CN110454092A - Rotary drilling rig movable mast controls equipment and control method - Google Patents
Rotary drilling rig movable mast controls equipment and control method Download PDFInfo
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- CN110454092A CN110454092A CN201910760256.5A CN201910760256A CN110454092A CN 110454092 A CN110454092 A CN 110454092A CN 201910760256 A CN201910760256 A CN 201910760256A CN 110454092 A CN110454092 A CN 110454092A
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- 238000005553 drilling Methods 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000001514 detection method Methods 0.000 claims description 33
- 238000005303 weighing Methods 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 description 13
- 238000009434 installation Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
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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
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
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- Environmental & Geological Engineering (AREA)
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Abstract
The invention discloses a kind of rotary drilling rig movable mast control equipment and control methods, wherein the equipment includes: first angle acquisition device, the angle X rotated using central axis as axis for obtaining the mast on rotary drilling rig；One or more of and control device, for performing the following operations: when the X≤first angle threshold value, adjust the electric current of the right contracting proportioning valve of mast；When the X >=second angle threshold value, the electric current of the left contracting proportioning valve of mast is adjusted.Which overcomes obliquity sensors in the prior art can not precisely obtain the angle value of mast in left and right directions, easily causes mast and the unexpected the problem of of occurring such as body structural member mutually collides.
Description
Technical field
The present invention relates to rotary drilling rig control fields, and in particular, to a kind of rotary drilling rig movable mast control equipment and control
Method.
Background technique
Rotary drilling rig structural member is big, and component is more, and installation space is compact, causes to be easy to cause mast and vehicle during movable mast
Body structure part such as mutually collides at unexpected occur.Currently, churning driven is using double big three-legged structures, due to the limitation of installation space, one
As obtain the angle of mast in back and forth and right and left directions respectively equipped with obliquity sensor on mast, obliquity sensor is with weight
Power direction is object of reference, and when churning driven is under ground out-of-flatness or inclined situation, obliquity sensor can not be obtained precisely
The angle value of mast in left and right directions, easily causes mast and body structural member mutually collides etc. unexpected occurs.
Therefore it provides a kind of can control in use efficiently against the rotary drilling rig movable mast of the above technical problem
The problem of equipment and control method are urgent need to resolve of the present invention.
Summary of the invention
In view of the above technical problems, it is an object of the invention to provide a kind of rotary drilling rig movable mast controls for overcoming the above technical problem
Control equipment and control method.
To achieve the goals above, the present invention provides rotary drilling rig movable masts to control equipment, and the equipment includes:
First angle acquisition device, the angle X rotated using central axis as axis for obtaining the mast on rotary drilling rig；And
One or more of control device, for performing the following operations:
When the X≤first angle threshold value, the electric current of the right contracting proportioning valve of mast is adjusted；
When the X >=second angle threshold value, the electric current of the left contracting proportioning valve of mast is adjusted.
Preferably, the first angle acquisition device includes: central axis angular transducer and bridging mechanism；
Central axis, the one end of the central axis far from the mast turntable are fixed on the mast turntable of the rotary drilling rig
Partially protrude into the inside of the mast, the central axis and the mast in vertical state, the central axis angular transducer
It is fixed on the central axis to stretch on the end face of one end inside the mast, the mast passes through the bridging mechanism and institute
It states detection axis on central axis angular transducer to be connected, the central axis angular transducer is for detecting the mast in described
Mandrel is the angle X of axis rotation.
Preferably, the bridging mechanism includes: connecting rod and shaft；
The medial surface of the mast is provided with the fixing sleeve matched with the central axis；The both ends of the connecting rod are solid respectively
It is scheduled on the end face of the fixing sleeve, the connecting rod is parallel with the end face of the central axis, and the middle part of the connecting rod is described in
Shaft is connected with the detection axis on the central axis angular transducer, and the shaft and the detection axis are coaxially disposed.
Preferably, the bridging mechanism further include: protective cover；
The bottom of the protective cover is fixed on the end face of the fixing sleeve, and be additionally provided on the protective cover with it is described
The protrusion that connecting rod matches, the protrusion can cover the connecting rod and shaft.
Preferably, the movable mast controls equipment further include:
Second angle acquisition device, for obtain the mast in the longitudinal direction with its own between plumbness shape
At angle Y；
The control device is also used to when the angle Y is between the third angle threshold value and fourth angle threshold value,
The maximum current value of the right contracting proportioning valve and the left contracting proportioning valve is adjusted, to control the movable mast speed for slowing down the mast.
Preferably, the movable mast controls equipment further include:
Weighing device, for detecting the total weight of drill rod boring tool；
When the weight of the drill rod boring tool is greater than weight threshold, limits the mast and carry out movable mast movement.
The present invention also provides a kind of rotary drilling rig movable mast control methods, which comprises
Obtain the angle X that mast is rotated using central axis as axis；
When the X≤first angle threshold value, the electric current of the right contracting proportioning valve of mast is adjusted；
When the X >=second angle threshold value, the electric current of the left contracting proportioning valve of mast is adjusted.
Preferably, the acquisition mast is to utilize the central axis and bridging mechanism using central axis as the angle X that axis rotates
Between central axis angular transducer detection；Wherein,
The central axis is fixed on the mast turntable of the rotary drilling rig, the central axis is far from the mast turntable
One end part stretches to the inside of mast, the central axis and the mast in vertical state, the central axis angular transducer
It is fixed on the central axis to stretch on the end face of one end inside the mast, the mast passes through the bridging mechanism and institute
It states detection axis on central axis angular transducer to be connected, the central axis angular transducer is for detecting the mast in described
Mandrel is the angle X of axis rotation.
Preferably, the bridging mechanism includes: connecting rod and shaft；
The side of the mast is provided with the fixing sleeve matched with the central axis；The both ends of the connecting rod are fixed respectively
In the end face of the fixing sleeve, the connecting rod is parallel with the end face of the central axis, and the middle part of the connecting rod is turned by described
Axis is connected with the detection axis on the central axis angular transducer, and the shaft and the detection axis are coaxially disposed.
Preferably, the bridging mechanism further include: protective cover
The bottom of the protective cover is fixed on the end face of the fixing sleeve, and be additionally provided on the protective cover with it is described
The protrusion that connecting rod matches, the protrusion can cover the connecting rod and shaft.
Preferably, before the acquisition mast is using central axis as the angle X that axis rotates, the method also includes:
Obtain the angle Y that the mast is formed between plumbness with its own in the longitudinal direction；Wherein,
When the angle Y is between the third angle threshold value and fourth angle threshold value, the right contracting proportioning valve is adjusted
With the maximum current value of the left contracting proportioning valve, slow down the movable mast speed of the mast with control.
Preferably, in the angle for obtaining the mast and being formed between plumbness with its own in the longitudinal direction
Before Y, the method also includes:
Obtain the weight of drill rod boring tool on the rotary drilling rig；Wherein,
When the weight of the drill rod boring tool is greater than weight threshold, limits the mast and carry out movable mast movement.
The present invention also provides a kind of machine readable storage mediums, are stored thereon with program, which is performed realization
The rotary drilling rig movable mast control method.
According to the above technical scheme, the beneficial effect of rotary drilling rig movable mast control equipment provided by the invention when in use
Are as follows: it is not influenced by ground flat degree, can accurately obtain the angle X that the mast is rotated using central axis as axis, and root
The electric current of mast right contracting proportioning valve and left contracting proportioning valve is adjusted, correspondingly according to the size of the angle X of acquisition with realization pair
The control of the angle X, prevents the rotary drilling rig during movable mast, causes mast and the meanings such as body structural member mutually collides
Outer generation, while the dependence to machine hands-on background is reduced, make movable mast more secure and reliable.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the overall structure of the rotary drilling rig movable mast control equipment provided in a kind of preferred embodiment of the invention
Schematic diagram；
Fig. 2 is the overall structure of the rotary drilling rig movable mast control equipment provided in a kind of preferred embodiment of the invention
Schematic diagram；
Fig. 3 is that the rotary drilling rig movable mast provided in a kind of preferred embodiment of the invention controls equipment upper mast in
The assembling schematic diagram of mandrel；
Fig. 4 is that the rotary drilling rig movable mast provided in a kind of preferred embodiment of the invention controls equipment upper mast in
The assembling schematic diagram of mandrel；
Fig. 5 is the enlarged drawing in Fig. 4 at A；
Fig. 6 is the flow chart of the rotary drilling rig movable mast control method provided in a kind of preferred embodiment of the invention；
Fig. 7 is the flow chart of the rotary drilling rig movable mast control method provided in a kind of preferred embodiment of the invention；
Fig. 8 is the flow chart of the rotary drilling rig movable mast control method provided in a kind of preferred embodiment of the invention；
Fig. 9 is the hardware control logic of the rotary drilling rig movable mast process provided in a kind of preferred embodiment of the invention
Figure；And
Figure 10 is the rotary drilling rig that provides in a kind of preferred embodiment of the invention in the lateral direction to mast control
The hardware control logic figure of system.
Description of symbols
1 protective cover, 2 connecting rod
3 shaft, 4 fixing sleeve
5 central axis angular transducer, 6 mast
7 central axis, 8 mast turntable
The right left contracting proportioning valve of 92 mast of contracting proportioning valve of 91 masts
The lower vehicle frame of 10 mast oil cylinders 11
12 swing arm, 13 drill rod boring tool
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In the present invention, for the angle of mast: it is reference with the visual field of driver in cab of rotary drilling rig, when
It when mast is in plumbness, moves forward and backward and is expressed as Y-direction, side-to-side movement is expressed as X-direction, wherein be in and hang down in mast
It is judged as X:0 degree when straight state；Y:0 degree.Y value is positive when leaning forward, and Y value is negative when hypsokinesis；X value is negative when left-leaning driver's cabin side；
X value is positive when Right deviation.
It on rotary drilling rig, generally comprises: lower vehicle frame 11, mast 6, central axis 7 and swing arm 12 etc.；Lower vehicle frame is rotary digging
The body of drilling machine is additionally provided with cockpit above, passes through swing arm 12, mast turntable between the lower vehicle frame 11 and the mast 6
8, central axis 7, left contracting proportioning valve, right contracting proportioning valve, proportioning valve is stretched on a left side, proportioning valve is stretched on the right side and the components phase such as mast oil cylinder 10
Even, effective control to realizing to mast 6.
Rotary drilling rig movable mast control equipment is described in detail below, as shown in Figs. 1-2, the present invention provides one
Kind rotary drilling rig movable mast controls equipment, and the equipment includes:
First angle acquisition device, for obtaining angle X of the mast 6 on rotary drilling rig with central axis 7 for axis rotation；With
And
One or more of control device, for performing the following operations:
When the X≤first angle threshold value, the electric current of the right contracting proportioning valve 91 of mast is adjusted；
When the X >=second angle threshold value, the electric current of the left contracting proportioning valve 92 of mast is adjusted.
In the above scheme, angle X is accurately obtained by first angle acquisition device, this angle X is that mast 6 is opposite
In the angle that central axis 7 rotates, it is understood that for the driver that is sitting in cockpit observe the mast 6 relative to itself to
Situations such as angle that is left or deviating to the right, ground is uneven, will not influence the detection to angle X；
In the present invention in specific control process: when detecting the X≤first angle threshold value, illustrate mast relative to
Cockpit position be it is left-leaning, at this time keep the electric current of the left contracting proportioning valve 92 of the mast, adjust the right contracting proportioning valve 91
Electric current drive the mast 6 to turn right so that the mast oil cylinder on the right side of the mast 6 is shunk, to return the just described mast
6；When the X >=second angle threshold value, illustrate that mast relative to cockpit position is Right deviation, at this time keeps the mast
The electric current of right contracting proportioning valve 91 adjusts the electric current of the left contracting proportioning valve 92, so that the mast oil cylinder in 6 left side of the mast is received
Contracting, drives the mast 6 to turn left, to return the just described mast 6.Guarantee mast 6 in left and right directions by the above control mode
On angle.
Wherein, generally at 2 ° to 5 °, the range of the second angle threshold value generally exists the range of the first angle threshold value
To -5 ° to -2 °；Preferably, the first angle threshold value is 2 °, and the second angle threshold value is -2 °, then controlling party of the invention
Method can control the angle X at [- 2 °, 2], as long as carrying out angular adjustment as long as not within this range, can thus have
Avoid the problem that the mast 6 tilts excessive collide with body during movable mast and rubs to effect.
In the prior art, usually directly on mast be arranged obliquity sensor detected, obliquity sensor be with
Gravity direction is object of reference, and under ground out-of-flatness or inclined situation, obliquity sensor can not precisely be shown and equipment
Angle value, thus affects the measurement to angle X, increases the danger of movable mast process middle mast and body collision indirectly.
In a preferred embodiment of the invention, the first angle acquisition device includes: that central axis angle passes
Sensor 5 and bridging mechanism；
Central axis 7 is fixed on the mast turntable 8 of the rotary drilling rig, the central axis 7 is far from the mast turntable 8
One end part stretches to the inside of the mast 6, the central axis 7 with the mast 6 in vertical state, the central axis angle
Sensor 5 is fixed on the central axis 7 and stretches on the end face of one end inside the mast, and the mast 6 is taken by described
Bridge mechanism is connected with the detection axis on the central axis angular transducer 5, and the central axis angular transducer 5 is described for detecting
Mast 6 is with the angle X that the central axis 7 is that axis rotates.
In the above scheme, the present invention be provided with a kind of bridging mechanism, by the mast in the lateral direction relative to
The rotatory force of central axis is transferred in the detection axis on the central axis angular transducer 5, to carry out accurately to the angle X
Ground obtains, and the bridging mechanism being arranged in the present invention can be under the premise of not changing the structure of rotary drilling rig script, to mast 6 or so
Rotation on direction is accurately measured, and is accurately controlled with facilitating mast 6, realizes safe movable mast work.Certainly it is
The accuracy that the guarantee central axis angular transducer 5 detects, the central axis angular transducer 5 are generally located in described
The end face of mandrel 7 and at its core.
As in Figure 3-5, in a preferred embodiment of the invention, the bridging mechanism includes: connecting rod 2 and turns
Axis 3；The medial surface of the mast 6 is provided with the fixing sleeve 4 matched with the central axis 7；The both ends of the connecting rod 2 are solid respectively
It is scheduled on the end face of the fixing sleeve 4, the connecting rod 2 is parallel with the end face of the central axis 7, and the middle part of the connecting rod 2 passes through
The shaft 3 is connected with the detection axis on the central axis angular transducer 5, and the shaft 3 is coaxially disposed with the detection axis.
In the above scheme, 4 structure of fixing sleeve of the medial surface of the mast 6 is convenient for that the connecting rod 2 is fixed, with
So that the connecting rod 2 is rotated with the rotation of the mast 6, so that rotatory force is transferred to the central axis angular transducer
In detection axis on 5, to realize to 6 rotational angle of mast accurate detection.
It should be noted that the accuracy in order to guarantee 5 testing result of central axis angular transducer, needs to guarantee in described
Mandrel and the 6 place plane of mast in vertical state, and the detection axis on the central axis angular transducer 5 with described turn
Axis 3 and 7 three of central axis coaxial arrangement.
The bridging mechanism structure provided by the invention is simple and small in size, is easily installed in mast and central axis
Junction, because of the reasons in structure of double big three-legged structure rotary drilling rigs, the installation space between mast and central axis is limited, can not
Accommodate some structure is complicated biggish detection devices of volume, also result in the rotational angle of mast in left and right directions is carried out it is accurate
There are certain difficulties for detection, this is also demonstrated by the advantage of bridging mechanism in the present invention indirectly.
In a preferred embodiment of the invention, the bridging mechanism further include: protective cover 1
The bottom of the protective cover 1 is fixed on the end face of the fixing sleeve 4, and be additionally provided on the protective cover 1 with
The protrusion that the connecting rod 2 matches, the protrusion can cover the connecting rod 2 and shaft 3.
Fixing sleeve 4 is provided in the above scheme to protect the connecting rod 2, shaft 3 and central axis angular transducer 5
Shield, and be always in opposing stationary state, so will not influence bridging mechanism just between fixing sleeve 4 and the connecting rod 2
Normal transmission effect can prevent some sundries inside mast from entering to the shaft 3 instead and pass with the central axis angle
Junction between sensor 5 affects the detection work of 5 ground of central axis angular transducer, so the fixing sleeve 4 can be indirectly
Guarantee the detection accuracy of the central axis angular transducer 5.For the material of the fixing sleeve 4 can for plastics, stainless steel etc.,
As long as guarantee will not get rusty, is not easy to break, its specific material is not construed as limiting in this present invention.
In a preferred embodiment of the invention, the movable mast controls equipment further include:
Second angle acquisition device, for obtaining the mast 6 in the longitudinal direction with its own between plumbness
The angle Y of formation；The control device is also used to when the angle Y is between the third angle threshold value and fourth angle threshold value
When, the maximum current value of the right contracting proportioning valve 91 of the mast and the left contracting proportioning valve 92 of the mast is adjusted, is slowed down with control described
The movable mast speed of mast 6.
In the above scheme, mainly some controls during movable mast to mast, the angle Y can be understood as falling
Rotational angle on mast direction, it, which is effectively detected, can guarantee that movable mast work orderly, safely carries out；In movable mast
In the process, early period is very big at a distance from cockpit, and what the speed of movable mast can be opposite is quicker, when between mast and cockpit
Distance reaches a timing, prevents mast from colliding the other component of cockpit or body, needs to reinforce to mast in left and right
Control on direction can need to slow down the speed of movable mast at this time, can be in order to control mast, such as when mast "Left"-deviationist
It has sufficient time to adjust mast, so that its time is just, if at this time excessive velocities, is likely to occur control asking not in time
Topic, causes mast to collide body.The second angle acquisition device can be mast obliquity sensor.
For the specific data of third angle threshold value and fourth angle threshold value, under normal circumstances, the third angle threshold value
Range at -65 ° to -75 °, the fourth angle threshold value be usually -90 °, this be also under normal circumstances be located at rotation maximum
Angle, i.e. mast are in horizontality.Preferably, for the angle Y in -90 ° of extremely -72 ° of ranges, at this time mast is in cockpit
Around equal bodies, it is easy to generate collision with it, needs to control the right contracting proportioning valve 91 and the left contracting proportioning valve 92 of the mast
Maximum current value, slow down the movable mast speed of the mast 6 to control, to guarantee the safety of movable mast.
In a preferred embodiment of the invention, the movable mast controls equipment further include:
Weighing device, for detecting the total weight of drill rod boring tool 13；
When the weight of the drill rod boring tool 13 is greater than weight threshold, limits the mast 6 and carry out movable mast movement.
In the above scheme, in order to further increase the installation of movable mast, need movable mast work start before will examine
The total weight for surveying drill rod boring tool 13 illustrates the process mistake of movable mast, lower vehicle frame 11 can not when this total weight is more than weight threshold
The stability for guaranteeing rotary drilling rig, is at this time easy to happen the danger integrally turned on one's side, so in the case where guaranteeing safety, limitation
Movable mast work.
In the present invention for the weight threshold, generally in the range of 20-30 tons, that is drill rod boring tool 13 it is total
Weight does not exceed 20-30 tons generally, at this time carry out movable mast work when safety cannot be guaranteed, certainly the present invention for
The weight threshold does not limit specifically, such as in some special cases, lower frame is particularly stable, can sustain 30
Ton or more drill rod boring tool 13 the case where be also existing.Wherein, the weighing device can be weight sensor.
As shown in fig. 6, the present invention also provides a kind of rotary drilling rig movable mast control methods, which comprises
Obtain angle X of the mast 6 with central axis 7 for axis rotation；
When the X≤first angle threshold value, the electric current of the right contracting proportioning valve 91 of mast is adjusted；
When the X >=second angle threshold value, the electric current of the left contracting proportioning valve 92 of mast is adjusted.
In the above scheme, by accurately obtaining angle X, mast 6 is adjusted further according to angle X, keep it in [-
2 °, 2] in the range of, the excessive friction that collides with body is tilted during movable mast to be effectively prevented from the mast 6.
Rotary drilling rig in the present invention is to carry out movable mast operation by mast handle, according to handle row during the work time
Cheng great little, to adjust the left contracting proportioning valve of mast, the right contracting proportioning valve of mast with corresponding electric current output services；It is specific in the present invention
In control process: when detecting the X≤first angle threshold value, illustrate mast relative to cockpit position be it is left-leaning, this
When keep the electric current of the left contracting proportioning valve 92 of the mast, the electric current of the right contracting proportioning valve 91 is adjusted, so that the mast 6
The mast oil cylinder on right side is shunk, and the mast 6 is driven to turn right, to return the just described mast 6；When the X >=second angle threshold
When value, illustrates that mast relative to cockpit position is Right deviation, at this time keeps the electric current of the right contracting proportioning valve 91 of the mast, adjust
The electric current of the left contracting proportioning valve 92 is saved, so that the mast oil cylinder in 6 left side of the mast is shunk, drives the mast 6 to the left
Rotation, to return the just described mast 6.Guarantee the angle of mast 6 in the lateral direction by the above control mode.
In a preferred embodiment of the invention, the angle X for obtaining mast 6 with central axis 7 for axis rotation
It is to be detected using the central axis angular transducer between the central axis 7 and bridging mechanism；Wherein, the mast of the rotary drilling rig
The central axis 7 is fixed on bar turntable 8, the central axis 7 stretches to mast 6 far from one end part of the mast turntable 8
Inside, in vertical state with the mast 6, the central axis angular transducer 5 is fixed on the central axis to the central axis 7
7 stretch on the end face of one end inside the mast, and the mast 6 is passed by the bridging mechanism and the central axis angle
Detection axis on sensor 5 is connected, and the central axis angular transducer 5 is turned for detecting the mast 6 with the central axis 7 for axis
Dynamic angle X.
In the above scheme, the present invention be provided with a kind of bridging mechanism, by the mast in the lateral direction relative to
The rotatory force of central axis is transferred in the detection axis on the central axis angular transducer 5, to carry out accurately to the angle X
Ground obtains, and the bridging mechanism being arranged in the present invention can be under the premise of not changing the structure of rotary drilling rig script, to mast 6 or so
Rotation on direction is accurately measured, and is accurately controlled with facilitating mast 6, realizes safe movable mast work.Certainly it is
The accuracy that the guarantee central axis angular transducer 5 detects, the central axis angular transducer 5 are generally located in described
The end face of mandrel 7 and at its core.
In a preferred embodiment of the invention, the bridging mechanism includes: connecting rod 2 and shaft 3；
The side of the mast 6 is provided with the fixing sleeve 4 matched with the central axis 7；Distinguish at the both ends of the connecting rod 2
It is fixed on the end face of the fixing sleeve 4, the connecting rod 2 is parallel with the end face of the central axis 7, and the middle part of the connecting rod 2 is logical
It crosses the shaft 3 to be connected with the detection axis on the central axis angular transducer 5, the shaft 3 is coaxially set with the detection axis
It sets.
In the above scheme, 4 structure of fixing sleeve of the medial surface of the mast 6 is convenient for that the connecting rod 2 is fixed, with
So that the connecting rod 2 is rotated with the rotation of the mast 6, so that rotatory force is transferred to the central axis angular transducer
In detection axis on 5, to realize to 6 rotational angle of mast accurate detection.
In a preferred embodiment of the invention, the bridging mechanism further include: protective cover 1
The bottom of the protective cover 1 is fixed on the end face of the fixing sleeve 4, and be additionally provided on the protective cover 1 with
The protrusion that the connecting rod 2 matches, the protrusion can cover the connecting rod 2 and shaft 3.
Fixing sleeve 4 is provided in the above scheme to protect the connecting rod 2, shaft 3 and central axis angular transducer 5
Shield, and be always in opposing stationary state, so will not influence bridging mechanism just between fixing sleeve 4 and the connecting rod 2
Normal transmission effect can prevent some sundries inside mast from entering to the shaft 3 instead and pass with the central axis angle
Junction between sensor 5 affects the detection work of 5 ground of central axis angular transducer, so the fixing sleeve 4 can be indirectly
Guarantee the detection accuracy of the central axis angular transducer 5.For the material of the fixing sleeve 4 can for plastics, stainless steel etc.,
As long as guarantee will not get rusty, is not easy to break, its specific material is not construed as limiting in this present invention.
As shown in fig. 7, in a preferred embodiment of the invention, the rotary drilling rig movable mast control method packet
It includes:
Obtain the angle Y that the mast 6 is formed between plumbness with its own in the longitudinal direction；Wherein,
When the angle Y is between the third angle threshold value and fourth angle threshold value, the right contracting proportioning valve is adjusted
91 and the left contracting proportioning valve 92 maximum current value, slow down the movable mast speed of the mast 6 to control；
Obtain angle X of the mast 6 with central axis 7 for axis rotation；
When the X≤first angle threshold value, the electric current of the right contracting proportioning valve 91 of mast is adjusted；
When the X >=second angle threshold value, the electric current of the left contracting proportioning valve 92 of mast is adjusted.
In the above scheme, mainly some controls during movable mast to mast, the angle Y can be understood as falling
Rotational angle on mast direction, it, which is effectively detected, can guarantee that movable mast work orderly, safely carries out；In movable mast
In the process, early period is very big at a distance from cockpit, and what the speed of movable mast can be opposite is quicker, when between mast and cockpit
Distance reaches a timing, prevents mast from colliding the other component of cockpit or body, needs to reinforce to mast in left and right
Control on direction can need to slow down the speed of movable mast at this time, can be in order to control mast, such as when mast "Left"-deviationist
It has sufficient time to adjust mast, so that its time is just, if at this time excessive velocities, is likely to occur control asking not in time
Topic, causes mast to collide body.
As shown in figure 8, in a preferred embodiment of the invention, the rotary drilling rig movable mast control method packet
It includes:
Obtain the weight of drill rod boring tool 13 on the rotary drilling rig；Wherein,
When the weight of the drill rod boring tool 13 is greater than weight threshold, limits the mast 6 and carry out movable mast movement；
When the weight of the drill rod boring tool 13 is greater than or equal to weight threshold, follow the steps below:
Obtain the angle Y that the mast 6 is formed between plumbness with its own in the longitudinal direction；
Obtain angle X of the mast 6 with central axis 7 for axis rotation.
In the above scheme, in order to further increase the installation of movable mast, need movable mast work start before will examine
The total weight for surveying drill rod boring tool 13 illustrates the process mistake of movable mast, lower vehicle frame 11 can not when this total weight is more than weight threshold
The stability for guaranteeing rotary drilling rig, is at this time easy to happen the danger integrally turned on one's side, so in the case where guaranteeing safety, limitation
Movable mast work.
It is illustrated in figure 9 the hardware control logic figure of rotary drilling rig movable mast process, generally carries out logic using PLC controller
Control issues control instruction to the PLC controller by mast handle by staff, to change the electric current of proportioning valve,
To control the movable mast movement of mast, general proportion valve includes left contracting proportioning valve, right contracting proportioning valve, proportioning valve is stretched on a left side and ratio is stretched on the right side
Example valve, to control the movement of mast in back and forth and right and left directions.
As shown in Figure 10, in the lateral direction to the hardware control logic figure of mast control；It is general in the lateral direction
It is that the movement of mast in the lateral direction is controlled by left contracting proportioning valve, right contracting proportioning valve.
The embodiment of the present invention also provides a kind of machine readable storage medium, is stored thereon with program, which is performed
Realize rotary drilling rig movable mast control method described above.
The optional embodiment of the embodiment of the present invention is described in detail in conjunction with attached drawing above, still, the embodiment of the present invention is simultaneously
The detail being not limited in above embodiment can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection scope of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the embodiment of the present invention pair
No further explanation will be given for various combinations of possible ways.
It will be appreciated by those skilled in the art that implementing the method for the above embodiments is that can pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, including some instructions are used so that single
Piece machine, chip or processor (processor) execute all or part of the steps of each embodiment the method for the application.And it is preceding
The storage medium stated includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic or disk.
In addition, any combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, equally should be considered as disclosure of that of the embodiment of the present invention.
Claims (10)
1. a kind of rotary drilling rig movable mast controls equipment, which is characterized in that the equipment includes:
First angle acquisition device, for obtaining angle X of the mast on rotary drilling rig (6) with central axis (7) for axis rotation；With
And
One or more of control device, for performing the following operations:
When the X≤first angle threshold value, the electric current of the right contracting proportioning valve (91) of mast is adjusted；
When the X >=second angle threshold value, the electric current of the left contracting proportioning valve (92) of mast is adjusted.
2. rotary drilling rig movable mast according to claim 1 controls equipment, which is characterized in that the first angle acquisition device
It include: central axis angular transducer (5) and bridging mechanism；
It is fixed with central axis (7) on the mast turntable (8) of the rotary drilling rig, the central axis (7) is far from the mast turntable
(8) one end part stretches to the inside of the mast (6), the central axis (7) and the mast (6) in vertical state, institute
It states central axis angular transducer (5) and is fixed on the central axis (7) and stretch on the end face of one end inside the mast, it is described
Mast (6) is connected by the bridging mechanism with the detection axis on the central axis angular transducer (5), the central axis angle
Sensor (5) is used to detect angle X of the mast (6) with the central axis (7) for axis rotation.
3. rotary drilling rig movable mast according to claim 2 controls equipment, which is characterized in that the bridging mechanism includes: to connect
Bar (2) and shaft (3)；
The side of the mast (6) is provided with the fixing sleeve (4) matched with the central axis (7)；The both ends of the connecting rod (2)
It is separately fixed at the end face of the fixing sleeve (4), the connecting rod (2) is parallel with the end face of the central axis (7), and the connecting rod
(2) middle part is connected by the shaft (3) with the detection axis on the central axis angular transducer (5), the shaft (3) with
The detection axis coaxial arrangement.
4. rotary drilling rig movable mast according to claim 1 controls equipment, which is characterized in that the movable mast control equipment is also wrapped
It includes:
Second angle acquisition device, for obtain the mast (6) in the longitudinal direction with its own between plumbness shape
At angle Y；
The control device is also used to when the angle Y is between the third angle threshold value and fourth angle threshold value, is adjusted
The maximum current value of the right contracting proportioning valve (91) of mast and the left contracting proportioning valve (92) of the mast slows down the mast with control
(6) movable mast speed.
5. rotary drilling rig movable mast according to claim 1 controls equipment, which is characterized in that the movable mast control equipment is also wrapped
It includes:
Weighing device, for detecting the total weight of drill rod boring tool (13)；
When the weight of the drill rod boring tool (13) is greater than weight threshold, limits the mast (6) and carry out movable mast movement.
6. a kind of rotary drilling rig movable mast control method, which is characterized in that the described method includes:
Obtain the angle X of mast (6) with central axis (7) for axis rotation；
When the X≤first angle threshold value, the electric current of the right contracting proportioning valve (91) of mast is adjusted；
When the X >=second angle threshold value, the electric current of the left contracting proportioning valve (92) of mast is adjusted.
7. rotary drilling rig movable mast control method according to claim 6, which is characterized in that the acquisition mast (6) is in
Mandrel (7) is that the angle X of axis rotation is detected using the central axis angular transducer between the central axis (7) and bridging mechanism
's；Wherein,
It is fixed with the central axis (7) on the mast turntable (8) of the rotary drilling rig, the central axis (7) is far from the mast
One end part of turntable (8) stretches to the inside of mast (6), the central axis (7) and the mast (6) in vertical state, institute
It states central axis angular transducer (5) and is fixed on the central axis (7) and stretch on the end face of one end inside the mast, it is described
Mast (6) is connected by the bridging mechanism with the detection axis on the central axis angular transducer (5), the central axis angle
Sensor (5) is used to detect angle X of the mast (6) with the central axis (7) for axis rotation.
8. rotary drilling rig movable mast control method according to claim 7, which is characterized in that
The bridging mechanism includes: connecting rod (2) and shaft (3)；
The side of the mast (6) is provided with the fixing sleeve (4) matched with the central axis (7)；The both ends of the connecting rod (2)
It is separately fixed at the end face of the fixing sleeve (4), the connecting rod (2) is parallel with the end face of the central axis (7), and the connecting rod
(2) middle part is connected by the shaft (3) with the detection axis on the central axis angular transducer (5), the shaft (3) with
The detection axis coaxial arrangement.
9. rotary drilling rig movable mast control method according to claim 8, which is characterized in that the acquisition mast (6) with
Before central axis (7) is the angle X of axis rotation, the method also includes:
Obtain the angle Y that the mast (6) is formed between plumbness with its own in the longitudinal direction；Wherein,
When the angle Y is between the third angle threshold value and fourth angle threshold value, the right contracting proportioning valve (91) is adjusted
With the maximum current value of the left contracting proportioning valve (92), slow down the movable mast speed of the mast (6) with control.
10. rotary drilling rig movable mast control method according to claim 9, which is characterized in that obtain the mast described
(6) before the angle Y formed between plumbness with its own in the longitudinal direction, the method also includes:
Obtain the weight of drill rod boring tool (13) on the rotary drilling rig；Wherein,
When the weight of the drill rod boring tool (13) is greater than weight threshold, limits the mast (6) and carry out movable mast movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910760256.5A CN110454092A (en) | 2019-08-16 | 2019-08-16 | Rotary drilling rig movable mast controls equipment and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910760256.5A CN110454092A (en) | 2019-08-16 | 2019-08-16 | Rotary drilling rig movable mast controls equipment and control method |
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| Publication Number | Publication Date |
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| CN110454092A true CN110454092A (en) | 2019-11-15 |
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| CN201910760256.5A Pending CN110454092A (en) | 2019-08-16 | 2019-08-16 | Rotary drilling rig movable mast controls equipment and control method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202954805U (en) * | 2012-12-01 | 2013-05-29 | 江苏平汉重工有限公司 | Mast control device of small-sized rotary drilling rig |
| CN203224226U (en) * | 2013-03-20 | 2013-10-02 | 山东山推机械有限公司 | A mast angle detecting apparatus of a rotary drilling rig |
| CN108708675A (en) * | 2018-05-15 | 2018-10-26 | 上海中联重科桩工机械有限公司 | The control system and control method with drilling rod movable mast for rotary drilling rig |
| CN109594966A (en) * | 2018-11-23 | 2019-04-09 | 上海中联重科桩工机械有限公司 | Rotary drilling rig movable mast control system and control method |
| CN210530754U (en) * | 2019-08-16 | 2020-05-15 | 上海中联重科桩工机械有限公司 | Control equipment for mast falling of rotary drilling rig |
-
2019
- 2019-08-16 CN CN201910760256.5A patent/CN110454092A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202954805U (en) * | 2012-12-01 | 2013-05-29 | 江苏平汉重工有限公司 | Mast control device of small-sized rotary drilling rig |
| CN203224226U (en) * | 2013-03-20 | 2013-10-02 | 山东山推机械有限公司 | A mast angle detecting apparatus of a rotary drilling rig |
| CN108708675A (en) * | 2018-05-15 | 2018-10-26 | 上海中联重科桩工机械有限公司 | The control system and control method with drilling rod movable mast for rotary drilling rig |
| CN109594966A (en) * | 2018-11-23 | 2019-04-09 | 上海中联重科桩工机械有限公司 | Rotary drilling rig movable mast control system and control method |
| CN210530754U (en) * | 2019-08-16 | 2020-05-15 | 上海中联重科桩工机械有限公司 | Control equipment for mast falling of rotary drilling rig |
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