CN110145297B - Adaptive balancing method and device for submersible drilling machine - Google Patents
Adaptive balancing method and device for submersible drilling machine Download PDFInfo
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- CN110145297B CN110145297B CN201910437488.7A CN201910437488A CN110145297B CN 110145297 B CN110145297 B CN 110145297B CN 201910437488 A CN201910437488 A CN 201910437488A CN 110145297 B CN110145297 B CN 110145297B
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- 238000005553 drilling Methods 0.000 title claims abstract description 62
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000003044 adaptive effect Effects 0.000 title claims description 13
- 238000006073 displacement reaction Methods 0.000 claims abstract description 16
- 239000011435 rock Substances 0.000 claims abstract description 11
- 230000005484 gravity Effects 0.000 claims abstract description 6
- 238000004364 calculation method Methods 0.000 claims abstract description 5
- 210000000078 claw Anatomy 0.000 claims description 9
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000003466 welding 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
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
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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 discloses a self-adaptive balancing method and a device thereof for a submersible drilling machine, which utilize a laser range finder and an angular displacement sensor to obtain the position information of a tunnel rock wall drilling working surface in real time, determine the offset of the gravity center of the drilling machine through the calculation of the deflection angle and the extension distance of a drill boom based on the position information, pertinently control adjustable balance supporting devices on the left side and the right side of the drilling machine to rotate correspondingly, enlarge the supporting range and realize the self-adaptive balancing of the drilling machine in the working process.
Description
Technical Field
The invention relates to a method and a device for self-adaptive balance of a submersible drilling machine, in particular to a method and a device for realizing self-adaptive balance on the basis of a balance supporting device facing a narrow tunnel or mine working face.
Background
The down-the-hole drill usually works in narrow tunnels or is used for drilling and grouting at the bottom of a mine, the working space at the bottom is narrow, the visibility is poor, and in addition, some drilled rock walls are not vertical surfaces but inclined surfaces with certain oblique angles, so the drill is easy to lose balance when working at extreme positions.
The support of a general drilling machine maintains the balance of the whole drilling machine during operation through 4 support legs which are symmetrically arranged at the front, the back, the left and the right of a drilling machine body, but the support mode only can meet the condition that the center of gravity projection points of the drilling machine are positioned in a quadrilateral region formed by connecting projection points of the support legs pairwise. If the gravity center exceeds the range framed by the quadrangle, the stress on two sides of the drilling machine is unbalanced, and the rollover accident is caused.
In a common method, fixed supporting legs are added on two sides of a drilling machine body, so that the supporting range is expanded, and the stability of the whole machine is improved. However, the above method is not suitable for a submersible drilling machine operating in a narrow tunnel or mine, and a special device must be designed according to actual working conditions to realize the self-adaptive balance of the drilling machine.
Disclosure of Invention
The invention aims to provide a self-adaptive balancing method of a submersible drilling machine and a corresponding supporting device thereof, so as to realize the self-adaptive balancing of the submersible drilling machine in the operation of narrow tunnels or mines under different complex working conditions.
In order to achieve the above-mentioned object of the invention, an adaptive balancing method of a submersible drilling machine is designed, which comprises the following steps:
(1) The method comprises the steps that a laser range finder and an angular displacement sensor are used for obtaining position information of a tunnel rock wall drilling working face in real time;
(2) Determining the deviation of the center of gravity of the drilling machine through the calculation of the deflection angle and the extension distance of the drill boom based on the position information;
(3) The adjustable balance supporting devices on the left side and the right side of the drilling machine are controlled to rotate correspondingly, the supporting range is enlarged, and self-adaptive balance of the drilling machine in working is achieved.
The laser range finder is preferably in a phase type, the accuracy of the laser range finder is +/-1 mm, the accuracy of the selected angular displacement sensor is +/-0.5 degrees, and the maximum supporting force which can be provided by the adjustable balance supporting device is 15000N.
The supporting device for realizing the self-adaptive balance of the submersible drilling machine comprises a machine body (25), a frame (16), a laser range finder (1), an angular displacement sensor (2), a beam lug plate (4), a beam pin shaft (5), a supporting beam (6), a bolt (8), a supporting oil cylinder (9), a sawtooth-shaped supporting claw (10), a supporting oil cylinder lug plate (11), a supporting oil cylinder pin shaft (12), a deflection oil cylinder (13), a deflection pin shaft (14), a deflection oil cylinder lug plate (15), a central controller (17) and an initial supporting device; the laser range finder (1) and the angular displacement sensor (2) are fixed above the machine body (25) and are respectively connected with the central controller (17) through data lines; the two frames (16) are symmetrically arranged on the left side and the right side of the machine body; the cross beam ear plate (4) is welded and fixed on the frame (16); one end of the supporting cross beam (6) is connected with the cross beam ear plate (4) through a cross beam pin shaft (5), and the other end of the supporting cross beam is connected with a supporting oil cylinder (9) through a bolt (8); the supporting oil cylinder ear plate (11) is welded and fixed on the side wall of the supporting oil cylinder; the tail end of a piston rod of the deflection oil cylinder (13) is connected to a lug plate (11) of the support oil cylinder through a support oil cylinder pin shaft (12); the tail end of a piston rod of the supporting oil cylinder (9) is welded with a sawtooth-shaped supporting claw (10); the lug plate (15) of the deflection oil cylinder is welded and fixed on the frame (16); the cylinder side of the deflection oil cylinder (13) is connected with a lug plate (15) of the deflection oil cylinder through a deflection pin shaft (14) so as to drive the support oil cylinder (9) to rotate.
The device is further designed in such a way that the initial support device mainly comprises a front support leg (3) and a rear support leg (18), wherein the front support leg (3) is positioned between the two side tracks at the most front part of the drilling machine, and the rear support leg (18) is arranged behind the drilling machine and is aligned with the two side tracks.
The device is further designed in that 4 reinforcing ribs (7) are symmetrically welded on two sides of the supporting beam (6) at the bolt connecting plate close to one end of the supporting oil cylinder (9).
The device of the invention is further designed in such a way that the distance between the bottom surface of the frame (16) and the ground is at least 30 cm.
The device is further designed in that the deflection oil cylinder (13) adopts a digital hydraulic cylinder, and the maximum extending length of a piston rod of the digital hydraulic cylinder is 100cm.
As for the supporting device, the side of the deflection oil cylinder (13) close to the cylinder barrel is connected with a deflection oil cylinder lug plate (15) through a deflection pin shaft (14), and the deflection oil cylinder lug plate (15) is fixedly welded on a track cross beam (16) of the drilling machine, so the deflection oil cylinder (13) has rotational freedom, and the supporting oil cylinder (9) also has rotational freedom, so the supporting oil cylinder (9) can be driven to do rotary motion through the extending-out action of the extending-out end of the deflection oil cylinder (13), and the supporting position of the sawtooth-shaped supporting claw (10) is determined.
The invention has the beneficial effects that:
(1) The device of the invention adopts the laser range finder and the angular displacement sensor, can quickly and accurately obtain the position information of the operation surface of the drilling machine, and realizes the online information acquisition and the timely feedback.
(2) The device of the invention adopts the deflection oil cylinder and the supporting oil cylinder, has timely reaction, can realize quick deflection and high-speed supporting and positioning, realizes the self-adaptive balance working state, enlarges the working range of the drilling machine and improves the working efficiency of the drilling machine.
(3) The device of the method can determine whether the supporting device extends out according to the requirement of the drilling machine, has more compact structure and is suitable for narrow tunnels.
(4) The device of the method has simple structure and is easy to install and maintain.
Drawings
FIG. 1 is a schematic structural view of an adaptive balancing device of a submersible drilling rig according to the present invention;
FIG. 2 is an oil circuit control diagram of a deflection oil cylinder and a support oil cylinder of the self-adaptive balancing device of the submersible drilling machine;
wherein: 1. the laser range finder comprises a laser range finder 2, an angular displacement sensor 3, a front supporting leg 4, a beam lug plate 5, a beam pin shaft 6, a supporting beam 7, a bolt 8, a reinforcing rib 9, a supporting oil cylinder 10, a sawtooth-shaped supporting claw 11, a supporting lug plate 12, a supporting pin shaft 13, a deflection oil cylinder 14, a deflection pin shaft 15, a deflection lug plate 16, a trolley frame 17, a central controller 18, a rear supporting leg 19, a deflection oil cylinder hydraulic pump 20, a supporting oil cylinder hydraulic pump 21, a filter screen 22, an oil tank 25 and a machine body.
Detailed Description
The device of the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, in the laser distance measuring instrument (1), an angular displacement sensor (2) and a central controller (17) are connected with each other through a data input line, and the central controller (17) is connected with a digital deflection oil cylinder (13) and a three-position four-way electromagnetic directional valve at a support oil cylinder (9) through a data output line. The cross beam ear plate (4) is fixed on a track cross beam (16) of the drilling machine through welding, one end of the supporting cross beam (6) is connected with the cross beam ear plate (4) through a cross beam pin shaft (5), and the other end of the supporting cross beam is rigidly connected with the supporting oil cylinder (9) through a bolt (8). The bottom of the extending end below the supporting oil cylinder (9) is welded with a sawtooth-shaped supporting claw (10). The supporting oil cylinder ear plate (11) is welded and fixed on the supporting oil cylinder, and the extending end of the deflection oil cylinder (13) is connected on the supporting oil cylinder ear plate (11) through a supporting oil cylinder pin shaft (12). The deflection oil cylinder ear plate (15) is welded and fixed on the track beam (16), and the cylinder side of the deflection oil cylinder (13) is connected with the deflection oil cylinder ear plate (15) through a deflection pin shaft (14), so that the support oil cylinder (9) is driven to rotate.
4 reinforcing ribs (7) are symmetrically welded on two sides of the bolt connecting plate at one end of the supporting beam (6) close to the supporting oil cylinder (9) so as to improve the rigidity of the supporting beam. The track cross beam (28) is fixedly welded on the outer side of the track of the drilling machine, and the near ground side is at least 30cm above the ground. In order to ensure that the supporting device can reliably extend, the supporting beam (6) and the deflection oil cylinder (13) are not in the same straight line when the supporting devices on the two sides are in the initial positions, otherwise, the supporting legs cannot reliably extend due to dead points; and when the extending end of the deflection oil cylinder (13) reaches the maximum extending distance, the supporting beam (6) can rotate to an angle of 90 degrees with the advancing direction of the drilling machine, and the anti-rollover capability is strongest at the moment.
The initial support device is further structurally designed to mainly comprise a front support leg (3) and a rear support leg (18), wherein the front support leg (3) is positioned between the two side tracks at the forefront part of the drilling machine, and the rear support leg (18) is arranged behind the drilling machine and is level to the two side tracks.
The further structural design of the control oil circuit circulating system is that, as shown in fig. 2, oil liquid respectively passes through two branches of a deflection oil cylinder hydraulic pump (19) and a support oil cylinder hydraulic pump (20) from an oil tank (22) through a filter screen (21) and reaches the respective actuator deflection oil cylinder (13) and support oil cylinder (9). On the deflection oil cylinder branch, as the execution element deflection oil cylinder (13) adopts a digital hydraulic cylinder, the stroke distance is adjustable, and meanwhile, other hydraulic elements are not needed to control the branch. On the supporting oil cylinder branch, oil passes through a supporting oil cylinder hydraulic pump, then passes through a three-position four-way electromagnetic directional valve, and then passes through a hydraulic lock consisting of two hydraulic control one-way valves, and then drives the supporting oil cylinder (9) to work.
The further design of the central controller (17) is that the distance of the drill body from the working surface can be taken as a secondary factor, because the main factor influencing the gravity center is the deflection angle of the working surface of the drill rock wall from the drill body. Therefore, the distance parameter L can be equivalent to a corresponding deflection angle β through data processing, and the equivalent calculation formula is as follows:
β＝L/0.2 (1)
wherein L is the distance (unit: m) from the drilling machine body to the working surface measured by the laser distance measuring instrument.
The calculation formula of the actually required deflection angle gamma of the balance support device is as follows:
γ＝|α|+β (2)
wherein alpha is an angle value (unit: °) measured by the angular displacement sensor. The obtained gamma angle value is then compared with the data in table 1, thereby determining the supporting state of the supporting device. When the value of gamma is less than 30 degrees, the supporting device does not work, and the extending distance is 0; as the deflection oil cylinder adopts a digital hydraulic cylinder, the extending distance of the deflection oil cylinder (13) is also increased in a self-adaptive way along with the rising of the gamma value; when the value of gamma is larger than 85 degrees, the extending distance of the deflection oil cylinder (13) reaches the maximum.
Corresponding data table of extension distance and deflection angle of piston rod of deflection oil cylinder of self-adaptive balancing device of submersible drilling machine
| Actually required deflection angle gamma (degree) of balance support device | Deflection cylinder extension distance (mm) |
| 0-30 | 0 |
| 30-40 | 200 |
| 40-50 | 400 |
| 50-60 | 550 |
| 60-70 | 700 |
| 70-80 | 850 |
| >80 | 1000 |
TABLE 1
The following embodiments are processes for adaptive balanced support of a drilling machine by using the device described in the above embodiments:
example 1
Firstly, the drilling machine is advanced to the vicinity of the rock wall needing to be drilled, and then the front support leg (3) and the rear support leg (18) of the initial support device are firstly supported and grounded. And then, the laser range finder (1) and the angular displacement sensor (2) are utilized to obtain the position information of the tunnel rock wall drilling working face in real time, for example, the measured distance is 1.5m, the angle is 20 degrees, and the angle value gamma is 27.5 degrees by the algorithm. The table look-up 1 shows that the angle is less than 30 degrees, so that the central controller (17) does not output a driving signal. The hydraulic pump does not operate, so the support device maintains the initial state. And then in an operating state in which the adaptive balancing device is not required to be started.
Example 2
Firstly, the drilling machine is advanced to the vicinity of the rock wall needing to be drilled, and then the front supporting leg (3) and the rear supporting leg (18) of the initial supporting device are supported on the ground firstly. And then, the laser range finder (1) and the angular displacement sensor (2) are utilized to obtain the position information of the tunnel rock wall drilling working face in real time, for example, the measured distance is 2.5m, the angle is 40 degrees, the angle value gamma obtained by the algorithm is 52.5 degrees, the table look-up 1 can know that the angle is within the range of 50 degrees to 60 degrees, and therefore, a driving signal is output. The method comprises the following specific steps:
(1) When the hydraulic pump works, firstly, the central controller (17) drives the extending end of the deflection oil cylinder (13) to extend for 55cm;
(2) After the working stroke of the deflection oil cylinder is finished, the support oil cylinder (9) starts to work, so that the sawtooth-shaped support claw (10) is supported and grounded.
The support device is now in an extended intermediate operating condition.
Example 3
Firstly, the drilling machine is advanced to the vicinity of the rock wall needing to be drilled, and then the front support leg (3) and the rear support leg (18) of the initial support device are firstly supported and grounded. And then, the laser range finder (1) and the angular displacement sensor (2) are utilized to obtain the position information of the tunnel rock wall drilling working face in real time, for example, the measured distance is 4m, the angle is 70 degrees, the angle value gamma obtained by the algorithm is 90 degrees, and the table look-up 1 shows that the angle is in the range of more than 80 degrees, so that a driving signal is output. The method comprises the following steps:
(1) The hydraulic pump works, so that the central controller (17) drives the extending end of the deflection oil cylinder (13) to extend 100cm (to the maximum working stroke).
(2) The support oil cylinder (9) starts to work after the working stroke of the deflection oil cylinder is finished, so that the sawtooth-shaped support claw (10) is supported and landed.
The supporting device is in the working state of the extending limit degree at the moment.
Claims (9)
1. A self-adaptive balancing device of a submersible drilling machine is characterized in that:
the device comprises a machine body (25), a frame (16), a laser range finder (1), an angular displacement sensor (2), a beam ear plate (4), a beam pin shaft (5), a supporting beam (6), a bolt (8), a supporting oil cylinder (9), a sawtooth-shaped supporting claw (10), a supporting oil cylinder ear plate (11), a supporting oil cylinder pin shaft (12), a deflection oil cylinder (13), a deflection pin shaft (14), a deflection oil cylinder ear plate (15), a central controller (17) and an initial supporting device; the laser range finder (1) and the angular displacement sensor (2) are fixed above the machine body (25) and are respectively connected with the central controller (17) through data lines; the two frames (16) are symmetrically arranged on the left side and the right side of the machine body; the cross beam ear plate (4) is welded and fixed on the frame (16); one end of the supporting beam (6) is connected with the beam ear plate (4) through a beam pin shaft (5), and the other end of the supporting beam is connected with a supporting oil cylinder (9) through a bolt (8); the supporting oil cylinder ear plate (11) is welded and fixed on the side wall of the supporting oil cylinder; the tail end of a piston rod of the deflection oil cylinder (13) is connected to a lug plate (11) of the support oil cylinder through a support oil cylinder pin shaft (12); the tail end of a piston rod of the supporting oil cylinder (9) is welded with a sawtooth-shaped supporting claw (10); the lug plate (15) of the deflection oil cylinder is welded and fixed on the frame (16); the cylinder side of the deflection oil cylinder (13) is connected with a lug plate (15) of the deflection oil cylinder through a deflection pin shaft (14) so as to drive the support oil cylinder (9) to rotate.
2. The adaptive balancing device of a submersible drilling rig according to claim 1, characterized in that: the initial supporting device mainly comprises a front supporting leg (3) and a rear supporting leg (18), wherein the front supporting leg (3) is located between two side tracks of the front portion of the drilling machine, and the rear supporting leg (18) is arranged behind the drilling machine and aligned with the two side tracks.
3. The adaptive balancing device of a submersible drilling rig according to claim 1, characterized in that: 4 reinforcing ribs (7) are symmetrically welded on two sides of the supporting cross beam (6) at the position of a bolt connecting plate close to one end of the supporting oil cylinder (9).
4. The apparatus of claim 1, wherein: the distance between the bottom surface of the frame (16) and the ground is at least more than 30 cm.
5. The adaptive balancing device of a submersible drilling rig according to claim 1, characterized in that: the deflection oil cylinder (13) adopts a digital hydraulic cylinder, and the maximum extending length of a piston rod of the digital hydraulic cylinder is 100cm.
6. The balancing method of the adaptive balancing device of the submersible drilling rig according to claim 1, wherein: the method comprises the following steps:
step (1): the method comprises the steps that a laser range finder and an angular displacement sensor are used for obtaining position information of a tunnel rock wall drilling working face in real time;
step (2): determining the deviation of the center of gravity of the drilling machine through the calculation of the deflection angle and the extension distance of the drill boom based on the position information;
and (3): the adjustable balance supporting devices on the left side and the right side of the drilling machine are controlled to rotate correspondingly, the supporting range is enlarged, and self-adaptive balance of the drilling machine in working is achieved.
7. The balancing method of the adaptive balancing device of the submersible drilling rig according to claim 6, wherein: the laser range finder in the step (1) is in a phase type, and the precision is +/-1 mm.
8. The balancing method of the adaptive balancing device of the submersible drilling rig according to claim 6, wherein: in the step (1), the precision of the angular displacement sensor is +/-0.5 degrees.
9. The balancing method of the adaptive balancing device of the submersible drilling rig according to claim 6, wherein: and (4) in the step (3), the maximum supporting force provided by the adjustable balance supporting device is 15000N.
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