CN107558988A - Rotary drilling rig intelligent controlling device, rotary drilling rig intelligent control method and system - Google Patents
Rotary drilling rig intelligent controlling device, rotary drilling rig intelligent control method and system Download PDFInfo
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- CN107558988A CN107558988A CN201710979058.9A CN201710979058A CN107558988A CN 107558988 A CN107558988 A CN 107558988A CN 201710979058 A CN201710979058 A CN 201710979058A CN 107558988 A CN107558988 A CN 107558988A
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Abstract
The present invention provides a kind of rotary drilling rig intelligent controlling device, method and system, the rotary drilling rig intelligent controlling device includes controller, rotary drilling rig condition checkout gear and adjusting means of constructing automatically, rotary drilling rig condition checkout gear is used for the state for detecting rotary drilling rig, automatic construction adjusting means is used to control rotary drilling rig to construct automatically, and the state for the rotary drilling rig that controller is used to be detected according to rotary drilling rig condition checkout gear controls whether to exit automatic Construction Mode.The rotary drilling rig intelligent control method includes：Into automatic Construction Mode；Detect the state of rotary drilling rig and judge whether to meet automatic execution conditions accordingly, automatic Construction Mode is exited if not meeting.In this rotary drilling rig control device, method and system, the state of rotary drilling rig can be detected in good time, and judges whether to be adapted to automatic construction accordingly, automatic Construction Mode is exited when unsuitable, occur surprisingly, to ensure the safe and reliable of construction when can simplify the operation of machine hand, while avoid constructing automatically.
Description
Technical field
It is quick-witted more particularly to a kind of rotary drilling rig intelligent controlling device, churning driven the present invention relates to rotary drilling rig field
Can control method and system.
Background technology
Rotary drilling rig is a kind of construction machinery of pore-forming operation in suitable building foundation engineering, is primarily adapted for sand, viscosity
The soil layers such as soil, slity soil are constructed, and are used widely in a variety of foundation basic constructions such as bored concrete pile, diaphragm wall, strengthening of foundation,
Typically using hydraulic crawler stretch chassis, the foldable brill mast of automatic lifting, telescopic drill rod, with vertical automatic detection adjust
Whole, hole depth digital-scroll technique etc., complete machine manipulate typically using Hydraulic guide control, load sensing, have and operate the spy such as light, comfortable
Point.
Rotary digging product enter rock be usually operated by machine hand, first operation handle master winch decline, by drill rod boring tool transfer to
In hole, access hole bottom, then press floating buttons and do not unclamp, master winch solution locking-valve and float trap work simultaneously, and then press
Enter rock button and enter rock pattern into strength, unit head enters the work of rock valve, and now operation handle does unit head pressurization and right-hand rotation
Composite move, rock stratum is crept into, maintains this handle posture for a period of time, when machine hand feel creep into distance can or drilling tool
When filling ground, you can floating buttons to be unclamped, press tripping in rock button again, strength is exited and enters rock pattern, operation handle returns middle position,
Enter rock construction to terminate.At this moment operation handle makees unit head and acts the composite move pulled out with right-hand rotation, and drilling tool sluice gate is closed, finally grasped
Make the lifting of handle master winch, drill rod boring tool and ground are removed out of hole.However, it is this enter rock mode of operation by machine hand by rule of thumb
Controlled with subjectivity, there can be barbarous and risky operation, cause machine breakdown；In addition, during operation, machine hand must be always according to floating
Button and handle is pulled, working time leader hand is very arduous, and labor intensity is high.
The content of the invention
It is an object of the invention to provide a kind of rotary drilling rig intelligent controlling device simple to operate, safe and reliable, churning driven
Machine intelligent control method and system.
A kind of rotary drilling rig intelligent controlling device, including controller, rotary drilling rig condition checkout gear and automatic construction are adjusted
Regulating device, the rotary drilling rig condition checkout gear are used for the state for detecting rotary drilling rig, and the automatic construction adjusting means is used
Constructed automatically in control rotary drilling rig, the controller is used for the churning driven detected according to the rotary drilling rig condition checkout gear
The state of machine controls whether to exit automatic Construction Mode.
In this rotary drilling rig control device, the state of rotary drilling rig can be detected in good time, and judge accordingly under this state whether
It is adapted to automatic construction, when being unsatisfactory for the condition constructed automatically, automatically controls and exit automatic Construction Mode, the behaviour of machine hand can be simplified
Occur surprisingly, to ensure the safe and reliable of construction when making, while avoiding constructing automatically.
In a wherein embodiment, the rotary drilling rig condition checkout gear includes the drilling tool weight for being connected to controller
Amount detecting device, angle of revolution detection means and mast angle detection device, the drilling tool Weight detecting device, which is used to detect, to be revolved
The weight of the drilling tool of rig is dug, the angle of revolution detection means is used for the angle of revolution on the chassis of rotary drilling rig, the mast
Angle detection device is used for the deviation angle for detecting the mast of rotary drilling rig.
In a wherein embodiment, when the drilling tool weight change value is more than preset weight changing value, or the chassis go back to
Gyration is more than default angle of revolution angle value, or when the mast deviation angle is more than default bias angle, the controller is sentenced
Break to be unsatisfactory for automatic execution conditions.
In a wherein embodiment, the automatic construction adjusting means include pressurization oil cylinder magnetic valve, rise pull out oil cylinder magnetic valve,
Unit head, which rotates forward magnetic valve, magnetic valve reversion magnetic valve and floating magnetic valve, rotary drilling rig, includes pressurization oil cylinder and power head horse
Reach, it is described pressurization oil cylinder magnetic valve and described pull out oil cylinder magnetic valve be used for control to it is described pressurization oil cylinder fuel feeding, it is described move
Power head rotates forward magnetic valve and magnetic valve reversion magnetic valve is used to control the fuel feeding to the power head motor, the electricity that floats
Magnet valve is used to control whether rotary drilling rig is in quick condition；The controller is additionally operable to control whether to the pressurization oil cylinder electricity
Magnet valve, described pull out oil cylinder magnetic valve, the unit head rotate forward magnetic valve, the magnetic valve reversion magnetic valve and it is described float electricity
Magnet valve powers off.
A kind of rotary drilling rig intelligent control method, for controlling rotary drilling rig, the rotary drilling rig intelligent control method bag
Include following steps：
S100, into automatic Construction Mode；
S200, detect the state of rotary drilling rig and judge whether to meet automatic execution conditions accordingly, enter if not meeting
Enter step S300；
S300, exit automatic Construction Mode.
In this rotary drilling rig control method, the state of rotary drilling rig can be detected in good time, and judge accordingly under this state whether
It is adapted to automatic construction, when being unsatisfactory for the condition constructed automatically, automatically controls and exit automatic Construction Mode, the behaviour of machine hand can be simplified
Occur surprisingly, to ensure the safe and reliable of construction when making, while avoiding constructing automatically.
In a wherein embodiment, the step S200 is specifically included：
Step S201, drilling tool weight change value is detected, detect chassis angle of revolution, detect mast deviation angle；
Step S202, judges whether the drilling tool weight change value is more than preset weight changing value, judges that the chassis is returned
Whether gyration is more than default angle of revolution angle value, judges whether the mast deviation angle is more than default bias angle, when described
Drilling tool weight change value is more than preset weight changing value, either the chassis angle of revolution be more than default angle of revolution angle value or
The mast deviation angle is judged as being unsatisfactory for automatic execution conditions to when being more than default bias angle.
In a wherein embodiment, the rotary drilling rig includes automatic construction adjusting means, pressurization oil cylinder and power head motor,
Automatically the construction adjusting means includes pressurization oil cylinder magnetic valve, rises and pull out oil cylinder magnetic valve, unit head rotating forward magnetic valve, magnetic valve
Invert magnetic valve and floating magnetic valve, the pressurization oil cylinder magnetic valve and described pull out oil cylinder magnetic valve be used for control add to described
The fuel feeding of compressing cylinder, the unit head rotates forward magnetic valve and magnetic valve reversion magnetic valve is used to control to the power head horse
The fuel feeding reached, the floating magnetic valve are used to control whether rotary drilling rig is in quick condition, and the step S300 is specially：Control
System close the pressurization oil cylinder magnetic valve, described pull out oil cylinder magnetic valve, that the unit head rotates forward magnetic valve, the magnetic valve is anti-
Turn magnetic valve and the floating magnetic valve.
In a wherein embodiment, the rotary drilling rig intelligent control method include be located at the step S300 after the step of
S400：Into manual Construction Mode.
A kind of rotary drilling rig intelligence control system, it includes judge module and processing module, and the judge module is used to examine
Survey the state of rotary drilling rig and judge whether rotary drilling rig meets automatic execution conditions accordingly, the first processing module is used to connect
Receive the judged result of the judge module and control rotary drilling rig to automatically exit from automatic Construction Mode.
In this rotary drilling rig control system, the state of rotary drilling rig can be detected in good time, and judge accordingly under this state whether
It is adapted to automatic construction, when being unsatisfactory for the condition constructed automatically, automatically controls and exit automatic Construction Mode, the behaviour of machine hand can be simplified
Occur surprisingly, to ensure the safe and reliable of construction when making, while avoiding constructing automatically.
In a wherein embodiment, the judge module is used to detect drilling tool weight change value, detects chassis angle of revolution, inspection
Mast deviation angle is surveyed, and judges whether the drilling tool weight change value is more than preset weight changing value, judges that the chassis is returned
Whether gyration is more than default angle of revolution angle value, judges whether the mast deviation angle is more than default bias angle, when described
Drilling tool weight change value is more than preset weight changing value, either the chassis angle of revolution be more than default angle of revolution angle value or
The mast deviation angle is judged as being unsatisfactory for automatic execution conditions to when being more than default bias angle.
Brief description of the drawings
Fig. 1 is the schematic diagram of the rotary drilling rig intelligent controlling device of one embodiment of the invention；
Fig. 2 is the hydraulic circuit diagram of rotary drilling rig intelligent controlling device shown in Fig. 1；
Fig. 3 is the flow chart of the rotary drilling rig intelligent control method of one embodiment of the invention；
Fig. 4 is the step S200 of rotary drilling rig intelligent control method shown in Fig. 3 flow chart；
Fig. 5 is the schematic diagram of the rotary drilling rig intelligence control system of one embodiment of the invention.
Embodiment
Further to illustrate the present invention to reach technical approach and effect that predetermined goal of the invention is taken, below in conjunction with
Drawings and Examples, to embodiment, structure, feature and its effect of the present invention, describe in detail as after.
As shown in figure 1, the rotary drilling rig intelligent controlling device of one embodiment of the invention is used for the construction for controlling rotary drilling rig
Operation, rotary drilling rig intelligent controlling device include controller 10, rotary drilling rig condition checkout gear 20 and automatic construction regulation dress
30 are put, rotary drilling rig condition checkout gear 20 is used for the state for detecting rotary drilling rig, and automatic adjusting means 30 of constructing is used to control
Rotary drilling rig is constructed automatically, and controller 10 is used for the state control of the rotary drilling rig detected according to rotary drilling rig condition checkout gear 20
Whether system exits automatic Construction Mode.Specifically, rotary drilling rig condition checkout gear 20 includes being connected to controller 10
Drilling tool Weight detecting device 21, angle of revolution detection means 22 and mast angle detection device 23, drilling tool Weight detecting device 21
For the weight for the drilling tool for detecting rotary drilling rig, angle of revolution detection means 22 is used for the angle of revolution on the chassis of rotary drilling rig,
Mast angle detection device 23 is used for the deviation angle for detecting the mast of rotary drilling rig.More specifically, drilling tool Weight detecting device
21 be specially armored rope tension sensor, and for detecting the tension force of steel wire rope, drilling tool is calculated according to the big I of steel wire rope tension
Real-time weight.
In this rotary drilling rig control device, the state of rotary drilling rig can be detected in good time, and judge accordingly under this state whether
It is adapted to automatic construction, when being unsatisfactory for the condition constructed automatically, automatically controls and exit automatic Construction Mode, the behaviour of machine hand can be simplified
Occur surprisingly, to ensure the safe and reliable of construction when making, while avoiding constructing automatically.
In the present embodiment, when drilling tool weight change value is more than preset weight changing value, or chassis angle of revolution more than pre-
If angle of revolution angle value, or when mast deviation angle is more than default bias angle, controller 10 is judged as being unsatisfactory for constructing automatically
Condition.Drilling tool weight change value is the difference of later moment in time drilling tool weight and previous moment drilling tool weight.
In the present embodiment, adjusting means 30 of constructing automatically includes pressurization oil cylinder magnetic valve 31, rises and pull out oil cylinder magnetic valve 32, move
Power head, which rotates forward magnetic valve 33, magnetic valve reversion magnetic valve 34 and floating magnetic valve 35, rotary drilling rig, includes pressurization oil cylinder and power
Head horse reaches, pressurization oil cylinder magnetic valve 31 and rising pull out oil cylinder magnetic valve 32 be used for control to the fuel feeding of the oil cylinder that pressurizes, unit head rotating forward
Magnetic valve 33 and magnetic valve reversion magnetic valve 34 are used to control the fuel feeding to power head motor, and floating magnetic valve 35, which is used to control, to be revolved
Dig whether rig is in quick condition.Controller 10 is additionally operable to control whether to pressurization oil cylinder magnetic valve 31, rises and pull out oil cylinder electromagnetism
Valve 32, unit head rotate forward magnetic valve 33, magnetic valve reversion magnetic valve 34 and floating magnetic valve 35 and powered off.
In the present embodiment, please with reference to Fig. 2, rotary drilling rig control device also includes the first main valve 41 and the second main valve
43, the first oil-out 412 of the first main valve 41 is connected to the first oil pocket 102 of pressurization oil cylinder, and adjusting means includes pressurization oil cylinder
Magnetic valve 31 and rise and pull out oil cylinder magnetic valve 32, the delivery outlet of pressurization oil cylinder magnetic valve 31 is connected to the first control of the first main valve 41
Hydraulic fluid port 413；Second oil-out 432 of the second main valve 43 is connected to the first hydraulic fluid port 202 of power head motor, rises and pulls out oil cylinder magnetic valve
32 delivery outlet is connected to the second control port 433 of the second main valve 43.
Adjusting means also include unit head rotate forward magnetic valve 33 and magnetic valve reversion magnetic valve 34, the 3rd of the first main valve 41 the
Oil-out 414 is connected to the second oil pocket 104 of pressurization oil cylinder, and the delivery outlet that unit head rotates forward magnetic valve 33 is connected to the first main valve
41 the 3rd control port 415；4th oil-out 434 of the second main valve 43 is connected to the second hydraulic fluid port 204 of power head motor, electricity
The delivery outlet of magnet valve reversion magnetic valve 34 is connected to the 4th control port 435 of the second main valve 43.By adjusting the 3rd regulating valve
51 input current, the output quantity that unit head rotates forward the delivery outlet of magnetic valve 33 is can adjust, so as to adjust the of the first main valve 41
The pressure of three oil-outs 414, and then control the pulling force of pressurization oil cylinder；The input electricity of magnetic valve 34 is inverted by electromagnetic valve for adjusting
Stream, the output quantity of the delivery outlet of magnetic valve reversion magnetic valve 34 is can adjust, so as to adjust the 4th oil-out 434 of the second main valve 43
Pressure, and then control power head motor reversion power.Specifically, pressurize oil cylinder magnetic valve 31, rise pull out oil cylinder magnetic valve 32,
It can be electric proportional valve that unit head, which rotates forward magnetic valve 33 and magnetic valve reversion magnetic valve 34,.
In the present embodiment, pressurization oil cylinder magnetic valve 31, rise and pull out oil cylinder magnetic valve 32, unit head rotating forward magnetic valve 33 and electromagnetism
Valve reversion magnetic valve 34 includes regulating valve oil inlet 512 and oil return opening 514, and regulating valve oil inlet 512 connects with in-line 55,
Oil return opening 514 connects with oil return line 56.Specifically in the present embodiment, pressurization oil cylinder magnetic valve 31, rise and pull out oil cylinder magnetic valve 32, dynamic
Power head rotates forward magnetic valve 33 and the regulating valve oil inlet 512 of magnetic valve reversion magnetic valve 34 connects with same in-line 55, respectively
Oil return opening 514 connects with same oil return line 56, certainly, may also set up four in-lines 55 and four oil return lines 56, each regulation
In-line 55 corresponding with one connects valve oil inlet 512 respectively, and oil return line 56 corresponding with one connects each oil return opening 514 respectively
It is logical.
In the present embodiment, load measuring device includes the pressurization oil cylinder load measuring device 71 for being connected to controller 30
With power head motor load measuring device 73, and two pressurization oil cylinder load measuring devices 71 are respectively arranged on and the first oil pocket 102
On the oil circuit connected on the oil circuit of connection and with the second oil pocket 104, to measure the first oil pocket 102 and the second oil pocket 104 respectively
Pressure, and then obtain the load of pressurization oil cylinder；Two power head motor load measuring devices 73 are respectively arranged on the first hydraulic fluid port 202
On in-line and on the in-line of the second hydraulic fluid port 204, to measure the pressure of the first hydraulic fluid port 202 and the second hydraulic fluid port 204 respectively, and then
Obtain the load of power head motor.
In the present embodiment, rotary drilling rig intelligent controlling device also includes manually operated loop, and pressurization oil cylinder is by selecting member
Part is alternatively connected with automatic construction adjusting means 30 and manually operated loop, power head motor by selection element alternatively with
Automatic construction adjusting means 30 connects with manually operated loop；Manually operated loop is provided with pilot pressure measurement apparatus to detect
The pilot pressure in manually operated loop, pilot pressure measurement apparatus are connected to controller 30, and controller 30 is additionally operable to according to elder generation
The pilot pressure value of pilot force measuring device measurement determines input current.When rotary drilling rig works, manipulated, controlled by machine hand first
Manually operated loop is connected to pressurization oil cylinder and power head motor, the action of control pressurization oil cylinder and power head motor, Ran Houzai
Switched by selection element, automatic construction adjusting means 30 is connected to pressurization oil cylinder and power head motor, automatically controls pressurization
The action of oil cylinder and power head motor, and manually operated time when the input current of automatic construction adjusting means 30 operates according to machine hand
The pressure on road determines, rationally to control to pressurization oil cylinder and power head motor delivering oil.It is appreciated that rotary drilling rig is intelligently controlled
Device processed also may not include manually operated loop, the initial input current of input directly in controller 30 such as test by machine hand channel
.
Specifically, manually operated loop includes the first operation operation operation oil circuit 83 of oil circuit the 82, the 3rd of oil circuit 81, second and
4th operation oil circuit 84, selection element is shuttle valve, and the operation oil circuit 81 of pressurization oil cylinder magnetic valve 31 and first is connected to first
Two oil inlets of shuttle valve 86, the first control port 413 of the first main valve 41 are connected to the oil-out of the first shuttle valve 86；Rise and pull out oil
Cylinder magnetic valve 32 and second operates the oil inlet that oil circuit 82 is connected to the second shuttle valve 87, the 3rd control oil of the first main valve 41
Mouth 415 is connected to the oil-out of the second shuttle valve 87；Unit head rotates forward magnetic valve 33 and the 3rd operation oil circuit 83 is connected to the
The oil inlet of three shuttle valves 88, the second control port 433 of the second main valve 43 are connected to the oil-out of the 3rd shuttle valve 88；Magnetic valve is anti-
Turn magnetic valve 34 and the 4th and operate the oil inlet that oil circuit 84 is connected to the 3rd shuttle valve 89, the 4th control oil of the second main valve 43
Mouth 435 is connected to the oil-out of the 4th shuttle valve 89；Pilot pressure measurement apparatus includes four pilot pressure sensors 90, the first behaviour
Make to be respectively equipped with a pilot pressure on the operation operation operation oil circuit 84 of oil circuit 83 and the 4th of oil circuit the 82, the 3rd of oil circuit 81, second
Sensor 90.
Further, manually operated loop also includes the first control valve 91 and the second control valve 92, the first operation oil circuit 81,
Second operation oil circuit 82 is connected to the oil-out of the first control valve 91, and the 3rd operation oil circuit 83 and the 4th operates oil circuit 84 and is connected to
The oil-out of second control valve 92.Manually operated loop is can control by operating the first control valve 91 and the second control valve 92.Can
To understand, a control valve for including four oil-outs also can be only set, the first operation oil circuit 81, second operates oil circuit 82, the
Three operation oil circuits 83 and the 4th operate four oil-outs that oil circuit 84 is connected to the control valve.
In the present embodiment, above-mentioned regulation input quantity is current value, and controller 10 is additionally operable to according to first pilot under different operating modes
Pressurizeed under the pressure value and corresponding operating mode of force measuring device measurement oil cylinder magnetic valve 31, rise and pulling out oil cylinder magnetic valve 32, unit head just
The current value for turning magnetic valve 33 and magnetic valve reversion magnetic valve 34 obtains the corresponding relation of pressure value and current value and is stored in control
In device 30 processed, the pressure value and pressure value that controller 10 measures further according to a certain pilot pressure measurement apparatus are corresponding with current value
Relation determines pressurization oil cylinder magnetic valve 31, rises and pull out oil cylinder magnetic valve 32, unit head rotating forward magnetic valve 33 and magnetic valve reversion electromagnetism
The current value of valve 34.
This rotary drilling rig intelligent control method is used to control rotary drilling rig, as shown in figure 3, the rotary drilling rig intelligent control side
Method comprises the following steps：
S100, into automatic Construction Mode；
S200, detect the state of rotary drilling rig and judge whether to meet automatic execution conditions accordingly, enter if not meeting
Enter step S300；
S300, exit automatic Construction Mode.
In the present embodiment, automatic Construction Mode is to enter rock pattern automatically.
In this rotary drilling rig control method, the state of rotary drilling rig can be detected in good time, and judge accordingly under this state whether
It is adapted to automatic construction, when being unsatisfactory for the condition constructed automatically, automatically controls and exit automatic Construction Mode, the behaviour of machine hand can be simplified
Occur surprisingly, to ensure the safe and reliable of construction when making, while avoiding constructing automatically.
Specifically, Fig. 4 is refer to, step S200 is specifically included：
Step S201, drilling tool weight change value is detected, detect chassis angle of revolution, detect mast deviation angle；
Step S202, judges whether drilling tool weight change value is more than preset weight changing value, judges that chassis angle of revolution is
It is no to be more than default angle of revolution angle value, judge whether mast deviation angle is more than default bias angle, when drilling tool weight change value is big
In preset weight changing value, either chassis angle of revolution, which is more than, presets angle of revolution angle value or mast deviation angle to more than pre-
If during deviation angle, it is judged as being unsatisfactory for automatic execution conditions.Specifically, drilling tool weight change value is later moment in time drilling tool weight
With the difference of previous moment drilling tool weight.It is specially to detect the tension force of steel wire rope to detect drilling tool weight change value, according to steel wire rope
Tensity size can calculate the real-time weight of drilling tool.
Specifically, rotary drilling rig includes automatic construction adjusting means 30, pressurization oil cylinder and power head motor, and automatic construction is adjusted
Regulating device 30 includes pressurization oil cylinder magnetic valve 31, rises and pull out oil cylinder magnetic valve 32, unit head rotating forward magnetic valve 33, magnetic valve reversion electricity
Magnet valve 34 and floating magnetic valve 35, pressurization oil cylinder magnetic valve 31 and rising pull out oil cylinder magnetic valve 32 be used for control confession to pressurization oil cylinder
Oil, unit head rotates forward magnetic valve 33 and magnetic valve reversion magnetic valve 34 is used to control the fuel feeding to power head motor, floating electromagnetism
Valve 35 is used to control whether rotary drilling rig is in quick condition, and step S300 is specially：Control closing pressurization oil cylinder magnetic valve 31,
Rise and pull out oil cylinder magnetic valve 32, unit head rotates forward magnetic valve 33, magnetic valve inverts magnetic valve 34 and floating magnetic valve 35.
In the present embodiment, the rotary drilling rig intelligent control method includes being located at the step S400 after step S300：Into
Manual Construction Mode.
In the present embodiment, the rotary drilling rig intelligent control method includes being located at the step S500 before step S100：Receive
Enter rock instruction, start into rock.
As shown in figure 5, the present invention also provides a kind of rotary drilling rig intelligence control system, including judge module 200 and processing
Module 300, judge module 200 are used to detect the state of rotary drilling rig and judge whether rotary drilling rig meets bar of constructing automatically accordingly
Part, first processing module 300 are used to receive the judged result of judge module 200 and control rotary drilling rig to automatically exit from constructing automatically
Pattern.
In the present embodiment, automatic Construction Mode is to enter rock pattern automatically.
In this rotary drilling rig control system, the state of rotary drilling rig can be detected in good time, and judge accordingly under this state whether
It is adapted to automatic construction, when being unsatisfactory for the condition constructed automatically, automatically controls and exit automatic Construction Mode, the behaviour of machine hand can be simplified
Occur surprisingly, to ensure the safe and reliable of construction when making, while avoiding constructing automatically.
Specifically, judge module 200 is used to detect drilling tool weight change value, detects chassis angle of revolution, and detection mast is inclined
Angle is moved, and judges whether drilling tool weight change value is more than preset weight changing value, it is pre- to judge whether chassis angle of revolution is more than
If angle of revolution angle value, judge whether mast deviation angle is more than default bias angle, when drilling tool weight change value is more than default weight
Changing value is measured, either chassis angle of revolution is more than default angle of revolution angle value or mast deviation angle to being more than default bias angle
When spending, it is judged as being unsatisfactory for automatic execution conditions.Specifically, when drilling tool weight change value is later moment in time drilling tool weight and is previous
Carve the difference of drilling tool weight.It is specially to detect the tension force of steel wire rope to detect drilling tool weight change value, according to steel wire rope tension size
The real-time weight of drilling tool can be calculated.
It the above is only presently preferred embodiments of the present invention, any formal limitation not made to the present invention, although this
Invention is disclosed above with preferred embodiment, but is not limited to the present invention, any person skilled in the art,
Do not depart from the range of technical solution of the present invention, when the technology contents using the disclosure above make a little change or are modified to equivalent
The equivalent embodiment of change, as long as being without departing from technical solution of the present invention content, the technical spirit according to the present invention is real to more than
Any simple modification, equivalent change and modification that example is made is applied, in the range of still falling within technical solution of the present invention.
Claims (10)
1. a kind of rotary drilling rig intelligent controlling device, it is characterised in that including controller (10), rotary drilling rig condition checkout gear
(20) and automatic construction adjusting means (30), the rotary drilling rig condition checkout gear (20) are used for the shape for detecting rotary drilling rig
State, the automatic construction adjusting means (30) are used to control rotary drilling rig to construct automatically, and the controller (10) is used for according to institute
The state for stating the rotary drilling rig of rotary drilling rig condition checkout gear (20) detection controls whether to exit automatic Construction Mode.
2. rotary drilling rig intelligent controlling device as claimed in claim 1, it is characterised in that the rotary drilling rig state-detection dress
Putting (20) includes being connected to drilling tool Weight detecting device (21), angle of revolution detection means (22) and the mast of controller (10)
Bar angle detection device (23), the drilling tool Weight detecting device (21) is used for the weight for detecting the drilling tool of rotary drilling rig, described
Angle of revolution detection means (22) is used for the angle of revolution on the chassis of rotary drilling rig, and the mast angle detection device (23) is used for
Detect the deviation angle of the mast of rotary drilling rig.
3. rotary drilling rig intelligent controlling device as claimed in claim 2, it is characterised in that when the drilling tool weight change value is big
In preset weight changing value, either the chassis angle of revolution, which is more than, presets angle of revolution angle value or the mast deviation angle
During more than default bias angle, the controller (10) is judged as being unsatisfactory for automatic execution conditions.
4. the rotary drilling rig intelligent controlling device as described in claim 1-3 any one, it is characterised in that the automatic construction
Adjusting means (30) includes pressurization oil cylinder magnetic valve (31), rises and pull out oil cylinder magnetic valve (32), unit head rotating forward magnetic valve (33), electricity
Magnet valve reversion magnetic valve (34) and floating magnetic valve (35), rotary drilling rig include pressurization oil cylinder and power head motor, the pressurization
Oil cylinder magnetic valve (31) and described pull out oil cylinder magnetic valve (32) be used for control to the fuel feeding of the oil cylinder that pressurizes, the unit head
Rotate forward magnetic valve (33) and magnetic valve reversion magnetic valve (34) is used to control the fuel feeding to the power head motor, it is described floating
Moving electromagnetic valve (35) is used to control whether rotary drilling rig is in quick condition；The controller (10) is additionally operable to control whether to institute
State pressurization oil cylinder magnetic valve (31), described pull out oil cylinder magnetic valve (32), the unit head rotate forward magnetic valve (33), the electromagnetism
Valve reversion magnetic valve (34) and the floating magnetic valve (35) power-off.
5. a kind of rotary drilling rig intelligent control method, for controlling rotary drilling rig, it is characterised in that the rotary drilling rig is intelligently controlled
Method processed comprises the following steps：
S100, into automatic Construction Mode；
S200, detect the state of rotary drilling rig and judge whether to meet automatic execution conditions accordingly, step is entered if not meeting
Rapid S300；
S300, exit automatic Construction Mode.
6. rotary drilling rig intelligent control method as claimed in claim 5, it is characterised in that the step S200 is specifically included：
Step S201, drilling tool weight change value is detected, detect chassis angle of revolution, detect mast deviation angle；
Step S202, judges whether the drilling tool weight change value is more than preset weight changing value, judges the chassis angle of revolution
Whether degree is more than default angle of revolution angle value, judges whether the mast deviation angle is more than default bias angle, when the drilling tool
Weight change value is more than preset weight changing value, and either the chassis angle of revolution is more than default angle of revolution angle value or described
Mast deviation angle is judged as being unsatisfactory for automatic execution conditions to when being more than default bias angle.
7. rotary drilling rig intelligent control method as claimed in claim 5, it is characterised in that the rotary drilling rig includes applying automatically
Work adjusting means (30), pressurization oil cylinder and power head motor, the automatic construction adjusting means (30) include pressurization oil cylinder electromagnetism
Valve (31), rise and pull out oil cylinder magnetic valve (32), unit head rotating forward magnetic valve (33), magnetic valve reversion magnetic valve (34) and floating electromagnetism
Valve (35), the pressurization oil cylinder magnetic valve (31) and described pull out oil cylinder magnetic valve (32) be used for control to the oil cylinder that pressurizes
Fuel feeding, the unit head rotates forward magnetic valve (33) and magnetic valve reversion magnetic valve (34) is used to control to the power head horse
The fuel feeding reached, the floating magnetic valve (35) are used to control whether rotary drilling rig is in quick condition, and the step S300 is specific
For：Control close it is described pressurization oil cylinder magnetic valve (31), described pull out oil cylinder magnetic valve (32), the unit head rotate forward magnetic valve
(33), the magnetic valve reversion magnetic valve (34) and the floating magnetic valve (35).
8. rotary drilling rig intelligent control method as claimed in claim 5, it is characterised in that the rotary drilling rig intelligent control side
Method includes being located at the step S400 after the step S300：Into manual Construction Mode.
A kind of 9. rotary drilling rig intelligence control system, it is characterised in that it includes judge module (200) and processing module (300),
The judge module (200) is used to detect the state of rotary drilling rig and judges whether rotary drilling rig meets bar of constructing automatically accordingly
Part, the first processing module (300) are used to receive the judged result of the judge module (200) and control rotary drilling rig automatic
Exit automatic Construction Mode.
10. rotary drilling rig intelligent control method as claimed in claim 9, it is characterised in that the judge module (200) is used for
Drilling tool weight change value is detected, detects chassis angle of revolution, detects mast deviation angle, and judge the drilling tool weight change value
Whether it is more than preset weight changing value, judges whether the chassis angle of revolution is more than default angle of revolution angle value, judges the mast
Whether bar deviation angle is more than default bias angle, when the drilling tool weight change value is more than preset weight changing value, Huo Zhesuo
State chassis angle of revolution and be more than default angle of revolution angle value, or the mast deviation angle is sentenced to when being more than default bias angle
Break to be unsatisfactory for automatic execution conditions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN110965982A (en) * | 2019-12-31 | 2020-04-07 | 北京三一智造科技有限公司 | Automatic control method and system for rotary drilling rig and rotary drilling rig equipment |
| CN111608570A (en) * | 2020-05-28 | 2020-09-01 | 北京三一智造科技有限公司 | Rotary drilling rig control method and device, rotary drilling rig and readable storage medium |
| CN113090248A (en) * | 2019-12-23 | 2021-07-09 | 中联重科股份有限公司 | Control method and device of rotary drilling rig and rotary drilling rig |
| CN113236222A (en) * | 2021-05-14 | 2021-08-10 | 徐州徐工基础工程机械有限公司 | Self-learning-based automatic drilling control method and system for rotary drilling rig |
| CN114151063A (en) * | 2021-12-14 | 2022-03-08 | 上海中联重科桩工机械有限公司 | Method and system for controlling driving force of rotary drilling rig and storage medium |
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| CN113236222B (en) * | 2021-05-14 | 2024-05-14 | 徐州徐工基础工程机械有限公司 | Automatic drilling control method and system for rotary drilling rig based on self-learning |
| CN114151063A (en) * | 2021-12-14 | 2022-03-08 | 上海中联重科桩工机械有限公司 | Method and system for controlling driving force of rotary drilling rig and storage medium |
| CN114151063B (en) * | 2021-12-14 | 2024-04-12 | 上海中联重科桩工机械有限公司 | Method, system and storage medium for controlling tunneling force of rotary drilling rig |
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