CN110485937A

CN110485937A - Movable mast method and rotary drilling rig

Info

Publication number: CN110485937A
Application number: CN201910776850.3A
Authority: CN
Inventors: 王鹏; 孙博; 刘伟
Original assignee: Beijing 31 Wisdom Manufacturing Technology Co Ltd
Current assignee: Beijing 31 Wisdom Manufacturing Technology Co Ltd
Priority date: 2019-08-22
Filing date: 2019-08-22
Publication date: 2019-11-22
Anticipated expiration: 2039-08-22
Also published as: CN110485937B

Abstract

The present invention provides a kind of movable mast method and rotary drilling rigs, it is related to technical field of engineering machinery, movable mast method is applied to the processor of rotary drilling rig, rotary drilling rig further includes first angle measuring device, mast and bracket, first angle measuring device and mast are electrically connected with processor, and processor is previously stored with the first corresponding relationship between the speed that has a down dip that the angle of declination between mast and horizontal plane and mast tilt down；Movable mast method includes: the current angle of declination for obtaining the mast of first angle measuring device acquisition；According to current angle of declination and the first corresponding relationship, obtain the speed that currently has a down dip that the corresponding mast of current angle of declination tilts down, and it controls mast power unit and works so that the movable end of mast is tilted down according to the speed that currently has a down dip, until the movable end of mast is placed in bracket, control mast power unit stops working so that mast stop motion, according to the current speed that has a down dip of the size of current angle of declination adjustment, the excessive damage for leading to mast of speed that has a down dip is prevented.

Description

Movable mast method and rotary drilling rig

Technical field

The present invention relates to technical field of engineering machinery, in particular to a kind of movable mast method and rotary drilling rig.

Background technique

Rotary drilling rig is widely used multiple necks such as bridge, road and urban construction as a kind of engineering machinery In the drilling in domain, the length of mast is up to 20 meters, and when being drilled using rotary drilling rig, mast is perpendicular to the ground, in churning driven When machine transition is transported, vertical mast is not readily transportable, and therefore, it is necessary to put mast upside down horizontal (that is, movable mast).

In the prior art, mast inclination is inverted by mast in such a way that a fixed speed carries out movable mast, if The fixed speed is too big, and strong collision occurs for mast and bracket, leads to the damage of mast, if the fixed speed is too small, mast Overlong time used in movable mast process.

Summary of the invention

The present invention provides a kind of movable mast method and rotary drilling rig, mast caused by when mast carries out movable mast can be avoided Damage.

The embodiment of the present invention this can be implemented so that

In a first aspect, the embodiment of the present invention provides a kind of movable mast method, applied to the processor of rotary drilling rig, the rotary digging Drilling machine further includes first angle measuring device, mast power unit, mast and bracket, the first angle measuring device and described Mast power unit is electrically connected with the processor, and the mast power unit is fixedly connected with the mast, the processing Device is previously stored between the speed that has a down dip that the angle of declination between the mast and horizontal plane and the mast tilt down One corresponding relationship；The movable mast method includes: to obtain the current of the mast that the first angle measuring device acquires to have a down dip Angle；According to the current angle of declination and first corresponding relationship, it is downward to obtain the corresponding mast of the current angle of declination The inclined speed that currently has a down dip, and control the mast power unit and work so that the movable end of the mast is according to described current The speed that has a down dip tilts down, until the movable end of the mast is placed in the bracket, controls the mast power unit and stops Work is so that the mast stop motion.

Second aspect, the embodiment of the present invention provide a kind of rotary drilling rig, and the rotary drilling rig further includes luffing device, described Support rod one end of luffing device is fixedly connected with the fixing end of the mast, the luffing power of the other end and the luffing device Unit is fixedly connected, and the luffing power unit is electrically connected with the processor；The processor is also used to control the luffing The luffing power unit work of device is worked with the support rod to drive the mast to move up, until the luffing The variable phase angle of device reaches preset maximum value so that the mast reaches default highest point, wherein the variable phase angle is the branch Angle between strut and horizontal plane, and characterize the height where the mast.

Movable mast method provided in an embodiment of the present invention and rotary drilling rig, be previously stored in processor mast and horizontal plane it Between the speed that has a down dip that tilts down of angle of declination and mast between the first corresponding relationship, pass through and obtain first angle measuring device The current angle of declination of the mast of acquisition obtains the corresponding mast of current angle of declination according to current angle of declination and the first corresponding relationship The speed tilted down, and control mast power unit and work so that the movable end of mast dips down according to the speed that currently has a down dip Tiltedly, when the angle value of current angle of declination is bigger, according to current angle of declination and the speed that currently has a down dip of the first corresponding relationship acquisition Bigger, mast is faster according to the speed that speed tilts down that has a down dip before deserving, and shortens the time of movable mast；When the angle currently having a down dip Angle value gets over hour, and the speed that currently has a down dip obtained according to current angle of declination and the first corresponding relationship is smaller, and mast is current according to this The speed that the speed that has a down dip tilts down is slower, when the inclination of the movable end of mast is placed in bracket, controls mast power unit It stops working so that mast stop motion, is safely completed the movable mast of mast, avoids the movable end in the prior art because of mast Because rapidly have a down dip collide with bracket caused by mast damage the problem of.Movable mast is carried out according to the movable mast method of the application, it can be with Shorten the time of movable mast, and guarantees the safety of mast when movable mast.

Detailed description of the invention

In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this A little attached drawings obtain other relevant attached drawings.

Fig. 1 is the structural schematic diagram of rotary drilling rig provided by the embodiments of the present application；

Fig. 2 is the structural schematic diagram for the rotary drilling rig that another embodiment of the application provides；

Fig. 3 is the structural schematic diagram for the rotary drilling rig that another embodiment of the application provides；

Fig. 4 is the structural schematic diagram for the rotary drilling rig that another embodiment of the application provides；

Fig. 5 is the structural schematic diagram of luffing device provided by the embodiments of the present application；

Fig. 6 is the structural block diagram of rotary drilling rig provided by the embodiments of the present application；

Fig. 7 is the flow diagram for the movable mast method that one embodiment of the application provides；

Fig. 8 is the sub-step flow diagram of the step S2 for the movable mast method that one embodiment of the application provides；

Fig. 9 is the flow diagram for the movable mast method that another embodiment of the application provides；

Figure 10 is the current lateral angle schematic diagram for the mast that one embodiment of the application provides；

Figure 11 is the flow diagram for the movable mast method that another embodiment of the application provides；

Figure 12 is the sub-step flow diagram of the step S212 for the movable mast method that one embodiment of the application provides；

Figure 13 is the sub-step flow diagram of the step S212-2 for the movable mast method that one embodiment of the application provides；

Figure 14 is the flow diagram for the movable mast method that another embodiment of the application provides.

Icon: 1- rotary drilling rig；10- mast；20- driver's cabin；30- processor；40- luffing device；401- luffing power Unit；402- support rod；50- first angle measuring device；60- mast power unit；70- second angle measuring device；80- pressure Force snesor；90- bracket.

Specific embodiment

In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented The component of example can be arranged and be designed with a variety of different configurations.

Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects It encloses.

It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.

In the description of the present invention, it should be noted that if there is the side of the instructions such as term " on ", "lower", "inner", "outside" Position or positional relationship be based on the orientation or positional relationship shown in the drawings or the invention product using when the side usually put Position or positional relationship, are merely for convenience of description of the present invention and simplification of the description, rather than the device or member of indication or suggestion meaning Part must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.

In addition, being only used for distinguishing description if there is term " first ", " second " etc., it is not understood to indicate or imply phase To importance.

It should be noted that in the absence of conflict, the feature in the embodiment of the present invention can be combined with each other.

Movable mast is to will be perpendicular to the mast of horizontal plane to tilt to the process for being parallel to horizontal plane.The mast of rotary drilling rig is up to It 10~20 meters, passes a bridge, in rotary drilling rig into when the transitions such as hole, is touched perpendicular to the mast and top barrier of horizontal plane Hit the damage for leading to mast, therefore, first will carry out again transition after rotary digging driller mast movable mast, can avoid rotary drilling rig mast because It is damaged caused by colliding with top barrier.In the prior art, directly mast to incline according to fixed speed Tiltedly, if excessive velocities, it will lead to the problem of with bracket damage of the strong collision so as to cause mast occurs for mast；If fast The problem of spending slowly, then movable mast overlong time, leading to movable mast low efficiency.

For the above problem in the prior art, following embodiments of the application give a kind of movable mast method and churning driven Machine, core improvement are, when rotary drilling rig carries out movable mast operation, according to the angle of declination between mast and horizontal plane, control The speed that has a down dip of rotary digging driller mast processed, when the angle value of angle of declination is bigger, the distance between mast and bracket are remoter, control mast The speed that bar has a down dip is bigger, shortens the time of movable mast, and with the progress of movable mast process, current angle of declination is gradually reduced, instantly The angle value at inclination angle is smaller, and the distance between mast and bracket are closer, and the speed that has a down dip of control mast is smaller, avoid mast with The damage of mast caused by strong collision between bracket.

The technical solution of the application is illustrated combined with specific embodiments below, Fig. 1 is provided by the embodiments of the present application The structural schematic diagram of rotary drilling rig, Fig. 2 are the structural schematic diagram for the rotary drilling rig that another embodiment of the application provides, and Fig. 3 is this Apply for that the structural schematic diagram for the rotary drilling rig that another embodiment provides, Fig. 4 are the rotary drilling rig that another embodiment of the application provides Structural schematic diagram, Fig. 6 be rotary drilling rig provided by the embodiments of the present application structural block diagram, as shown in Fig. 1-Fig. 4 and Fig. 6, Rotary drilling rig 1 includes: first angle measuring device 50, mast power unit 60, mast 10, bracket 90 and processor 30, and first Angle measurement unit 50 and mast power unit 60 are electrically connected with processor 30, mast power unit 60 and the fixed company of mast 10 It connects.Processor 30 is previously stored between the speed that has a down dip that the angle of declination between mast 10 and horizontal plane and mast 10 tilt down The first corresponding relationship.

The current angle of declination of mast 10 of the first angle measuring device 50 for acquiring simultaneously is sent to processor 30.

Processor 30 is used for according to current angle of declination and the first corresponding relationship, obtain the corresponding mast 10 of current angle of declination to Under it is inclined currently have a down dip speed, and control mast power unit 60 and work so that the movable end of mast 10 is according to the speed that currently has a down dip Degree tilts down, until the movable end of mast 10 is placed in bracket 90, control mast power unit 60 stops working so that mast 10 stop motions.

Optionally, processor 30 can be a kind of IC chip, have signal handling capacity.Above-mentioned processor can To be general processor, including central processing unit (Central Processing Unit, CPU), network processing unit (Network Processor, NP), speech processor and video processor etc.；Can also be digital signal processor, specific integrated circuit, Field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components. It may be implemented or execute disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor can be Microprocessor or processor 30 are also possible to any conventional processor etc..

Optionally, the first corresponding relationship is at least one, and each first corresponding relationship corresponding one is preset the angular region that has a down dip, Processor 30 is also used to obtain the default angular region pair that has a down dip of target when current angle of declination is in that target is default to have a down dip in angular region The first object corresponding relationship answered.According to current angle of declination and first object corresponding relationship, the corresponding mast of current angle of declination is obtained The current speed that has a down dip that bar tilts down, and control mast power unit 60 and work so that the movable end of mast 10 is according to when front lower Speed of inclining tilts down.

Angle of declination after the tilting down of mast 10 that first angle measuring device 50 is also used to acquire simultaneously is sent to processing Device 30.

Processor 30 is also used to judge whether the angle of declination after mast 10 tilts down is zero degree.If it is not, then with dipping down Tiltedly after angle of declination replace current angle of declination, and repeat when current angle of declination be in target preset have a down dip in angular region when, The step of obtaining the default angular region that has a down dip of target corresponding first object corresponding relationship, until the angle of declination after tilting down is zero Degree, determines that the movable end of mast 10 is placed in bracket, and control mast power unit 60 stops working so that 10 stop motion of mast.

First object corresponding relationship meets following formula:

V1=k1* β+k2；

Wherein, V1 is the speed that currently has a down dip, and k1 is default corresponding first predetermined coefficient of angular region that has a down dip of target, and k2 is mesh Default corresponding second predetermined coefficient of angular region that has a down dip of mark, β are current angle of declination.

Optionally, Fig. 5 is the structural schematic diagram of luffing device provided by the embodiments of the present application, as shown in Figure 5 and Figure 6, rotation Digging drilling machine 1 further includes luffing device, and 402 one end of support rod of luffing device 40 is fixedly connected with the fixing end of mast 10, another End is fixedly connected with the luffing power unit 401 of luffing device 40, and luffing power unit 401 is electrically connected with processor 30.

Processor 30 be also used to control luffing device 40 luffing power unit 401 work so that support rod 402 work with Mast 10 is driven to move up, until the variable phase angle of luffing device 40 reaches preset maximum value so that mast 10 reaches default highest Point, wherein angle of the variable phase angle between support rod 402 and horizontal plane, and characterize mast 10 fixing end and support rod it is another Height between end.

It should be noted that after carrying out operation using rotary drilling rig 1, since the operating habit of machine hand is different, some machines When mast 10 is not reverted to the state with horizontal plane by hand, if directly carrying out movable mast operation, mast 10 may result in It collides with driver's cabin 20, so as to cause the damage of mast 10 and/or driver's cabin 20, therefore, it is necessary to use luffing device 40 Mast 10 is moved into row to raise on the whole, so that being in safe distance between mast 10 and driver's cabin 20, is prevented in movable mast operation When, mast 10 collides with driver's cabin 20, the damage of mast 10 and/or driver's cabin 20 is caused, when the operation habit of machine hand accords with When closing regulation, directly carrying out movable mast operation can also be placed in mast 10 in bracket 90, at this point, luffing device shown in fig. 6 40 Setting can not be had to, i.e. processor 30 directly controls mast 10 and carries out movable mast operation.

Optionally, as shown in fig. 6, the current lateral angle for the mast 10 that first angle measuring device 50 is also used to acquire is concurrent It send to processor 30, current lateral angle is the straight of fixing end and the bracket composition of the projection of mast 10 in the horizontal plane and mast 10 Angle between line.

Processor 30 is also used to judge whether current lateral angle is being preset in lateral angular region.If it is not, control mast power Unit 60 works so that mast 10 is displaced sideways, until current lateral angle is being preset in lateral angular region, acquisition first angle is surveyed Measure the current angle of declination for the mast 10 that device 50 acquires.

Optionally, the first corresponding relationship is at least one, and each first corresponding relationship corresponding one is preset the angular region that has a down dip. Processor is also used to that it is corresponding to obtain the default angular region that has a down dip of target when current angle of declination is in that target is default to have a down dip in angular region First object corresponding relationship.

Processor 30 is also used to obtain the corresponding mast of current angle of declination according to current angle of declination and first object corresponding relationship The current speed that has a down dip that bar 10 tilts down, and control mast power unit 60 and work so that the movable end of mast 10 is according to current The speed that has a down dip tilts down.

Processor 30 is also used to judge whether the angle of declination after the tilting down of mast 10 is zero degree.If it is not, then with downward Angle of declination after inclination replaces current angle of declination, and execute when current angle of declination be in target preset have a down dip in angular region when, obtain The step of taking the default angular region that has a down dip of target corresponding first object corresponding relationship, until the angle of declination after tilting down is zero Degree.

Processor 30 be also used to control luffing device 40 luffing power unit 401 work so that support rod 402 work with Mast 10 is driven to move down, until the movable end of mast 10 is placed in bracket 90, control mast power unit 60 stops working So that 10 stop motion of mast.

Optionally, as shown in fig. 6, rotary drilling rig 1 further includes second angle measuring device 70 and pressure sensor 80, second Angle measurement unit 70 and pressure sensor 80 are electrically connected with processor 30, and pressure sensor 80 is arranged on bracket.Processing Device 30 is also previously stored with the second corresponding relationship between the movement speed that variable phase angle and mast move down.

The current variable phase angle of luffing device 40 of the second angle measuring device 70 for acquiring simultaneously is sent to processor 30.

Processor 30 is also used to obtain the corresponding support rod of current variable phase angle according to current variable phase angle and the second corresponding relationship 402 mobile current movement speeds, and control luffing power unit 401 and work so that support rod 402 is according to current movement speed It moves down.

The pressure value of bracket 90 of the pressure sensor 80 for acquiring simultaneously is sent to processor 30.

Processor 30 is also used to judge whether pressure value reaches preset pressure value.It is surveyed if it is not, then executing and obtaining second angle The step of measuring the current variable phase angle for the luffing device 40 that device 70 acquires determines mast until pressure value reaches preset pressure value 10 movable end is placed in bracket, and control mast power unit 60 stops working so that 10 stop motion of mast.

Optionally, the second corresponding relationship is at least one, and each second corresponding relationship corresponds to a default luffing angular region. Processor 30 is also used to obtain target when current variable phase angle is in target and presets in luffing angular region and preset luffing angular region pair The the second target corresponding relationship answered.According to current variable phase angle and the second target corresponding relationship, the corresponding change of current variable phase angle is obtained The mobile current movement speed of the support rod 402 of width device 40, and the work of luffing power unit 401 is controlled so that support rod 402 It is moved down according to current movement speed to drive mast 10 to move down.

The working principle of rotary drilling rig provided in this embodiment is: the luffing power unit band of processor control luffing device Dynamic support rod work, to drive the mast being fixedly connected with support rod to move up, when the change angle of luffing device reaches in advance If when maximum value, mast reaches default highest point (as shown in Figure 1), so that being in safe distance between mast and driver's cabin, keep away Mast collides with driver's cabin when exempting from movable mast, may cause mast inclination since mast moves up, first angle measurement dress The current lateral angle for acquiring the mast that inclines is set, judges whether current lateral angle is being preset in lateral angular region, if it is not, if according to working as Preceding lateral angle has a down dip, then the movable end of mast is placed in outside bracket, and control mast power unit works so that mast lateral movement is straight It is being preset in lateral angular region to current lateral angle, first angle measuring device acquires the current angle of declination of mast, currently has a down dip When angle is within the scope of goal-selling, the speed that currently has a down dip that the default corresponding mast of angular region that has a down dip of target tilts down is obtained Degree, control mast power unit work so that mast movable end according to currently have a down dip speed inclination (as shown in Figure 2), first jiao Degree measuring device acquires the angle of declination after mast tilts down, and judges whether the angle of declination after mast tilts down is zero degree, if No, then mast is still not at the state being parallel to the horizontal plane, it is also necessary to continue to tilt, then be replaced with the angle of declination after tilting down Current angle of declination, regains pitch velocity, continues control mast and is tilted, until mast is parallel to the horizontal plane；If so, (as shown in Figure 3) is parallel to the horizontal plane in mast, since luffing device will move to default highest point on mast, with horizontal plane There is a distance between parallel mast and bracket, needs to control the work of mast power unit so that mast moves down, specifically , second angle measuring device acquires the current variable phase angle of luffing device, and current variable phase angle is in default luffing angular region, obtains Target is taken to preset the corresponding second target corresponding relationship of luffing angular region, according to current variable phase angle and the second target corresponding relationship, The current movement speed of support rod of the corresponding luffing device of current variable phase angle is obtained, control luffing power unit works so that support Bar is moved down according to current movement speed, to drive mast to move down, obtains the pressure of the bracket of pressure sensor acquisition Value, judges whether pressure value reaches preset pressure value, if it is not, then mast is placed in above bracket or is not completely disposed in bracket, then It needs to obtain current movement speed according to current variable phase angle and the second target corresponding relationship, continues to control luffing power unit work Make to be that support rod drives mast to move down, until detecting that pressure value reaches preset pressure value, then mast is placed in bracket (as shown in Figure 4), controls mast stop motion, and movable mast process terminates.

The application provides the processor 30 that a kind of movable mast method is applied to rotary drilling rig 1 shown in fig. 6, and Fig. 7 is the application The flow diagram for the movable mast method that one embodiment provides, as shown in fig. 7, movable mast method includes:

Step S1, the current angle of declination of the mast of first angle measuring device acquisition is obtained.

Wherein, current angle of declination is the angle between the mast 10 and horizontal plane at current time, angle β as shown in Figure 2 Numerical value for current angle of declination, current angle of declination β is bigger, then the distance between the movable end of mast 10 and bracket 90 are remoter；When The numerical value of front lower angle of inclination beta is smaller, then the distance between the movable end of mast 10 and bracket 90 are closer.

Optionally, first angle measuring device 50 can be, but be not limited to angular transducer, code-disc etc..

Step S2, it according to current angle of declination and the first corresponding relationship, obtains the corresponding mast of current angle of declination and tilts down Currently have a down dip speed, and control mast power unit and work so that the movable end of mast dips down according to the speed that currently has a down dip Tiltedly, until the movable end of mast is placed in bracket, control mast power unit stops working so that mast stop motion.

The process of movable mast is as shown in Fig. 2, the numerical value as current angle of declination β is bigger, then the movable end of mast 10 and bracket 90 The distance between it is remoter, the movable end of mast 10 between bracket 90 in being difficult to happen at a distance from collision, obtain when front lower The corresponding speed that currently has a down dip in inclination angle is bigger, improves the efficiency of 10 movable mast of mast；Conversely, the numerical value as current angle of declination β is got over Small, then the distance between the movable end of mast 10 and bracket 90 are closer, in easy between the movable end and bracket 90 of mast 10 The distance to collide, the corresponding speed that currently has a down dip of obtained current angle of declination is smaller, prevents mast 10 and bracket 90 from occurring Collision leads to the damage of mast 10.

Optionally, as shown in Figure 1 to 4, mast power unit 60 can be mast oil cylinder, the piston rod of mast oil cylinder with Mast 10 is fixedly connected, and mast oil cylinder is electrically connected with processor 30, and processor 30 is shunk by control mast oil cylinder, thus The work of control piston rod is to drive mast 10 to tilt down according to the speed that currently has a down dip.

Movable mast method in the present embodiment, the angle of declination and mast being previously stored in processor between mast and horizontal plane The first corresponding relationship between the speed that has a down dip tilted down, by obtain first angle measuring device acquisition mast it is current Angle of declination obtains the speed that the corresponding mast of current angle of declination tilts down according to current angle of declination and the first corresponding relationship, and The movable end for controlling mast is tilted down according to the speed that currently has a down dip, and therefore, movable mast method provided in this embodiment has as follows Advantage:

(1) it when the angle value of current angle of declination is bigger, is obtained according to current angle of declination and the first corresponding relationship current The speed that has a down dip is bigger, and mast is faster according to the speed that speed tilts down that has a down dip before deserving, and shortens the time of movable mast.

(2) when the angle value currently having a down dip is smaller, according to current angle of declination and the first corresponding relationship obtain when front lower Speed of inclining is smaller, and mast is slower according to the speed that speed tilts down that has a down dip before deserving, avoid the movable end of mast because rapidly under Incline to colliding with bracket and cause the damage of mast, when the movable end of mast is placed in bracket, control mast stop motion is safe The movable mast of ground completion mast.

Optionally, the first corresponding relationship is at least one, and each first corresponding relationship corresponding one is preset the angular region that has a down dip, Fig. 8 is the sub-step flow diagram of the step S2 for the movable mast method that one embodiment of the application provides, as shown in figure 8, step S2, Include:

Sub-step S201, when current angle of declination is in that target is default to have a down dip in angular region, obtain target and preset angle of declination The corresponding first object corresponding relationship of range.

First corresponding relationship is to be at least one, and each first corresponding relationship corresponding one is preset the angular region that has a down dip, therefore, in advance The number for setting inclination angle range is consistent with the number of the first corresponding relationship, as at least one.

Sub-step S202, according to current angle of declination and first object corresponding relationship, obtain the corresponding mast of current angle of declination The speed that currently has a down dip tilted down, and control mast power unit and work so that the movable end of mast is according to the speed that currently has a down dip It tilts down.

First object corresponding relationship meets following formula:

V1=k1* β+k2；

The present embodiment is 2 with the first corresponding relationship and is illustrated, specifically, the first corresponding relationship includes the first son Corresponding relationship and the second sub- corresponding relationship, the default angular region that has a down dip include the first default have a down dip angular region and the second default angle of declination Range, the default angular region that has a down dip of the first sub- corresponding relationship corresponding first, the corresponding second default angle of declination model of the second sub- corresponding relationship It encloses.

For example, the first default angular region that has a down dip be (0 °, 30 °], corresponding first son of the first default angular region that has a down dip is corresponding Relationship meets following formula:

V10=k10* β+k20；

Wherein, V10 is the first default corresponding speed that has a down dip of angular region that has a down dip, and k10 is the first default angular region pair that has a down dip The first predetermined coefficient answered, k20 are the first default corresponding second predetermined coefficient of angular region that has a down dip, and β is current angle of declination.

The second default angular region that has a down dip be (30 °, 90 °], the second default corresponding second sub- corresponding relationship of angular region that has a down dip Meet following formula:

V11=k11* β+k21；

Wherein, V11 is the second default corresponding speed that has a down dip of angular region that has a down dip, and k11 is the second default angular region pair that has a down dip The second predetermined coefficient answered, k21 are the second default corresponding second predetermined coefficient of angular region that has a down dip, and β is current angle of declination.

When current angle of declination β is 50 °, current angle of declination β presets in second and has a down dip in angular region, i.e., second sets in advance Inclination angle range is the default angular region that has a down dip of target, and the second sub- corresponding relationship is the second target corresponding relationship, i.e. k1=k11, k2= K21 is that 50 ° and first object corresponding relationship are currently had a down dip speed according to current angle of declination β.

Since the process of movable mast is the process of a dynamic change, current angle of declination β can with the execution of movable mast process and It gradually becomes smaller, therefore, current angle of declination β is variation, and corresponding range is also variation, i.e., at the first moment, currently Angle of declination β presets in second and has a down dip in angular region, with the execution of movable mast process, at the second moment, at current angle of declination β It presets and is had a down dip in angular region in first.

The current speed that has a down dip that current angle of declination obtains in the biggish angular range of threshold value is bigger, at the lesser angle of threshold value The currently speed that has a down dip obtained in degree range is smaller, specifically, current angle of declination the first default angular region that has a down dip (0 °, 30 °] in obtain currently have a down dip speed ratio the first default angular region that has a down dip (30 °, 90 °] in speed it is small, it is possible to understand that, When the movable end of mast 10 is closer to bracket 90, the speed that currently has a down dip of mast 10 is smaller, to prevent mast 10 from connecing with bracket 90 The damage of mast 10 caused by strong collision occurs when touching.

It should be noted that the number and range values of the default angular region that has a down dip can be configured as the case may be, The number of the default angular region that has a down dip can be according to the quantity of barrier in the operating environment where rotary drilling rig 1 and apart from setting (can be 3,4 etc.) be not limited to two.The range values of the default angular region that has a down dip can be according to 1 place of rotary drilling rig Operating environment or the height of bracket 90 etc. be configured can for (0 °, 40 °] and (40 °, 90 °], be not limited to (0 °, 30 °] and (30°,90°]。

Sub-step S203, the angle of declination after the tilting down of mast of first angle measuring device acquisition is obtained.

Sub-step S204, judge whether the angle of declination after the tilting down of mast is zero degree, if after mast tilts down Angle of declination degree of being not zero, then process enters sub-step S205, if mast tilt down after angle of declination be zero degree, process Into sub-step S206.

If the angle of declination degree of being not zero after the tilting down of sub-step S205, mast, with the angle of declination after tilting down Instead of current angle of declination, and step S201~step S204 is repeated, until the angle of declination after tilting down is zero degree, determined The movable end of mast is placed in bracket, controls mast stop motion.

Angle of declination degree of being not zero after the tilting down of mast 10, i.e. mast 10 do not complete from perpendicular to horizontal plane to water The parallel movable mast process of plane, needs to repeat the movable mast process in step S201~step S204, until after tilting down Angle of declination be zero degree.

If the angle of declination after the tilting down of sub-step S206, mast is zero degree, determine that the movable end of mast is placed in bracket Interior, control mast power unit stops working so that mast stop motion.

When angle of declination after tilting down is zero degree (i.e. mast 10 is parallel to the horizontal plane), the movable end of mast 10 is placed in In bracket 90, mast 10 is completed from perpendicular to horizontal plane to the movable mast process being parallel to the horizontal plane, and controls stop motion, movable mast Terminate.

Optionally, that mast 10 is inextensive due to the operating habit of part machine hand after carrying out operation using rotary drilling rig 1 When being again the state with horizontal plane, if directly carrying out movable mast operation, it may result in mast 10 and driver's cabin 20 occur Collision, so as to cause the damage of mast 10 and/or driver's cabin 20, therefore, it is necessary to use luffing device 40 by mast 10 it is whole into Row is raised, as shown in Figure 1, after making the height of mast 10 be higher than driver's cabin 20, then movable mast as shown in Figure 2 is carried out to mast 10 Operation prevents the damage of mast 10 mast 10 and/or driver's cabin 20 caused by colliding during movable mast with driver's cabin 20 It is bad.Rotary drilling rig 1 further includes luffing device 40, and the fixing end of mast 10 is fixed on one end of the support rod 402 of luffing device 40 On, luffing device 40 is electrically connected with processor 30, and Fig. 9 is the process signal for the movable mast method that another embodiment of the application provides Figure, as shown in figure 9, before step S1, movable mast method further include:

Step S3, control luffing power unit works so that support rod work is to drive mast to move up, until luffing The variable phase angle of device reaches preset maximum value so that mast reaches default highest point, wherein variable phase angle is support rod and horizontal plane Between angle, and characterize the height between the fixing end of mast and the support rod other end, when the more big then height of variable phase angle more Height, when the smaller then height of variable phase angle is lower, as shown in Fig. 2, variable phase angle is α.

As shown in Figure 2 and Figure 5, one end of support rod 402 is fixedly connected with luffing power unit 401, the other end and mast 10 fixed point is fixedly connected, and processor 30 controls mast power unit 60 and works, and to drive support rod 402 to move up, is made It obtains variable phase angle α to increase, so that mast 10 be driven to move up.Optionally luffing power unit 401 can be mast oil cylinder.

Optionally, according to the height between 402 other end of the fixing end of mast 10 and support rod, preset maximum value is set. Such as 402 length of support rod is 1.4 meters, when preset maximum value is 45 °, is moved up mast 10 according to preset maximum value Afterwards, the height between 402 other end of the fixing end of mast 10 and support rod is 1 meter, so that between mast 10 and driver's cabin 20 In safe distance, avoid colliding between mast 10 and driver's cabin 20 when movable mast operation.

It drives mast 10 to move up using luffing device 40, during mast 10 is mobile, may cause mast 10 Inclination, cause mast 10 lateral angle (lateral angle be the projection of mast 10 in the horizontal plane and mast 10 fixing end and bracket Angle between 90 straight lines constituted) it is bigger than normal, if directly carrying out movable mast operation according to the heeling condition of mast 10, it will lead to mast When 10 movable mast of bar to horizontality, the movable end of mast 10 is placed in except bracket 90, and movable mast is caused to fail, and therefore, it is necessary to execute Step S4 is preset in lateral angular region with determining that the lateral angle of mast 10 is in, and guarantees that the current angle of declination β of mast 10 is zero degree When (i.e. mast 10 is parallel to the horizontal plane), the movable end of mast 10 is placed in bracket 90.

Step S4, the current lateral angle of the mast of first angle measuring device acquisition is obtained, current lateral angle is that mast exists The angle between straight line that the fixing end and bracket of projection and mast on horizontal plane are constituted.

Figure 10 is the current lateral angle schematic diagram for the mast 10 that one embodiment of the application provides, as shown in Figure 10, with mast 10 fixing end a point is origin, establishes X-axis with the direction of movable end a to bracket 90, the direction vertical with X-axis is built on horizontal plane Vertical Y-axis, using the direction perpendicular to horizontal plane as Z axis.In Figure 10, when mast 10 is in heeling condition, projection L is that mast 10 exists Projection on horizontal plane, current lateral inclination angle theta 1 is the angle projected between L and X-axis.

Step S5, judge whether current lateral angle is being preset in lateral angular region, if current lateral angle is not in default side Into angular region, then process enters step S6, if current lateral angle is being preset in lateral angular region, process is entered step S1。

Optionally, being arranged according to the position of bracket 90 and the size of bracket 90 for lateral angular region is preset, continues to join See Figure 10, when mast 10 is in Y-axis positive direction, the maximum angle that mast 10 is placed in bracket 90 is determined according to the edge of bracket 90 Value is θ 2, when mast 10 is in Y-axis negative direction, according to the edge of bracket 90 determine can mast 10 be placed in the minimum angle in bracket 90 Angle value is-θ 2, can will preset lateral angular region and be set as [- θ 2, θ 2].

If step S6, current lateral angle is not being preset in lateral angular region, the work of mast power unit is controlled so that mast Bar lateral movement executes step S1 until current lateral angle is being preset in lateral angular region.

It is straight with current lateral angle θ 1 if current lateral inclination angle theta 1, which is not in, presets in lateral angular region (as shown in Figure 10) Connect control mast 10 tilt down, after having a down dip, movable end is placed in except bracket 90, therefore, it is necessary to by 10 side of mast to Movement is being preset in lateral angular region up to current lateral angle, then is controlled mast 10 and tilted down, and guarantees that movable end is placed in bracket Within 90.

Optionally, mast power unit 60 can be mast oil cylinder, and mast oil cylinder includes sinistral mast oil cylinder and right side mast Rod oil cylinder, sinistral mast oil cylinder and dextral mast oil cylinder are fixedly connected with mast, are a left side with the negative direction of Y-axis shown in Fig. 10 Side, the positive direction of Y-axis are right side.When lateral angle is in right side, then the delivery rate of left side oil cylinder is improved, so that left side oil cylinder The power of application increases, i.e., increases the mobile power in side of turning left of mast 10, mast 10 is moved to the left, so that mast 10 is current Lateral angle is in and presets in lateral angular region, similarly, when lateral angle is in left side, then improves the delivery rate of right side oil cylinder, So that the power that right side oil cylinder applies increases, i.e., the power for turning right mobile by mast 10 increases, and mast 10 is moved to the right, so that The current lateral angle of mast 10 is in and presets in lateral angular region.

Optionally, mast 10 is driven to be moved upward to default highest point when the support rod 402 of control luffing device 40 works, Movable mast operation is carried out to mast 10 again, since mast 10 is moved to default highest point before movable mast, 10 movable mast of mast to When horizontal plane is parallel, there is a distance (as shown in Figure 3) between mast 10 and bracket 90, need to move down on mast 10, until mast The movable end of bar 10 is placed in bracket 90, specifically, the process that Figure 11 is the movable mast method that another embodiment of the application provides is shown It is intended to, as shown in figure 11, step S2 includes:

Sub-step S207, when current angle of declination is in that target is default to have a down dip in angular region, obtain target and preset angle of declination The corresponding first object corresponding relationship of range.

Sub-step S208, according to current angle of declination and first object corresponding relationship, obtain the corresponding mast of current angle of declination The speed that currently has a down dip tilted down, and control mast power unit and work so that the movable end of mast is according to the speed that currently has a down dip It tilts down.

Sub-step S209, the angle of declination after the tilting down of mast of first angle measuring device acquisition is obtained.

Sub-step S210, judge whether the angle of declination after the tilting down of mast is zero degree.After if mast tilts down Angle degree of being not zero, then process enters step S211, if fruit mast tilt down after angle be zero degree, process progress step Rapid S212.

If the angle of declination degree of being not zero after the tilting down of sub-step S211, mast, with the angle of declination after tilting down It instead of current angle of declination, and repeats to hold step S207~S210, until the angle of declination after tilting down is zero degree.

Step S207~S211 is consistent with the principle of step S201~S205, and details are not described herein.

Sub-step S212, control luffing power unit work so that support rod work to drive mast to move down, until The movable end of mast is placed in bracket, and control mast power unit stops working so that mast stop motion.

In the present embodiment, the mast 10 being parallel to the horizontal plane as shown in Figure 3 is moved down, until the work of mast 10 Moved end is in bracket 90 as shown in Figure 4, then 10 stop motion of mast.

Optionally, rotary drilling rig 1 further includes second angle measuring device 70 and pressure sensor 80, second angle measurement dress Set 70 and pressure sensor 80 be electrically connected with processor 30, pressure sensor 80 be arranged on bracket 90；Processor 30 is also pre- The second corresponding relationship being first stored between the movement speed that variable phase angle and mast 10 move down.Figure 12 is the implementation of the application one The sub-step flow diagram of the step S212 for the movable mast method that example provides, as shown in figure 12, step S212 are mainly that Fig. 3 extremely schemes The process that 4 mast 10 moves down, specifically, step S212 includes:

Step S212-1, the current variable phase angle of the luffing device of second angle measuring device acquisition is obtained.

Optionally, second angle measuring device 70 can be, but be not limited to angular transducer, code-disc etc..

Step S212-2, it according to current variable phase angle and the second corresponding relationship, obtains the corresponding support rod of current variable phase angle and moves Dynamic current movement speed, and the work of luffing power unit is controlled so that support rod is moved down according to current movement speed.

As shown in figure 3, the numerical value of current variable phase angle α is bigger, then the distance between the movable end of mast 10 and bracket 90 are got over Far, in being difficult to happen at a distance from collision between bracket 90, obtained current variable phase angle α is corresponding to be worked as the movable end of mast 10 Preceding movement speed is bigger, improves the efficiency of 10 movable mast of mast；Conversely, the numerical value of current variable phase angle α is smaller, then the work of mast 10 The distance between moved end and bracket 90 are closer, and the movable end of mast 10 is between bracket 90 and is easy to happen at a distance from collision, The obtained corresponding current movement speed of current variable phase angle α is smaller, and preventing mast 10 and bracket 90 from colliding leads to mast 10 Damage.

Step S212-3, the pressure value of the bracket of pressure sensor acquisition is obtained.

Step S212-4, judge whether pressure value reaches preset pressure value.If pressure value reaches preset pressure value, flow Journey enters step S212-5, if pressure value does not reach preset pressure value, repeats step S212-1~step S212-3.

Optionally, preset pressure value is the pressure value that is completely disposed in bracket 90 after the completion of 10 movable mast of mast.

If step S212-5, pressure value reaches preset pressure value, determine that the movable end of mast is placed in bracket, controls mast Bar power unit stops working so that mast stop motion.

If pressure value does not reach preset pressure value, S212-1~step S212-3 is thened follow the steps, until pressure value arrives It up to preset pressure value, determines that the movable end of mast 10 is placed in bracket 90, controls 10 stop motion of mast.

Contacted with bracket 90 to during the entire process of being completely disposed on bracket 90 when mast 10 is displaced downwardly to, bracket 90 by Pressure, the pressure value that pressure sensor 80 acquires bracket 90 judge whether mast 10 is completely disposed at branch according to the size of pressure value In frame 90.

For example, preset pressure value is 5000N (mechanical units, newton), when collected pressure value is 0N, pressure value is not Reach preset pressure value, mast 10 and bracket 90 are not in contact with state in Fig. 3；When collected pressure value is 1000N When, pressure value does not reach preset pressure value, and mast 10 is contacted with bracket 90, but is not completely disposed in bracket 90；When collected When pressure value is 5500N, pressure value reaches preset pressure value, and mast 10 is completely disposed in bracket 90, the state in Fig. 4, 10 stop motion of mast is controlled, movable mast operation is completed.

Optionally, the second corresponding relationship is at least one, and each second corresponding relationship corresponds to a default luffing angular region, Figure 13 is the sub-step flow diagram of the step S212-2 for the movable mast method that one embodiment of the application provides, as shown in figure 13, Step S212-2 includes:

Step S212-2a, it when current variable phase angle, which is in target, to be preset in luffing angular region, obtains target and presets variable phase angle The corresponding second target corresponding relationship of range.

Step S212-2b, according to current variable phase angle and the second target corresponding relationship, the corresponding support of current variable phase angle is obtained The mobile current movement speed of bar, and the work of luffing power unit is controlled so that support rod is moved down according to current movement speed To drive mast to move down.

Second target corresponding relationship meets following formula:

V2=k3* α+k4；

Wherein, V2 is current movement speed, and k3 is that target presets the corresponding third predetermined coefficient of luffing angular region, and k4 is mesh Default corresponding 4th predetermined coefficient of luffing angular region is marked, α is current variable phase angle.

The present embodiment is 2 with the second corresponding relationship and is illustrated, specifically, the second corresponding relationship includes third Corresponding relationship and the 4th sub- corresponding relationship, presetting luffing angular region includes the first default luffing angular region and the second default variable phase angle Range, the corresponding first default luffing angular region of the sub- corresponding relationship of third, the corresponding second default variable phase angle model of the 4th sub- corresponding relationship It encloses.

For example, the first default luffing angular region be (0 °, 20 °], corresponding third of the first default luffing angular region is corresponding Relationship meets following formula:

V20=k30* α+k40；

Wherein, V20 is the corresponding current movement speed of the first default luffing angular region, and k30 is the first default variable phase angle model Enclose corresponding third predetermined coefficient, k40 is corresponding 4th predetermined coefficient of the first default luffing angular region, and α is current variable phase angle.

Second default luffing angular region be (20 °, 45 °], the corresponding second sub- corresponding relationship of the second default luffing angular region Meet following formula:

V21=k31* α+k41；

Wherein, V21 is the corresponding current movement speed of the second default luffing angular region, and k31 is the second default variable phase angle model Enclose corresponding third predetermined coefficient, k41 is corresponding 4th predetermined coefficient of the second default luffing angular region, and α is current variable phase angle.

When current variable phase angle α is 30 °, current variable phase angle α is in the second default luffing angular region, i.e., the second default change Argument range is that target presets luffing angular region, and the 4th sub- corresponding relationship is the second target corresponding relationship, i.e. k3=k31, k4= K41 is that 30 ° and the second target corresponding relationship obtain current movement speed according to current angle of declination α.

Since the process that mast 10 moves down is the process of a dynamic change, current variable phase angle α can be with mast 10 The execution of the process moved down and gradually become smaller, therefore, current variable phase angle α be variation, corresponding range be also variation , i.e., at the first moment, current variable phase angle α is in the second default luffing angular region, as mast 10 moves down process Execution, at the second moment, current variable phase angle α is in the first default luffing angular region.

The current movement speed that current variable phase angle obtains in the biggish angular range of threshold value is bigger, at the lesser angle of threshold value Obtained current movement speed is smaller in degree range, specifically, current variable phase angle the first default luffing angular region (0 °, 20 °] in obtained current movement speed ratio the first default luffing angular region (20 °, 45 °] in speed it is small, it is possible to understand that, When the movable end of mast 10 is closer to bracket 90, the current movement speed of mast 10 is smaller, to prevent mast 10 and bracket 90 from sending out The raw damage for colliding caused mast 10.

It should be noted that the number and range values of default luffing angular region can be configured as the case may be, The number of default luffing angular region can be according to the quantity of barrier in the operating environment where rotary drilling rig 1 and apart from setting (can be set to 3,4 etc.) is not limited to two.The range values of default luffing angular region can be according to 1 institute of rotary drilling rig Operating environment or the height of bracket 90 etc. be configured can for (0 °, 15 °] and (15 °, 40 °], be not limited to (0 °, 30 °] And (30 °, 50 °].

Optionally, Figure 14 is the flow diagram for the movable mast method that another embodiment of the application provides, as shown in figure 14, Mast method includes:

Step S101, control luffing power unit works so that support rod work is to drive mast to move up, until becoming The variable phase angle of width device reaches preset maximum value so that mast reaches default highest point.

Step S102, the current lateral angle of the mast of first angle measuring device acquisition is obtained.

Step S103, judge whether current lateral angle is being preset in lateral angular region.If current lateral angle is not pre- If then process enters step S104 in lateral angular region, if current lateral angle is being preset in lateral angular region, process into Enter step S105.

If step S104, current lateral angle is not preset in lateral angular region, control mast lateral movement, until current Lateral angle is being preset in lateral angular region, and step S105 is executed.

Step S105, the current angle of declination of the mast of first angle measuring device acquisition is obtained.

Step S106, when current angle of declination is in target is default to have a down dip in angular region when, obtain target and preset angle of declination model Enclose corresponding first object corresponding relationship.

Step S107, according to current angle of declination and first object corresponding relationship, obtain the corresponding mast of current angle of declination to Under it is inclined currently have a down dip speed, and control mast power unit work so that mast movable end according to currently have a down dip speed to Lower inclination.

Step S108, the angle of declination after obtaining the tilting down of institute's bar of first angle measuring device acquisition.

Step S109, whether the angle of declination after judging the tilting down of mast is zero degree.If after the tilting down of mast Angle of declination degree of being not zero, then process enters step S110；If the angle of declination after the tilting down of mast is zero degree, process Enter step S106.

If step S110, the angle of declination degree of being not zero after the tilting down of mast, with the angle of declination generation after tilting down It for current angle of declination, and repeats to hold step S106~step S108, until the angle of declination after tilting down is zero degree.

Step S111, the current variable phase angle of the luffing device of second angle measuring device acquisition is obtained.

Step S112, it when current variable phase angle, which is in target, to be preset in luffing angular region, obtains target and presets variable phase angle model Enclose corresponding second target corresponding relationship.

Step S113, according to current variable phase angle and the second target corresponding relationship, the corresponding luffing dress of current variable phase angle is obtained The mobile current movement speed of the support rod set, and control luffing power unit and work so that support rod is according to current movement speed It moves down to drive mast to move down.

Step S114, the pressure value of the bracket of pressure sensor acquisition is obtained.

Step S115, judge whether pressure value reaches preset pressure value.If pressure value reach preset pressure, process into Enter step S116, if pressure value does not reach preset pressure value, process enters step S111, repeats step S111~step Rapid S114, until pressure value reaches preset pressure value.

If step S116, pressure value reaches preset pressure, determine that the movable end of mast is placed in bracket, controls mast power Unit stops working so that mast stop motion.

In conclusion being previously stored in processor the embodiment of the invention provides a kind of movable mast method and rotary drilling rig The first corresponding relationship between the speed that has a down dip that angle of declination and mast between mast and horizontal plane tilt down, by obtaining the The current angle of declination of the mast of one angle measurement unit acquisition is obtained according to current angle of declination and the first corresponding relationship when front lower The speed that the corresponding mast in inclination angle tilts down, and control mast power unit and work so that the movable end of mast is according to when front lower Speed of inclining tilts down, and when the angle value of current angle of declination is bigger, is obtained according to current angle of declination and the first corresponding relationship Currently having a down dip, speed is bigger, and mast is faster according to the speed that speed tilts down that has a down dip before deserving, and shortens the time of movable mast；When The angle value currently having a down dip gets over hour, and the speed that currently has a down dip obtained according to current angle of declination and the first corresponding relationship is smaller, mast Bar is slower according to the speed that speed tilts down that has a down dip before deserving, and the movable end of mast is avoided to touch because having a down dip rapidly with bracket The damage for causing mast is hit, when the movable end of mast is placed in bracket, control mast power unit stops working so that mast stops Only move.Not only it can shorten the time of movable mast, but also guarantee the safety of mast when movable mast.

The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by those familiar with the art, all answers It is included within the scope of the present invention.Therefore, protection scope of the present invention should be with the scope of protection of the claims It is quasi-.

Claims

1. a kind of movable mast method, which is characterized in that applied to the processor of rotary drilling rig, the rotary drilling rig further includes first jiao Spend measuring device, mast power unit, mast and bracket, the first angle measuring device and the mast power unit with The processor electrical connection, the mast power unit are fixedly connected with the mast, and the processor is previously stored with described The first corresponding relationship between the speed that has a down dip that angle of declination and the mast between mast and horizontal plane tilt down；It is described fall Mast method includes:

Obtain the current angle of declination of the mast of the first angle measuring device acquisition；

According to the current angle of declination and first corresponding relationship, it is downward to obtain the corresponding mast of the current angle of declination The inclined speed that currently has a down dip, and control the mast power unit and work so that the movable end of the mast is according to described current The speed that has a down dip tilts down, until the movable end of the mast is placed in the bracket, controls the mast power unit and stops Work is so that the mast stop motion.

2. movable mast method according to claim 1, which is characterized in that first corresponding relationship is at least one, each Corresponding one default angular region that has a down dip of first corresponding relationship, it is described according to the current angle of declination and described first corresponding closes System obtains the speed that currently has a down dip that the corresponding mast of the current angle of declination tilts down, and controls the mast power Cell operation is so that the movable end of the mast is tilted down according to the speed that currently has a down dip, until the movable end of the mast It is placed in the bracket, controls the mast power unit and stop working so that the step of the mast stop motion, comprising:

When the current angle of declination is in target is default to have a down dip in angular region when, it is corresponding to obtain the default angular region that has a down dip of the target First object corresponding relationship；

According to the current angle of declination and the first object corresponding relationship, it is downward to obtain the corresponding mast of the current angle of declination The inclined speed that currently has a down dip, and control the mast power unit and work so that the movable end of the mast is according to described current The speed that has a down dip tilts down；

Angle of declination after obtaining the tilting down of the mast of first angle measuring device acquisition；

Judge the mast it is described tilt down after angle of declination whether be zero degree；

If it is not, the angle of declination after then tilting down described in replaces the current angle of declination, and repeats and work as described in described work as When front lower inclination angle is in that target is default to have a down dip in angular region, the default corresponding first object pair of angular region that has a down dip of the target is obtained The step of should being related to, the angle of declination after described tilt down is zero degree, determines that the movable end of the mast is placed in the branch In frame, controls the mast power unit and stop working so that the mast stop motion.

3. movable mast method according to claim 2, which is characterized in that the first object corresponding relationship meets following formula:

V1=k1* β+k2；

Wherein, V1 is the speed that currently has a down dip, and k1 is default corresponding first predetermined coefficient of angular region that has a down dip of the target, k2 For default corresponding second predetermined coefficient of angular region that has a down dip of the target, β is the current angle of declination.

4. movable mast method according to claim 1, which is characterized in that the rotary drilling rig further includes luffing device, described Support rod one end of luffing device is fixedly connected with the fixing end of the mast, the luffing power of the other end and the luffing device Unit is fixedly connected, and the luffing power unit is electrically connected with the processor；

Before the step of current angle of declination of the mast for obtaining the first angle measuring device acquisition, the movable mast Method further include:

Control the luffing device the luffing power unit work so that the support rod work with drive the mast to Upper movement, until the variable phase angle of the luffing device reaches preset maximum value so that the mast reaches default highest point, wherein Angle of the variable phase angle between the support rod and horizontal plane, and characterize the mast fixing end and the support rod it is another Height between one end.

5. movable mast method according to claim 4, which is characterized in that the support rod of the control luffing device Work is to drive the mast to move up, until the variable phase angle of the luffing device reaches preset maximum value so that the mast After the step of reaching default highest point, the movable mast method further include:

The current lateral angle of the mast of the first angle measuring device acquisition is obtained, the current lateral angle is the mast The angle projected between the fixing end of the mast and the straight line of bracket composition of bar in the horizontal plane；

Judge whether the current lateral angle is being preset in lateral angular region；

It works if it is not, controlling the mast power unit so that the mast is displaced sideways, until the current lateral angle is in institute It states and presets in lateral angular region, execute the current angle of declination of the mast for obtaining the first angle measuring device acquisition The step of.

6. movable mast method according to claim 4, which is characterized in that first corresponding relationship is at least one, each Corresponding one default angular region that has a down dip of first corresponding relationship, it is described according to the current angle of declination and described first corresponding closes System obtains the speed that currently has a down dip that the corresponding mast of the current angle of declination tilts down, and controls the mast power Cell operation is so that the movable end of the mast is tilted down according to the speed that currently has a down dip, until the movable end of the mast It is placed in the bracket, controls the mast power unit and stop working so that the step of the mast stop motion, comprising:

If it is not, the angle of declination after then tilting down described in replaces the current angle of declination, and repeats and work as described in described work as When front lower inclination angle is in that target is default to have a down dip in angular region, the default corresponding first object pair of angular region that has a down dip of the target is obtained The step of should being related to, the angle of declination after described tilt down are zero degree；

Control the luffing device the luffing power unit work so that the support rod work with drive the mast to Lower movement controls the mast power unit and stops working so that institute until the movable end of the mast is placed in the bracket State mast stop motion.

7. movable mast method according to claim 6, which is characterized in that the rotary drilling rig further includes second angle measurement dress It sets and pressure sensor, the second angle measuring device and the pressure sensor are electrically connected with the processor, described Pressure sensor is arranged on the bracket；The processor is also previously stored with the variable phase angle and moves down with the mast Movement speed between the second corresponding relationship；

The luffing power unit work of the control luffing device makes the support rod work to drive the mast Move down, until the movable end of the mast is placed in the bracket, control the mast power unit stop working so that The step of mast stop motion, comprising:

Obtain the current variable phase angle of the luffing device of the second angle measuring device acquisition；

According to the current variable phase angle and second corresponding relationship, obtains the corresponding support rod of the current variable phase angle and move Dynamic current movement speed, and control the luffing power unit and work so that the support rod is according to the current movement speed It moves down；

Obtain the pressure value of the bracket of the pressure sensor acquisition；

Judge whether the pressure value reaches preset pressure value；

If it is not, then executing the step of the current variable phase angle of the luffing device for obtaining the second angle measuring device acquisition Suddenly, it until the pressure value reaches the preset pressure value, determines that the movable end of the mast is placed in the bracket, controls institute Mast power unit is stated to stop working so that the mast stop motion.

8. movable mast method according to claim 7, which is characterized in that second corresponding relationship is at least one, each The corresponding default luffing angular region of second corresponding relationship；

It is described according to the current variable phase angle and second corresponding relationship, obtain the corresponding support of the current variable phase angle The mobile current movement speed of bar, and control the luffing power unit and work so that the support rod is according to the current movement The step of speed moves down, comprising:

When the current variable phase angle, which is in target, to be preset in luffing angular region, it is corresponding to obtain the default luffing angular region of the target The second target corresponding relationship；

According to the current variable phase angle and the second target corresponding relationship, the corresponding luffing of the current variable phase angle is obtained The mobile current movement speed of the support rod of device, and the luffing power unit work is controlled so that the support rod is pressed It moves down according to the current movement speed to drive the mast to move down.

9. a kind of rotary drilling rig, which is characterized in that the rotary drilling rig include: first angle measuring device, mast power unit, Mast, bracket and processor, the first angle measuring device and the mast power unit are electrically connected with the processor, The mast power unit is fixedly connected with the mast；The processor is previously stored between the mast and horizontal plane The first corresponding relationship between the speed that has a down dip that angle of declination and the mast tilt down；

The current angle of declination of the mast of the first angle measuring device for acquiring simultaneously is sent to the processor；

The processor is used to that it is corresponding to obtain the current angle of declination according to the current angle of declination and first corresponding relationship Currently having a down dip speed of tilting down of the mast, and control the mast power unit work so that the mast activity End is tilted down according to the speed that currently has a down dip, until the movable end of the mast is placed in the bracket, controls the mast Bar power unit stops working so that the mast stop motion.

10. rotary drilling rig according to claim 9, which is characterized in that the rotary drilling rig further includes luffing device, described Support rod one end of luffing device is fixedly connected with the fixing end of the mast, the luffing power of the other end and the luffing device Unit is fixedly connected, and the luffing power unit is electrically connected with the processor；

The processor be also used to control the luffing device the luffing power unit work with the support rod work with The mast is driven to move up, until the variable phase angle of the luffing device reaches preset maximum value so that the mast reaches pre- If highest point, wherein angle of the variable phase angle between the support rod and horizontal plane, and characterize the height where the mast Degree.