims in the present invention are protected.
Claims (5)
1. one kind automatically controls the rotary drilling rig control system crept into according to stratum, it is characterized in that, described rotary drilling rig controls system and includes drilling tool, drive the drilling rod that described drilling tool creeps into, pull the master winch steel wire rope of described drilling rod knee-action, the master winch being connected with described master winch steel wire rope, the main winch motor being connected with described master winch, the master winch proportional solenoid being connected with described main winch motor, drive the unit head of described drilling rod spinning movement, the unit head hydraulic motor being connected with described unit head, the unit head electro-hydraulic proportional valve being connected with described hydraulic motor, compressing cylinder is added with described unit head is connected, the pressurization electro-hydraulic proportional valve that compressing cylinder is connected is added with described；The main hoisting tension sensor being connected with described master winch steel wire rope, for obtaining the pulling force suffered by described steel wire rope；The depth sensor being connected with described master winch steel wire rope, for measuring length and the speed that described steel wire rope is transferred, obtains the position of the speed of boring, the degree of depth and drilling tool；The unit head torque sensor being connected with described unit head, for measuring the operating pressure of described power head motor, by calculating the change in torque data obtaining described unit head；The moulding pressure sensor that compressing cylinder is connected is added with described, for adding the pressure change of compressing cylinder described in measuring, the compressing cylinder plus-pressure delta data to described unit head is added described in acquisition, with described main hoisting tension sensor, depth sensor, unit head torque sensor, the controller that moulding pressure sensor connects is by collecting and analyze described pulling force sensor, depth sensor, unit head torque sensor, the data of moulding pressure sensor also drive described master winch proportional solenoid again in conjunction with database analysis, unit head proportional solenoid and pressurization proportional solenoid action, realize rotary drilling rig to automatically control according to stratum and creep into function.
2. the rotary drilling rig crept into that automatically controls according to stratum according to claim 1 controls system, its described institute controller includes: signal gathering unit, logic control element A, logic control element B, communication control unit and five parts of proportioning valve driver element, wherein, described signal gathering unit, for collecting the related data of moulding pressure sensor, main hoisting tension sensor, unit head torque sensor and depth sensor；For relative analysis, described logic control element A, judges that drilling tool is actual now and creeps into stratum；Described communication control unit, is used for will send information to display interface；Described logic control element B, is used for retrieving construction data-base, calls arrangement and method for construction, by described proportioning valve driver element, controls to add compressing cylinder, power head motor and main winch motor action.
3. automatically control the rotary drilling rig crept into according to stratum and control the method for building up of system, it is characterised in that said method comprising the steps of:
1) construction data-base is set up, for Mud Ground, artificial earth fill's layer, cohesive soil stratum, sandy soils, broken, pebble layer, mudstone stratum, conglomerate, sandstone formation, lime rock stratum, hard rock stratum etc., the maximally effective construction method of rotary drilling rig, arrange respectively and building database, mainly there is the content of two aspects, first is monitor database, and how rig is measured automatically is construct on that stratum, and second is construction data-base；
2) implant data storehouse is in the control system of rotary drilling rig；
3) the delta data Input Monitor Connector data base of in real time the unit head moment of torsion of monitoring, moulding pressure in work progress, and which kind of stratum what creeping in conjunction with geologic report automatic decision be；
4) the formation information input construction data-base monitored out in real time；
5) construction data-base calls corresponding arrangement and method for construction and drives unit head, adds compressing cylinder and master file action reaches best drilling effect；
6) the every construction data of complete machine stores central control portion, improves in order to data analysis and system.
4. the rotary drilling rig that creeps into of automatically controlling according to stratum according to claim 3 controls the method for building up of system, it is characterised in that comprising the following steps that in described step 1), 11) monitoring data base set up process,
(111) collect stratum characteristic, form each stratum character subset,
(112) field experiment is built, diameter 5M, the cylinder of downward 5 to 10M from earth's surface, one, every kind of stratum, build up single stratum experimental site, such as Mud Ground field experiment, artificial earth fill's layer field experiment, cohesive soil stratum field experiment, sandy soils field experiment, broken, pebble layer field experiment, mudstone stratum field experiment, conglomerate field experiment, sandstone formation field experiment, lime rock stratum field experiment, hard rock stratum field experiment etc.;
(1113) collecting experimental data, churning driven is constructed at single stratum experimental site respectively, under the standard press power of 100KN and the standard torque of 220KN.m: by described depth sensor, obtain the speed data Δ V of boring；By described unit head torque sensor, it is thus achieved that the change in torque data Δ P of described unit head；By described moulding pressure sensor, described in acquisition, add the compressing cylinder plus-pressure delta data Δ N to described unit head, by data acquisition module, enter the signal gathering unit of described controller, form change curve and store the subdata base on corresponding stratum;
(1114) each stratum character subset is combined into monitoring data base with the subdata base on various stratum；
12) construction data-base set up process；
(121) field experiment is built, diameter 5M, the cylinder of downward 5 to 10M from earth's surface, one, every kind of stratum, build up single stratum experimental site, such as Mud Ground field experiment, artificial earth fill's layer field experiment, cohesive soil stratum field experiment, sandy soils field experiment, broken, pebble layer field experiment, mudstone stratum field experiment, conglomerate field experiment, sandstone formation field experiment, lime rock stratum field experiment, hard rock stratum field experiment etc.；
(122) churning driven is constructed at single stratum experimental site respectively, in conjunction with construction, by the master winch proportional solenoid that namely the driving current data of three proportional solenoids of controller manual adjustments is connected with described main winch motor, the unit head electro-hydraulic proportional valve being connected with described hydraulic motor, adds, with described, the pressurization electro-hydraulic proportional valve that compressing cylinder is connected；Make rate of penetration and drilling quality best, collect driving current data now, by data acquisition module, enter the logic control element B of described controller, form the drive scheme on corresponding stratum, store the drill mode subdata base on corresponding stratum,
(123) the drill mode subdata base composition construction data-base on various stratum.
5. automatically control the rotary drilling rig crept into according to stratum and control the control method of system, it is characterised in that described control method is as follows,
1) rotary drilling rig carries out preparation of construction；
2) electro-hydraulic proportional valve of master winch raising and lowering drives master winch lowering drill pipes drill bit, and the pulling force measured when the pulling force sensor of master winch steel wire rope lift heavy stops transferring less than 2 ton hours, and drill bit bottoms out；
3) display interface starts automatically creep into function；
4) system automatically enters: the standard press power of 100KN and the standard torque of 220KN.m, and drives pressurization proportional solenoid and unit head proportional solenoid to start to creep into；
Real-time monitoring pressure pressure and unit head moment of torsion in drilling process, and combine the data faced in monitor database and be transferred to cpu logic control unit and calculate that the drilling tool of current construction is actual now creeps into stratum；
5) arrangement and method for construction in cpu logic control unit retrieval construction data-base, as it is shown on figure 3, the drilling tool actual stratum of creeping into now that root is currently constructed, selects drill mode, and calls corresponding arrangement and method for construction；In cpu logic control unit analytical calculation process, real-time result is transferred to display interface by CPU communication control unit shows in real time；
6) arrangement and method for construction being best suitable for current formation that CPU proportioning valve driver element provides according to cpu logic control unit, driving adds compressing cylinder, power head motor and main winch motor work and realizes arrangement and method for construction；
7) in whole automatic drilling process, because construction stratum is complicated and changeable, controlling system needs the data variation of real-time monitoring sensor, it is judged that drilling tool is from a kind of stratum to another kind of stratum, and formation variation controls system and automatically changes corresponding arrangement and method for construction；Such as creeping into mud from artificial earth fill's layer, need control system automatically from artificial earth fill's layer working mode change to mud mode of operation as shown in Figure 3, corresponding arrangement and method for construction is also changed；In whole automatic drilling construction, circulation performs above procedure；
8) when the degree of depth of depth sensor feedback reaches boring requirement, or when stopping manually, automatically creep into and quit work.
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