CN109339763A - A kind of full-automatic rock drill and its anti-kelly control method and system - Google Patents
A kind of full-automatic rock drill and its anti-kelly control method and system Download PDFInfo
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- CN109339763A CN109339763A CN201811301300.8A CN201811301300A CN109339763A CN 109339763 A CN109339763 A CN 109339763A CN 201811301300 A CN201811301300 A CN 201811301300A CN 109339763 A CN109339763 A CN 109339763A
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- rock drill
- kelly
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- rock
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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
Abstract
This application discloses a kind of full-automatic rock drill and its anti-kelly control methods and system, and wherein method the following steps are included: obtain the current operating parameters of rock drill in real time；When the current operating parameters do not meet underlying parameter value, then start pre- kelly mode；The rotational pressure of rock drill after obtaining adjustment running parameter in real time；When the rotational pressure is between the first preset pressure value and the second preset pressure value, then start kelly mode；The rotational pressure of rock drill after obtaining starting kelly mode in real time；When the rotational pressure is greater than the second preset pressure value, then controls drilling rod and move back bar；When the duration for starting kelly mode being greater than preset time, then controls drilling rod and stop rock drilling.Control method provided herein can effectively improve operating efficiency, loss caused by kelly be reduced, so that construction cost be effectively reduced.Disclosed herein as well is a kind of full-automatic rock drills including above-mentioned anti-kelly control system.
Description
Technical field
This application involves rock drilling fields, more particularly to a kind of full-automatic rock drill and its anti-kelly control method and are
System.
Background technique
Rock drill is the rock drilling equipment that a kind of tunnels and underground engineering uses drill bursting construction, and operating mechanism is mainly by promoting
Device, drill boom, swing mechanism, translation mechanism composition.
In the use process of rock drill, need that rock bore it is quick-fried, when the hardness of rock is higher or rock in deposit
In other disturbing factors, the drilling rod in propeller is easy to be affected and kelly, in the prior art, generally requires and artificial sentences
Drilling rod in disconnected propeller whether kelly, cause human factor to be affected, also, for the professional skill requirement of operator compared with
Height, moreover, be easy to causeing the damage of propeller when kelly, construction cost is high, and operating efficiency is low.
Therefore, how effectively to prevent the kelly phenomenon of rock drill, reduce construction cost, be that those skilled in the art are current
The technical issues that need to address.
Apply for content
The purpose of the application is to provide a kind of full-automatic rock drill and its anti-kelly control method and system, for reducing behaviour
Make the professional skill door of personnel, improves operating efficiency.
To achieve the above object, the application provides the following technical solutions:
A kind of anti-kelly control method of full-automatic rock drill, comprising the following steps:
The current operating parameters of rock drill are obtained in real time；
When the current operating parameters do not meet underlying parameter value, then start pre- kelly mode, to the rock drill
Running parameter is adjusted；
The rotational pressure of rock drill after obtaining adjustment running parameter in real time；
When the rotational pressure is between the first preset pressure value and the second preset pressure value, then start kelly mould
Formula, control drilling rod stops promoting, and normal impact；
The rotational pressure of rock drill after obtaining starting kelly mode in real time；
It when the rotational pressure is greater than the second preset pressure value, then controls drilling rod and moves back bar, and normally rotate and impact；
When the duration for starting kelly mode being greater than preset time, then controls drilling rod and stop rock drilling.
Preferably, the step " current operating parameters for obtaining rock drill ", specifically:
The current rotational pressure of rock drill is obtained, the current cleaning water pressure of rock drill is obtained or obtains the current of rock drill
Clean at least one in water flow.
Preferably, when " current operating parameters for obtaining rock drill " are " the current rotational pressure for obtaining rock drill ", then
" current operating parameters do not meet underlying parameter value " specifically: the current rotational pressure of rock drill is greater than pressure of foundation value；
It is when " current operating parameters for obtaining rock drill " are " the current cleaning water pressure for obtaining rock drill ", then " described
Current operating parameters do not meet underlying parameter value " specifically: the current cleaning water pressure of rock drill is greater than basis cleaning water pressure
Value；
It is when " current operating parameters for obtaining rock drill " are " the current cleaning water flow for obtaining rock drill ", then " described
Current operating parameters do not meet underlying parameter value " specifically: the current cleaning water flow of rock drill is less than basis cleaning water flow.
Preferably, the step " when the duration for starting kelly mode being greater than preset time, then controls drilling rod stopping
In rock drilling ", preset time 15s.
Preferably, the step " when the duration for starting kelly mode being greater than preset time, then controls drilling rod stopping
After rock drilling ", further comprise the steps of:
Alarm signal is issued, staff is reminded to be adjusted manually to the drilling rod of rock drill.
A kind of anti-kelly control system of full-automatic rock drill, comprising:
It is mounted on the acquisition sensor for being used to acquire the running parameter of the rock drill inside rock drill in real time, for changing
The control valve of the running parameter of the rock drill, and for being controlled according to the operating parameter information of the acquisition sensor acquisition
The controller of the control valve opening；The controller is all connected with the acquisition sensor and the control valve.
Preferably, the acquisition sensor includes the rotational pressure sensing for obtaining the rotational pressure of the rock drill
Device, the cleaning water pressure sensor of cleaning water pressure for obtaining the rock drill, the cleaning for obtaining the rock drill
The cleaning water flow sensor of water flow.
Preferably, the acquisition sensor further includes the propelling pressure sensing for obtaining the propelling pressure of the rock drill
Device, the surge sensor of surge for obtaining the rock drill and the propulsion speed for obtaining the rock drill
The fltting speed sensor of degree.
Preferably, the control valve includes rotational pressure control valve for adjusting the rotational pressure of the rock drill, uses
Ejected wash water pressure-control valve in the cleaning water pressure for adjusting the rock drill, the cleaning water flow for adjusting the rock drill
Cleaning Water flow control valve, propelling pressure for adjusting the rock drill propelling pressure control valve, described for adjusting
The fltting speed control of the surge control valve of the surge of rock drill and the fltting speed for adjusting the rock drill
Valve processed.
The application also provides a kind of full-automatic rock drill, including anti-kelly control system described in above-mentioned any one.
The anti-kelly control method of full-automatic rock drill provided herein, comprising the following steps: obtain rock drill in real time
Current operating parameters；When the current operating parameters do not meet underlying parameter value, then start pre- kelly mode, to the chisel
The running parameter of rock machine is adjusted；The rotational pressure of rock drill after obtaining adjustment running parameter in real time；When the rotation is pressed
When power is between the first preset pressure value and the second preset pressure value, then starting kelly mode, control drilling rod stops promoting, and
Normal impact；The rotational pressure of rock drill after obtaining starting kelly mode in real time；It is preset when the rotational pressure is greater than second
It when pressure value, then controls drilling rod and moves back bar, and normally rotate and impact；It is greater than preset time when the duration of starting kelly mode
When, then it controls drilling rod and stops rock drilling.The control method, by the acquisition and analytical judgment of the running parameter to rock drill, when out
When existing kelly, can adjust automatically move back bar parameter, realize that self is got rid of poverty, system is automatically stopped operation, this method when that can not get rid of poverty
The professional skill door of operator can be effectively reduced, reduce kelly probability, improve operating efficiency, reduce damage caused by kelly
Consumption, so that construction cost be effectively reduced, and is effectively reduced the labor intensity of staff, reduces labour cost.
The anti-kelly control system of full-automatic rock drill provided herein, comprising: be mounted on inside rock drill for real
When acquire the rock drill running parameter acquisition sensor, for changing the control valve of the running parameter of the rock drill,
And the controller for controlling the control valve opening according to the operating parameter information of the acquisition sensor acquisition；The control
Device processed is all connected with the acquisition sensor and the control valve.The control system, by acquisition sensor to the work of rock drill
The acquisition for making parameter, is analyzed and determined using controller, and using the running parameter of control valve adjustment rock drill, can be effective
The professional skill door of operator is reduced, kelly probability is reduced, improves operating efficiency, reduces loss caused by kelly, thus
Construction cost is effectively reduced, and the labor intensity of staff is effectively reduced, reduces labour cost.
Full-automatic rock drill provided herein is equipped with above-mentioned anti-kelly control system, due to the anti-kelly control system
System has above-mentioned technique effect, and therefore, the full-automatic rock drill equipped with the anti-kelly control system should also be as having corresponding skill
Art effect.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the flow chart of the anti-kelly control method of full-automatic rock drill provided herein；
Fig. 2 is the structural schematic diagram of the anti-kelly control system of full-automatic rock drill provided herein；
Fig. 3 is that a kind of structure of specific embodiment of the anti-kelly control system of full-automatic rock drill provided herein is shown
It is intended to.
Specific embodiment
The core of the application is to provide a kind of full-automatic rock drill and its anti-kelly control method and system, can be significant
The labor intensity of operator is reduced, operating efficiency is improved, reduces cost.
In order to make those skilled in the art more fully understand application scheme, with reference to the accompanying drawings and detailed description
The application is described in further detail.
Fig. 1 to Fig. 3 is please referred to, Fig. 1 is the flow chart of the anti-kelly control method of full-automatic rock drill provided herein；
Fig. 2 is the structural schematic diagram of the anti-kelly control system of full-automatic rock drill provided herein；Fig. 3 is provided herein
A kind of structural schematic diagram of specific embodiment of the full-automatic anti-kelly control system of rock drill.
In this embodiment, the anti-kelly control method of full-automatic rock drill, comprising the following steps:
Step S1: the current operating parameters of rock drill are obtained in real time；
Step S2: when current operating parameters do not meet underlying parameter value, then start pre- kelly mode, to the work of rock drill
It is adjusted as parameter, when current operating parameters meet underlying parameter value, rock drill is in normal operating conditions；
Step S3: the rotational pressure of the rock drill after obtaining adjustment running parameter in real time；
Step S4: when rotational pressure is between the first preset pressure value and the second preset pressure value, then start kelly
Mode, control drilling rod stops promoting, and normal impact；When rotational pressure is less than the first preset pressure value, rock drill restores just
Normal working condition, and repeat step S1；
Step S5: the rotational pressure of the rock drill after obtaining starting kelly mode in real time；
Step S6: when rotational pressure is greater than the second preset pressure value, then controlling drilling rod and move back bar, and normally rotates and rush
It hits, and obtains the rotational pressure of the rock drill after adjustment running parameter in real time, when rotational pressure is less than the first preset pressure value
When, rock drill restores normal operating conditions, and repeats step S1；
Step S7: it when the duration for starting kelly mode being greater than preset time, then controls drilling rod and stops rock drilling, specifically
, under the intervention of pre- kelly mode, if rock drill can not restore normal operating conditions, starts kelly mode, work as kelly
When the duration of mode is greater than preset time, explanation can not be automatically adjusted to normal operating conditions, then need human intervention.
Specifically, can be adjusted according to running parameter of the scheduled program to rock drill after the unlatching of pre- kelly mode
It is whole, for example, the rotation speed or propulsion for reducing rock drill can be passed through when cleaning water flow less than basis cleaning water flow
The modes such as speed, until cleaning water flow is greater than basis cleaning water flow.
On the basis of the respective embodiments described above, step " current operating parameters for obtaining rock drill ", specifically:
The current rotational pressure of rock drill is obtained, the current cleaning water pressure of rock drill is obtained or obtains the current of rock drill
Clean at least one in water flow.
On the basis of the respective embodiments described above, when " current operating parameters for obtaining rock drill " are " to obtain rock drill
When current rotational pressure ", then " current operating parameters do not meet underlying parameter value " specifically: the current rotational pressure of rock drill is big
In pressure of foundation value；
On the basis of the respective embodiments described above, when " current operating parameters for obtaining rock drill " are " to obtain rock drill
When current cleaning water pressure ", then " current operating parameters do not meet underlying parameter value " specifically: the current cleaning hydraulic pressure of rock drill
Power is greater than basic ejected wash water pressure value；
On the basis of the respective embodiments described above, when " current operating parameters for obtaining rock drill " are " to obtain rock drill
When current cleaning water flow ", then " current operating parameters do not meet underlying parameter value " specifically: the current cleaning water flow of rock drill
Amount is less than basis cleaning water flow.
On the basis of the respective embodiments described above, step " when the duration for starting kelly mode being greater than preset time,
Then control drilling rod and stop rock drilling " in, preset time 13-16s, preferably 15s.
On the basis of the respective embodiments described above, step " when the duration for starting kelly mode being greater than preset time,
Then control drilling rod and stop rock drilling " after, it further comprises the steps of:
Step S8: issuing alarm signal, and staff is reminded to be adjusted manually to the drilling rod of rock drill.Specifically, report
Alert signal can be issued by buzzer, can also be issued by alarm lamp.
The anti-kelly control method of full-automatic rock drill provided herein, pushing away for rock drill is acquired by sensor in real time
Rock stratum hardness is analyzed and determined into operational datas such as speed, rotation speed, surges, and simultaneously to the work of rock drill
Parameter is adjusted.Real-time adaptive adjusting is carried out to rock drill parameter during rock drilling simultaneously, such as when rock drill rotation pressure
System is adjusted fltting speed, propelling pressure, surge by certain algorithm when power rises, and adjusts rock drill parameter in real time
Ensure to avoid rock drill kelly in normal operating conditions.
The control method, can be automatic when there is kelly by the acquisition and analytical judgment of the running parameter to rock drill
Bar parameter is moved back in adjustment, realizes that self is got rid of poverty, system is automatically stopped operation when that can not get rid of poverty, and operation can be effectively reduced in this method
The professional skill door of personnel reduces kelly probability, improves operating efficiency, loss caused by kelly is reduced, to be effectively reduced
Construction cost, and the labor intensity of staff is effectively reduced, reduce labour cost.
In addition to the above-mentioned full-automatic anti-kelly control method of rock drill, present invention also provides a kind of full-automatic rock drill is anti-sticking
Bar control system, comprising: be mounted on inside rock drill for acquiring the acquisition sensor of the running parameter of rock drill in real time；For
Change the control valve of the running parameter of rock drill；And for controlling control according to the operating parameter information of acquisition sensor acquisition
The controller of valve opening；Controller is all connected with acquisition sensor and control valve.
On the basis of the respective embodiments described above, acquisition sensor includes the rotation for obtaining the rotational pressure of rock drill
Pressure sensor, the cleaning water pressure sensor of cleaning water pressure for obtaining rock drill and for obtaining the clear of rock drill
The cleaning water flow sensor of wash water flow.
On the basis of the respective embodiments described above, acquisition sensor further includes for obtaining pushing away for the propelling pressure of rock drill
The surge sensor of surge into pressure sensor, for obtaining rock drill and propulsion for obtaining rock drill
The fltting speed sensor of speed.
On the basis of the respective embodiments described above, control valve includes the rotational pressure for adjusting the rotational pressure of rock drill
Control valve, the ejected wash water pressure-control valve of cleaning water pressure for adjusting rock drill, the cleaning water flow for adjusting rock drill
The cleaning Water flow control valve of amount, the propelling pressure control valve of propelling pressure for adjusting rock drill, for adjusting rock drill
Surge surge control valve and the fltting speed for adjusting rock drill fltting speed control valve.
On the basis of the respective embodiments described above, which further includes for that can not make within a preset time in controller
Rock drill restores the warning piece that alarm signal is issued when normal operating conditions.
Specifically, the course of work of the full-automatic anti-kelly control system of rock drill the following steps are included:
Step S1: the current operating parameters of rock drill are obtained in real time by sensor；
Step S2: when current operating parameters do not meet underlying parameter value, then start pre- kelly mode, using to control valve
Adjustment realization the running parameter of rock drill is adjusted, when current operating parameters meet underlying parameter value, at rock drill
In normal operating conditions；
Step S3: the rotational pressure of the rock drill after obtaining adjustment running parameter in real time by sensor；
Step S4: utilizing judgement part, and judgement is located at the first preset pressure value and the second preset pressure value when rotational pressure
Between when, then start kelly mode, controller passes through the adjustment to propelling pressure control valve and fltting speed control valve, control
Drilling rod stops promoting, and normal impact；When rotational pressure is less than the first preset pressure value, rock drill restores to work normally shape
State, and repeat step S1；
Step S5: the rotational pressure of the rock drill after obtaining starting kelly mode in real time by sensor；
Step S6: utilizing judgement part, judges then to control drilling rod when rotational pressure is greater than the second preset pressure value and move back
Bar, and normally rotate and impact, and obtain the rotational pressure of the rock drill after adjustment running parameter in real time, judgement is when rotation pressure
When power is less than the first preset pressure value, rock drill restores normal operating conditions, and repeats step S1；
Step S7: it when the duration for starting kelly mode being greater than preset time, then controls drilling rod and stops rock drilling, specifically
, under the intervention of pre- kelly mode, if rock drill can not restore normal operating conditions, starts kelly mode, work as kelly
When the duration of mode is greater than preset time, explanation can not be automatically adjusted to normal operating conditions, then need human intervention.
Step S8: it when the duration for starting kelly mode being greater than preset time, is then issued and is alarmed by warning piece
Signal reminds staff to be adjusted manually to the drilling rod of rock drill.Specifically, warning piece can be buzzer, it can also
Think alarm lamp.
The anti-kelly controlling party system of full-automatic drill jumbo provided herein, chisel when by acquiring rock drilling work in real time
The propelling pressure of rock machine, the rotational pressure of rock drill, the surge of rock drill, the cleaning water pressure of rock drilling, rock drill it is clear
The rock drills running parameter such as rate of penetration of wash water flow and rock drill, system carry out calculating and data record to it；Pass through
The data that system actual acquisition arrives are calculated with the instantaneous operating conditions for analyzing and determining rock drill；System adapts to adjust rock drill automatically
The parameters such as propelling pressure, fltting speed, surge, rotation speed, ejected wash water water flow, direction of propulsion work rock drilling
To effective prevention kelly effect；System adjust automatically, which is moved back bar parameter and realized, when there is kelly self gets rid of poverty and issues early warning, when
System is automatically stopped operation and is simultaneously emitted by alarm when can not get rid of poverty.The professional skill door of operator can be effectively reduced, drop
Low-calorie bar probability improves operating efficiency, reduces loss caused by kelly, so that construction cost be effectively reduced, and is effectively reduced
The labor intensity of staff reduces labour cost.
Other than above-mentioned anti-kelly control system, present invention also provides a kind of including above-mentioned anti-kelly control system
Full-automatic rock drill, refer to the prior art for other Each parts of the full-automatic rock drill, and repeats no more herein.
Detailed Jie has been carried out to full-automatic rock drill provided herein and its anti-kelly control method and system above
It continues.Specific examples are used herein to illustrate the principle and implementation manner of the present application, and the explanation of above embodiments is only
It is to be used to help understand the method for this application and its core ideas.It should be pointed out that for those skilled in the art
For, under the premise of not departing from the application principle, can also to the application, some improvement and modification can also be carried out, these improve and repair
Decorations are also fallen into the protection scope of the claim of this application.
Claims (10)
1. a kind of anti-kelly control method of full-automatic rock drill, which comprises the following steps:
The current operating parameters of rock drill are obtained in real time；
When the current operating parameters do not meet underlying parameter value, then start pre- kelly mode, the work to the rock drill
Parameter is adjusted；
The rotational pressure of rock drill after obtaining adjustment running parameter in real time；
When the rotational pressure is between the first preset pressure value and the second preset pressure value, then start kelly mode, controls
Drilling rod processed stops promoting, and normal impact；
The rotational pressure of rock drill after obtaining starting kelly mode in real time；
It when the rotational pressure is greater than the second preset pressure value, then controls drilling rod and moves back bar, and normally rotate and impact；
When the duration for starting kelly mode being greater than preset time, then controls drilling rod and stop rock drilling.
2. the anti-kelly control method of full-automatic rock drill according to claim 1, which is characterized in that the step " obtains
The current operating parameters of rock drill ", specifically:
The current rotational pressure of rock drill is obtained, the current cleaning water pressure of rock drill is obtained or obtains the current cleaning of rock drill
At least one of in water flow.
3. the anti-kelly control method of full-automatic rock drill according to claim 2, which is characterized in that
When be " the current rotational pressure of acquisition rock drill " when the current operating parameters of rock drill " obtain ", then " the current work
Underlying parameter value is not met as parameter " specifically: the current rotational pressure of rock drill is greater than pressure of foundation value；
It is when " current operating parameters for obtaining rock drill " are " the current cleaning water pressure for obtaining rock drill ", then " described current
Running parameter does not meet underlying parameter value " specifically: the current cleaning water pressure of rock drill is greater than basic ejected wash water pressure value；
It is when " current operating parameters for obtaining rock drill " are " the current cleaning water flow for obtaining rock drill ", then " described current
Running parameter does not meet underlying parameter value " specifically: the current cleaning water flow of rock drill is less than basis cleaning water flow.
4. the anti-kelly control method of full-automatic rock drill according to claim 1, which is characterized in that the step is " when opening
When the duration of dynamic kelly mode is greater than preset time, then controls drilling rod and stop rock drilling " in, preset time 15s.
5. the anti-kelly control method of full-automatic rock drill according to any one of claims 1 to 4, which is characterized in that institute
After stating step " when the duration for starting kelly mode being greater than preset time, then control drilling rod and stop rock drilling ", further include
Step:
Alarm signal is issued, staff is reminded to be adjusted manually to the drilling rod of rock drill.
6. a kind of anti-kelly control system of full-automatic rock drill characterized by comprising
It is mounted on for acquiring the acquisition sensor of the running parameter of the rock drill in real time inside rock drill, for changing described
The control valve of the running parameter of rock drill, and for according to the operating parameter information control of the acquisition sensor acquisition
Control the controller of valve opening；The controller is all connected with the acquisition sensor and the control valve.
7. the anti-kelly control system of full-automatic rock drill according to claim 6, which is characterized in that the acquisition sensor
Rotation pressure sensor including the rotational pressure for obtaining the rock drill, the cleaning hydraulic pressure for obtaining the rock drill
The cleaning water pressure sensor of power and the cleaning water flow sensor of the cleaning water flow for obtaining the rock drill.
8. the anti-kelly control system of full-automatic rock drill according to claim 6, which is characterized in that the acquisition sensor
It further include the propelling pressure sensor for obtaining the propelling pressure of the rock drill, the percussive pressure for obtaining the rock drill
The fltting speed sensor of the surge sensor of power and the fltting speed for obtaining the rock drill.
9. the full-automatic anti-kelly control system of rock drill according to claim 6 to 8 any one, which is characterized in that institute
Stating control valve includes rotational pressure control valve for adjusting the rotational pressure of the rock drill, for adjusting the rock drill
Clean the ejected wash water pressure-control valve of water pressure, the ejected wash water flow control of cleaning water flow for adjusting the rock drill
Valve, the propelling pressure control valve of propelling pressure for adjusting the rock drill, the surge for adjusting the rock drill
Surge control valve and the fltting speed for adjusting the rock drill fltting speed control valve.
10. a kind of full-automatic rock drill, including anti-kelly control system, which is characterized in that anti-kelly control system is wanted for right
Seek anti-kelly control system described in 6 to 9 any one.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811301300.8A CN109339763A (en) | 2018-11-02 | 2018-11-02 | A kind of full-automatic rock drill and its anti-kelly control method and system |
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| CN111894489A (en) * | 2020-06-19 | 2020-11-06 | 德威土行孙工程机械（北京）有限公司 | Drill rod control method and system and drilling machine |
| CN111720107A (en) * | 2020-06-29 | 2020-09-29 | 中国铁建重工集团股份有限公司 | Drilling machine propulsion control system and method and drill rod |
| WO2023273590A1 (en) * | 2021-06-30 | 2023-01-05 | 三一重机有限公司 | Breaker strike control method and apparatus, work machinery, and storage medium |
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