CN112065357B - Drilling rod locking control method and device of rotary drilling rig - Google Patents
Drilling rod locking control method and device of rotary drilling rig Download PDFInfo
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- CN112065357B CN112065357B CN202010850975.9A CN202010850975A CN112065357B CN 112065357 B CN112065357 B CN 112065357B CN 202010850975 A CN202010850975 A CN 202010850975A CN 112065357 B CN112065357 B CN 112065357B
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000005553 drilling Methods 0.000 title claims abstract description 31
- 238000006073 displacement reaction Methods 0.000 claims abstract description 51
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 39
- 239000010959 steel Substances 0.000 claims abstract description 39
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- 101000872084 Danio rerio Delta-like protein B Proteins 0.000 claims description 6
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- 238000004080 punching Methods 0.000 description 2
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- 230000006870 function Effects 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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Abstract
The application belongs to the field of engineering machinery control, and particularly relates to a drill rod locking control method and device of a rotary drilling rig. The drill rod locking control method comprises the following steps: when the drill rod is lowered to the bottom of a drilling hole, based on pre-stored drill rod locking point position information, controlling the power head to act so that the key in the pipe reaches the drill rod locking point area, and acquiring the initial position of the power head and an initial tension value of a steel wire rope for suspending the drill rod at the moment; pressurizing the power head to enable the inner key of the pipe to enter a drill rod locking point, realizing locking of the drill rod when the tension of the steel wire rope is greater than the initial tension of the steel wire rope, and acquiring the locking position of the power head at the moment; and determining the locking deviation of the drill rod according to the displacement of the locking position of the power head relative to the initial position, and correcting the pre-stored drill rod locking position information by utilizing the locking deviation of the drill rod. According to the method, each locking operation can be regarded as a correction process of the locking point position of the drill rod, and the locking point position of the drill rod becomes more and more accurate along with the increase of the locking times.
Description
Technical Field
The application relates to the field of engineering machinery control, in particular to a drill rod locking control method and device of a rotary drilling rig.
Background
When the rotary drilling rig is operated, the position of a locking point of the drill rod is generally calibrated through the depth of the drill rod and the position of the power head, and after the inner key of the drill rod/the inner key of the power head is controlled to move to the position of the calibrated locking point, the power head device is rotated to lock. However, in practical application, due to environmental geology, self-structure of a drill rod, deformation of a steel wire rope, errors of a sensor and the like, larger errors exist between the calibrated lock point position and the actual lock point position, once an operator fails to lock by using the calibrated lock point position, the operator can only rely on experiences to perform multiple attempts, so that the locking difficulty is increased, meanwhile, the locking errors are changed due to different actual working conditions or construction sites, the operation experience of the operator, which is found before, needs to be accumulated again, and the working efficiency is reduced.
Disclosure of Invention
The application provides a drill rod locking control method and device of a rotary drilling rig, and aims to reduce drill rod locking errors.
The rotary drilling rig comprises a power head and a plurality of sections of sleeved drill rods, wherein a group of pipe inner keys are respectively arranged on the inner walls of the power head and the drill rods, and a plurality of drill rod locking points are arranged on the outer wall of each section of drill rod. The first aspect of the application provides a drill rod locking control method of a rotary drilling rig, comprising the following steps:
when the drill rod is lowered to the bottom of a drilling hole, based on pre-stored drill rod locking point position information, controlling the power head to act so that the key in the pipe reaches the drill rod locking point area, and acquiring the initial position of the power head and an initial tension value of a steel wire rope for suspending the drill rod at the moment;
pressurizing the power head to enable the inner key of the pipe to enter a drill rod locking point, realizing locking of the drill rod when the tension of the steel wire rope is greater than the initial tension of the steel wire rope, and acquiring the locking position of the power head at the moment;
and determining the locking deviation of the drill rod according to the displacement of the locking position of the power head relative to the initial position, and correcting the pre-stored drill rod locking position information by utilizing the locking deviation of the drill rod.
Preferably, the pipe internal key is a power head internal key or a drill rod internal key;
the inner key of the power head is meshed and locked with the drill rod locking point of the outermost drill rod;
every two adjacent sections of drill rods are engaged and locked with the drill rod locking point of the inner section of drill rod through the drill rod inner key of the outer section of drill rod.
Preferably, based on the pre-stored drill rod locking point position information, the controlling the power head to move to enable the key in the pipe to reach the drill rod locking point area, and obtaining the initial position of the power head and the initial tension value of the wire rope for suspending the drill rod at the moment, includes:
reading pre-stored drill rod locking point position information;
lifting and rotating the power head by using the pressurizing oil cylinder, so that the bottom of the key in the pipe reaches the upper part of the locking point of the drill rod;
reading thisInitial stroke displacement B of pressurized cylinder 1 And an initial tension value F of the wire rope 1 The initial stroke displacement of the pressurizing oil cylinder is characterized as the initial position of the power head.
Preferably, the pressurizing the power head to make the key in the pipe enter the locking point of the drill rod until the tension of the steel wire rope is greater than the initial tension of the steel wire rope, and obtaining the locking position of the power head at the moment comprises the following steps:
the power head is automatically pressurized by utilizing the pressurizing oil cylinder, so that the key in the pipe moves at a constant speed in the direction of the locking point of the drill rod;
detecting stroke displacement of the pressurizing oil cylinder and tension of a steel wire rope for suspending the drill rod in real time;
when the locking tension F of the steel wire rope 2 Greater than its initial tension F 1 Stopping the action of the pressurizing oil cylinder to realize the engagement and locking of the in-pipe key and the locking point of the drill rod;
reading the locking stroke displacement B of the pressurizing oil cylinder at the moment 2 The locking stroke displacement of the pressurizing oil cylinder is characterized by locking position information of the power head.
Preferably, the determining the drill rod locking deviation according to the displacement of the locking position of the power head relative to the initial position includes:
according to the initial stroke displacement B of the pressurized cylinder 1 And the locking stroke displacement B of the pressurizing oil cylinder 2 Calculating the locking deviation delta B of the drill rod;
wherein Δb=b 2 -B 1 。
Preferably, the pre-stored drill rod locking point position information includes: the depth of the drill rod locking point recorded in the previous time relative to the ground plane;
the correcting the pre-stored drill rod locking point position information by using the drill rod locking deviation comprises the following steps:
reading a first depth value A of a drill rod locking point recorded in the previous time relative to a ground plane;
calculating a second depth value A' of the drill rod locking point relative to the ground plane by using the first depth value A of the drill rod locking point relative to the ground plane and the drill rod locking deviation delta B;
wherein a' =a+Δb;
and updating the second depth value A' of the drill rod locking point relative to the ground plane into the drill rod locking point position information and storing the drill rod locking point position information.
The second aspect of the application provides a drill rod locking control device of a rotary drilling rig, which is applied to the drill rod locking control method, and comprises the following steps:
the main winch encoder is used for detecting the position of the drill rod;
the display screen is used for displaying the position of the locking point of the drill rod;
the displacement sensor is used for detecting the position of the power head in real time;
the shaft pin sensor is used for detecting the tension of a steel wire rope suspending the drill rod in real time;
the controller is electrically connected with the main winch encoder, the display screen, the displacement sensor and the shaft pin sensor;
when the drill rod is lowered to the bottom of a drilling hole, the controller is used for reading pre-stored drill rod locking point position information and controlling the power head to act, so that a key in the pipe enters the drill rod locking point, judging whether the locking of the drill rod is realized according to the tension of the steel wire rope, and reading the initial position and the locking position of the power head in the locking process;
the controller is also used for determining the drill rod locking deviation according to the displacement of the locking position of the power head relative to the initial position, and correcting the pre-stored drill rod locking position information by utilizing the drill rod locking deviation.
Preferably, the pipe internal key is a power head internal key or a drill rod internal key;
the inner key of the power head is meshed and locked with the drill rod locking point of the outermost drill rod;
every two adjacent sections of drill rods are engaged and locked with the drill rod locking point of the inner section of drill rod through the drill rod inner key of the outer section of drill rod.
Preferably, the drill rod locking control device further comprises a pressurizing oil cylinder electromagnetic valve electrically connected with the controller, and the power head is connected with a piston rod of the pressurizing oil cylinder;
the controller is also used for controlling the pressurizing oil cylinder through the electromagnetic valve of the pressurizing oil cylinderAct and read the initial stroke displacement B of the pressurizing cylinder in the locking process 1 And the locking stroke displacement B of the pressurizing oil cylinder 2 。
Preferably, the controller is further configured to:
according to the initial stroke displacement B of the pressurized cylinder 1 And the locking stroke displacement B of the pressurizing oil cylinder 2 Calculating the drill rod locking deviation delta B, delta b=b 2 -B 1 ；
Reading a first depth value A of a drill rod locking point relative to a ground plane, which is recorded in a data storage area;
calculating a second depth value A ', A' =A+DeltaB of the drill rod locking point relative to the ground plane by using the first depth value A of the drill rod locking point relative to the ground plane and the drill rod locking deviation DeltaB;
and updating the second depth value A' of the drill rod locking point relative to the ground plane into the drill rod locking point position information and storing the drill rod locking point position information in a data storage area.
According to the scheme, based on pre-stored drill rod locking point position information, the power head is controlled to act so that the in-pipe key reaches a drill rod locking point area, then the power head is pressurized so that the in-pipe key enters the drill rod locking point until the tension of the steel wire rope is larger than the initial tension of the steel wire rope, the drill rod locking is achieved, locking deviation is determined according to the displacement of the power head in the locking process, and the pre-stored drill rod locking point position information is corrected by the locking deviation.
Compared with the prior art, the technical scheme of the application has the following advantages:
(1) The position of the locking point of the drill rod is not a fixed value, each locking operation can be regarded as a correction process of the position of the locking point of the drill rod, and the locking point of the drill rod becomes more and more accurate along with the increase of locking times;
(2) In the locking process, whether locking is successful or not is judged through tension change of a steel wire rope of a hanging drill rod, so that the aim of eliminating locking errors can be fulfilled through normal locking operation;
(3) Correcting the drill rod lock point directly, rather than correcting a specific element, actually reduces the difficulty of error correction, because error accumulation of multiple elements can change along with the service time of the element, even error coupling exists, so that the actual lock entering error is difficult to determine.
Additional features and advantages of embodiments of the application will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain, without limitation, the embodiments of the application. In the drawings:
FIG. 1 is a flow chart of a method of controlling drill rod lock;
FIG. 2 is a schematic illustration of the location of a drill pipe lock point and an in-pipe key;
fig. 3 is a schematic structural view of the drill rod locking control device.
Detailed Description
The following describes the detailed implementation of the embodiments of the present application with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the application, are not intended to limit the application.
In the present application, unless otherwise indicated, terms of orientation such as "up and down" are used to define the working condition of the drill rod of the rotary drilling machine.
The rotary drilling rig comprises a power head and a plurality of sections of sleeved drill rods, and the sections of drill rods penetrate through the power head and are in sliding connection relative to the power head. The number of sections of the drill pipe is selected according to specific needs, and for example, the drill pipe can be one or more than two sections. It should be noted that, the multi-section drill rod of the rotary drilling rig is similar to the structure of the antenna, that is, the inner drill rod is initially fully accommodated in the outermost section of drill rod, when the drilling is gradually deepened, the inner section of drill rod sequentially extends out of the outer section of drill rod, and a back-extending preventing structure is arranged between the drill rods to prevent the extending drill rod from retracting so as to prevent the drilling operation from being carried out. It is easy to understand that this drilling rod can stretch out the punching forward, and after punching operation satisfies the requirement, promptly, can also retract under control to the operation.
The inner walls of the power head and the drill rods are respectively provided with a group of pipe inner keys, the outer wall of each section of drill rod is provided with a plurality of drill rod locking points, the drill rod locking points are also called a pressurizing table, each section of drill rod from inside to outside is required to ensure that the inner keys of the drill rods and the drill rod locking points are correctly locked, and the drill rod locking points of the drill rods of the outermost section are locked with the inner keys of the power head, so that the pressurizing force transmitted by the power head is born.
In order to reduce the drill rod locking error, the application provides a drill rod locking control method of a rotary drilling rig, as shown in fig. 1, the drill rod locking control method comprises the following steps:
s1, when a drill rod is lowered to the bottom of a drilling hole, based on pre-stored drill rod locking point position information, controlling a power head to act so that an in-pipe key reaches a drill rod locking point area, and acquiring an initial position of the power head and an initial tension value of a steel wire rope for hanging the drill rod.
When the rotary drilling rig is used for construction, only when the drill rod is at the bottom of the drilling hole, the lock point of the drill rod can be searched and locked, so that the next pressurizing operation can be performed. The pre-stored drill rod locking point position information can be the depth of the drill rod locking point which is recorded in the previous time from the ground plane.
S2, pressurizing the power head to enable the key in the pipe to enter the locking point of the drill rod, locking the drill rod until the tension of the steel wire rope is greater than the initial tension of the steel wire rope, and acquiring the locking position of the power head at the moment.
And S3, determining the drill rod locking deviation according to the displacement of the locking position of the power head relative to the initial position, and correcting the pre-stored drill rod locking position information by utilizing the drill rod locking deviation.
In practical application, the pipe internal key is a power head internal key or a drill rod internal key. The inner key of the power head is meshed and locked with the drill rod locking point of the outermost drill rod; every two adjacent sections of drill rods are engaged and locked with the drill rod locking point of the inner section of drill rod through the drill rod inner key of the outer section of drill rod.
When the rotary drilling rig is used for construction, the power head mainly plays a role in transmitting pressurizing force and torque, the source of the pressurizing force is a pressurizing oil cylinder, and the source of the torque is a power head motor. The piston rod of the power cylinder is connected with the power head, and in practical application, the piston rod of the pressurizing cylinder is downwards arranged, and the piston rod extends out, so that the power head descends; and the piston rod is retracted, so that the power head rises. The displacement of the power head is the stroke displacement of the pressurizing oil cylinder.
The step S1 specifically includes:
reading pre-stored drill rod locking point position information, and displaying the drill rod locking point position through a display;
lifting and rotating the power head by using the pressurizing oil cylinder, so that the bottom of the key in the pipe reaches the upper part of the locking point of the drill rod;
taking the locking of the power head and the outermost section of drill rod as an example, after the drill rod is lowered to the construction depth, the power head is lifted up by using a pressurizing oil cylinder and is slightly reversed until the bottom of the power head inner key reaches the position above the drill rod locking point, and as shown in fig. 2, the power head inner key 1 is positioned between an upper locking plate 4 and a lower locking plate 3 of the drill rod locking point 2;
reading initial stroke displacement B of the pressurizing oil cylinder at the moment 1 And an initial tension value F of the wire rope 1 The initial stroke displacement of the pressurizing oil cylinder is characterized by initial position information of the power head.
Further, step S2 specifically includes:
the power head is automatically pressurized by utilizing the pressurizing oil cylinder, so that the key in the pipe moves at a constant speed in the direction of the locking point of the drill rod;
detecting stroke displacement of the pressurizing oil cylinder and tension of a steel wire rope for suspending the drill rod in real time;
when the locking tension F of the steel wire rope 2 Greater than its initial tension F 1 Stopping the action of the pressurizing oil cylinder to realize the engagement and locking of the in-pipe key and the locking point of the drill rod;
reading the locking stroke displacement B of the pressurizing oil cylinder at the moment 2 The locking stroke displacement of the pressurizing oil cylinder is characterized by locking position information of the power head.
Specifically, the power head is slightly rotated forward and slightly pressurized, the power head inner key 1 moves downwards at a constant speed under the combined action of guiding of the upper locking plate 4 and lowering of the power head until the power head inner key 1 is in contact with the lower locking plate 3 of the drill rod locking point 2, and in the process, the section of drill rod is sunk due to the pressurizing force, so that the tension of a steel wire rope suspending the drill rod is changed, and whether locking is successful or not can be judged through the tension change of the steel wire rope.
Further, the step S3 specifically includes:
according to the initial stroke displacement B of the pressurized cylinder 1 And the locking stroke displacement B of the pressurizing oil cylinder 2 Calculating a drill rod locking deviation Δb, wherein Δb=b 2 -B 1 ；
Reading a first depth value A of a drill rod locking point recorded in the previous time relative to a ground plane;
calculating a second depth value A' of the drill rod locking point relative to the ground plane by using the first depth value A of the drill rod locking point relative to the ground plane and the drill rod locking deviation delta B;
wherein a' =a+Δb;
and updating the second depth value A' of the drill rod locking point relative to the ground plane into the drill rod locking point position information and storing the drill rod locking point position information.
Compared with the prior art, the technical scheme of the application has the following advantages:
(1) The position of the locking point of the drill rod is not a fixed value, each locking operation can be regarded as a correction process of the position of the locking point of the drill rod, and the locking point of the drill rod becomes more and more accurate along with the increase of locking times;
(2) In the locking process, whether locking is successful or not is judged through tension change of a steel wire rope of a hanging drill rod, and the aim of eliminating locking errors can be achieved through normal locking operation;
(3) Correcting the drill rod lock point directly, rather than correcting a specific element, actually reduces the difficulty of error correction, because error accumulation of multiple elements can change along with the service time of the element, even error coupling exists, so that the actual lock-in error is difficult to determine.
The second aspect of the present application provides a drill rod locking control device of a rotary drilling rig, which is applied to the above drill rod locking control method, and the drill rod locking control device includes:
the main winch encoder is used for detecting the position of the drill rod;
the display screen is used for displaying the locking point position of the drill rod;
the displacement sensor is used for detecting the position of the power head in real time;
the shaft pin sensor is used for detecting the tension of a steel wire rope suspending the drill rod in real time;
and a controller electrically connected to the main hoist encoder, the display screen, the displacement sensor, and the shaft pin sensor, respectively;
when the drill rod is lowered to the bottom of a drilling hole, the controller is used for reading pre-stored drill rod locking point position information and controlling the power head to act, so that a key in the pipe enters the drill rod locking point, judging whether the locking of the drill rod is realized according to the tension of the steel wire rope, and reading the initial position and the locking position of the power head in the locking process;
the controller is also used for determining the drill rod locking deviation according to the displacement of the locking position of the power head relative to the initial position, and correcting the pre-stored drill rod locking position information by utilizing the drill rod locking deviation.
The controller is a PLC controller, namely a programmable logic controller, which is a digital electronic device with a micro-processing function and is used for automatically controlling the digital logic controller, and a control instruction can be loaded into a memory to execute the instruction at any time.
In practical application, the pipe internal key is a power head internal key or a drill rod internal key. The inner key of the power head is meshed and locked with the drill rod locking point of the outermost drill rod; every two adjacent sections of drill rods are engaged and locked with the drill rod locking point of the inner section of drill rod through the drill rod inner key of the outer section of drill rod.
Taking the locking of the power head and the outermost section of drill rod as an example, after the drill rod is lowered to the construction depth, lifting and lightly reversing the power head until the bottom of an inner key of the power head reaches the position above a drill rod locking point, namely the position between an upper locking plate and a lower locking plate of the drill rod locking point, and acquiring the initial tension of the steel wire rope by a shaft pin sensor by a controller; and then the power head is slightly rotated forward and slightly pressurized, the inner key of the power head moves downwards at a constant speed under the combined action of the guiding of the upper locking plate and the lowering of the power head until the inner key of the power head is contacted with the lower locking plate of the locking point of the drill rod, the section of drill rod is sunk due to the pressurizing force in the process, so that the tension of a steel wire rope suspending the drill rod is changed, and the controller judges whether the locking is successful or not by acquiring the locking tension of the steel wire rope in real time and judges that the locking is successful when the locking tension of the steel wire rope is greater than the initial tension of the steel wire rope.
Further, the drill rod locking control device further comprises a pressurizing oil cylinder electromagnetic valve electrically connected with the controller, and the power head is connected with a piston rod of the pressurizing oil cylinder.
The controller is also used for controlling the action of the pressurizing oil cylinder through an electromagnetic valve of the pressurizing oil cylinder and reading the initial stroke displacement B of the pressurizing oil cylinder in the locking process 1 And the locking stroke displacement B of the pressurizing oil cylinder 2 。
Further, the controller is further configured to:
according to the initial stroke displacement B of the pressurized cylinder 1 And the locking stroke displacement B of the pressurizing oil cylinder 2 Calculating the drill rod locking deviation delta B, delta b=b 2 -B 1 ；
Reading a first depth value A of a drill rod locking point relative to a ground plane, which is recorded in a data storage area;
calculating a second depth value A ', A' =A+DeltaB of the drill rod locking point relative to the ground plane by using the first depth value A of the drill rod locking point relative to the ground plane and the drill rod locking deviation DeltaB;
and updating the second depth value A' of the drill rod locking point relative to the ground plane into the drill rod locking point position information and storing the drill rod locking point position information in a data storage area.
In the application, the first depth value A of the drill rod locking point relative to the ground plane recorded by the controller is corrected to the second depth value A' of the drill rod locking point relative to the ground plane, so that the position information of the drill rod locking point stored in the data storage area of the controller is updated, and when the next locking operation is performed, an operator can use the new position information of the drill rod locking point as the basis of the locking position, each locking operation is equivalent to one time of error correction, and the effect of maximally eliminating the locking error of the drill rod is achieved through multiple times of error correction accumulation.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (9)
1. The drill rod locking control method of the rotary drilling rig comprises a power head and a plurality of sections of sleeved drill rods, wherein a group of in-pipe keys are respectively arranged on the inner walls of the power head and the drill rods, and a plurality of drill rod locking points are arranged on the outer wall of each section of drill rods.
When the drill rod is lowered to the bottom of a drilling hole, based on pre-stored drill rod locking point position information, controlling the power head to act so that the key in the pipe reaches the drill rod locking point area, and acquiring the initial position of the power head and an initial tension value of a steel wire rope for suspending the drill rod at the moment;
pressurizing the power head to enable the inner key of the pipe to enter a drill rod locking point, realizing locking of the drill rod when the tension of the steel wire rope is greater than the initial tension of the steel wire rope, and acquiring the locking position of the power head at the moment;
determining a drill rod locking deviation according to the displacement of the locking position of the power head relative to the initial position, and correcting pre-stored drill rod locking position information by utilizing the drill rod locking deviation;
based on pre-stored drill rod lock point position information, controlling the action of the power head to enable the in-pipe key to reach the drill rod lock point area, and acquiring the initial position of the power head and the initial tension value of a steel wire rope for suspending the drill rod at the moment, wherein the method comprises the following steps:
reading pre-stored drill rod locking point position information;
lifting and rotating the power head by using the pressurizing oil cylinder, so that the bottom of the key in the pipe reaches the upper part of the locking point of the drill rod;
reading initial stroke displacement B of the pressurizing oil cylinder at the moment 1 And an initial tension value F of the wire rope 1 The initial stroke displacement of the pressurizing oil cylinder is characterized as the initial position of the power head.
2. The drill rod locking control method according to claim 1, wherein the pipe internal key is a power head internal key or a drill rod internal key;
the inner key of the power head is meshed and locked with the drill rod locking point of the outermost drill rod;
every two adjacent sections of drill rods are engaged and locked with the drill rod locking point of the inner section of drill rod through the drill rod inner key of the outer section of drill rod.
3. The drill rod locking control method according to claim 1, wherein the pressurizing the power head to enable the pipe inner key to enter the drill rod locking point until the tension of the wire rope is greater than the initial tension thereof, and obtaining the locking position of the power head at the moment comprises the following steps:
the power head is automatically pressurized by utilizing the pressurizing oil cylinder, so that the key in the pipe moves at a constant speed in the direction of the locking point of the drill rod;
detecting stroke displacement of the pressurizing oil cylinder and tension of a steel wire rope for suspending the drill rod in real time;
when the locking tension F of the steel wire rope 2 Greater than its initial tension F 1 Stopping the action of the pressurizing oil cylinder to realize the engagement and locking of the in-pipe key and the locking point of the drill rod;
reading the locking stroke displacement B of the pressurizing oil cylinder at the moment 2 The locking stroke displacement of the pressurizing oil cylinder is characterized by locking position information of the power head.
4. A drill rod locking control method according to claim 3, wherein the determining the drill rod locking deviation according to the displacement of the locking position of the power head relative to the initial position comprises:
according to the initial stroke displacement B of the pressurized cylinder 1 And the locking stroke displacement B of the pressurizing oil cylinder 2 Calculating the locking deviation delta B of the drill rod;
wherein Δb=b 2 -B 1 。
5. The drill rod locking control method of claim 4, wherein the pre-stored drill rod locking point location information comprises: the depth of the drill rod locking point recorded in the previous time relative to the ground plane;
the correcting the pre-stored drill rod locking point position information by using the drill rod locking deviation comprises the following steps:
reading a first depth value A of a drill rod locking point recorded in the previous time relative to a ground plane;
calculating a second depth value A' of the drill rod locking point relative to the ground plane by using the first depth value A of the drill rod locking point relative to the ground plane and the drill rod locking deviation delta B;
wherein a' =a+Δb;
and updating the second depth value A' of the drill rod locking point relative to the ground plane into the drill rod locking point position information and storing the drill rod locking point position information.
6. A drill rod locking control device of a rotary drilling rig, characterized in that it is applied to the drill rod locking control method according to any one of the above claims 1 to 5, and the drill rod locking control device comprises:
the main winch encoder is used for detecting the position of the drill rod;
the display screen is used for displaying the position of the locking point of the drill rod;
the displacement sensor is used for detecting the position of the power head in real time;
the shaft pin sensor is used for detecting the tension of a steel wire rope suspending the drill rod in real time;
the controller is electrically connected with the main winch encoder, the display screen, the displacement sensor and the shaft pin sensor;
when the drill rod is lowered to the bottom of a drilling hole, the controller is used for reading pre-stored drill rod locking point position information and controlling the power head to act, so that a key in the pipe enters the drill rod locking point, judging whether the locking of the drill rod is realized according to the tension of the steel wire rope, and reading the initial position and the locking position of the power head in the locking process;
the controller is also used for determining the drill rod locking deviation according to the displacement of the locking position of the power head relative to the initial position, and correcting the pre-stored drill rod locking position information by utilizing the drill rod locking deviation.
7. The drill rod locking control device of claim 6, wherein the pipe internal key is a power head internal key or a drill rod internal key;
the inner key of the power head is meshed and locked with the drill rod locking point of the outermost drill rod;
every two adjacent sections of drill rods are engaged and locked with the drill rod locking point of the inner section of drill rod through the drill rod inner key of the outer section of drill rod.
8. The drill rod locking control device according to claim 6 or 7, further comprising a pressurized cylinder solenoid valve electrically connected to the controller, the power head being connected to a piston rod of the pressurized cylinder;
the controller is also used for controlling the action of the pressurizing oil cylinder through an electromagnetic valve of the pressurizing oil cylinder and reading the initial stroke displacement B of the pressurizing oil cylinder in the locking process 1 And the locking stroke displacement B of the pressurizing oil cylinder 2 。
9. The drill rod lock control apparatus of claim 6, wherein the controller is further configured to:
according to the initial stroke displacement B of the pressurized cylinder 1 And the locking stroke displacement B of the pressurizing oil cylinder 2 Calculating the drill rod locking deviation delta B, delta b=b 2 -B 1 ；
Reading a first depth value A of a drill rod locking point relative to a ground plane, which is recorded in a data storage area;
calculating a second depth value A ', A' =A+DeltaB of the drill rod locking point relative to the ground plane by using the first depth value A of the drill rod locking point relative to the ground plane and the drill rod locking deviation DeltaB;
and updating the second depth value A' of the drill rod locking point relative to the ground plane into the drill rod locking point position information and storing the drill rod locking point position information in a data storage area.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010850975.9A CN112065357B (en) | 2020-08-21 | 2020-08-21 | Drilling rod locking control method and device of rotary drilling rig |
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| CN202010850975.9A CN112065357B (en) | 2020-08-21 | 2020-08-21 | Drilling rod locking control method and device of rotary drilling rig |
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|---|---|---|---|---|
| CN102359347A (en) * | 2011-10-20 | 2012-02-22 | 中联重科股份有限公司 | Machine-locked drilling machine, drilling rod monitoring method, controller and monitoring system thereof |
| CN102392630A (en) * | 2011-10-14 | 2012-03-28 | 上海中联重科桩工机械有限公司 | rotary drilling rig and control mode thereof |
| CN202645423U (en) * | 2012-05-31 | 2013-01-02 | 北京市三一重机有限公司 | Power transmission mechanism for rotary drilling rig drilling stem and rotary drilling rig |
| CN103061681A (en) * | 2012-12-26 | 2013-04-24 | 上海中联重科桩工机械有限公司 | Drill rod for rotary drilling rig and rotary drilling rig |
| CN109446746A (en) * | 2018-12-27 | 2019-03-08 | 北京三智造科技有限公司 | A kind of rotary drilling rig distance calculating method and device |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102392630A (en) * | 2011-10-14 | 2012-03-28 | 上海中联重科桩工机械有限公司 | rotary drilling rig and control mode thereof |
| CN102359347A (en) * | 2011-10-20 | 2012-02-22 | 中联重科股份有限公司 | Machine-locked drilling machine, drilling rod monitoring method, controller and monitoring system thereof |
| CN202645423U (en) * | 2012-05-31 | 2013-01-02 | 北京市三一重机有限公司 | Power transmission mechanism for rotary drilling rig drilling stem and rotary drilling rig |
| CN103061681A (en) * | 2012-12-26 | 2013-04-24 | 上海中联重科桩工机械有限公司 | Drill rod for rotary drilling rig and rotary drilling rig |
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