CN112727435A - Intelligent rock entering control device and method for rotary drilling rig - Google Patents
Intelligent rock entering control device and method for rotary drilling rig Download PDFInfo
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- CN112727435A CN112727435A CN202011637441.4A CN202011637441A CN112727435A CN 112727435 A CN112727435 A CN 112727435A CN 202011637441 A CN202011637441 A CN 202011637441A CN 112727435 A CN112727435 A CN 112727435A
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- 239000011435 rock Substances 0.000 title claims abstract description 77
- 238000005553 drilling Methods 0.000 title claims abstract description 69
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000001133 acceleration Effects 0.000 claims description 14
- 238000010276 construction Methods 0.000 claims description 10
- 230000033228 biological regulation Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 5
- 230000006698 induction Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 abstract description 14
- 230000001105 regulatory effect Effects 0.000 abstract description 12
- 239000003921 oil Substances 0.000 description 44
- 230000002035 prolonged effect Effects 0.000 description 5
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 239000002002 slurry Substances 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
- E21B44/02—Automatic control of the tool feed
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides an intelligent rock entering control device and method for a rotary drilling rig. The device comprises an oil cylinder assembly, a power head assembly, a proportion adjusting assembly, a control module and an automatic pressurizing assembly; the oil cylinder assembly comprises a pressurizing oil cylinder and a pressurizing main valve which are communicated with each other; the power head assembly comprises a power head motor and a power head main valve which are communicated with each other; the proportional regulating component comprises a pressurizing proportional valve for controlling the feeding speed of the pressurizing oil cylinder and a power head proportional valve for controlling the rotating speed of a power head motor; the automatic pressurizing assembly comprises a pressurizing overflow protection valve and a pressurizing pressure-regulating proportional valve which are communicated with each other, and the pressurizing pressure-regulating proportional valve is used for providing pressurizing force for the pressurizing oil cylinder; the pressurizing overflow protection valve is used for performing overflow protection on the pressurizing main valve when the pressurizing force exceeds a preset pressurizing force threshold value. The invention controls the pressure of automatic pressurization not to exceed the pressurization threshold value by arranging the pressurization overflow protection valve, thereby avoiding the accident of twisting off the drill rod caused by overhigh pressurization pressure.
Description
Technical Field
The invention belongs to the technical field of engineering machinery, and particularly belongs to an intelligent rock entering control device and method for a rotary drilling rig.
Background
The rotary drilling rig is a construction machine suitable for hole forming operation in building foundation engineering, and has the characteristics of high hole forming speed, less pollution, strong maneuverability, no need of slurry circulation slag discharge and the like. In the foundation construction of the rotary drilling rig, the drilling rig often encounters the geological condition of rock entering, the feeding speed is very low, and the labor intensity is also very high.
The rotary drilling rig drives the drill rod through the rotation of the power head to drive the drilling tool to rotate, and when the drilling tool enters a rock, under the action of a pressurizing load and a rotating torque, a cutting tooth of the drilling tool is pressed into the rock, so that shearing force is generated between the cutting tooth and a rock contact surface, and the rock is sheared and broken. When a manipulator manually operates the rotary drilling rig to enter a rock, the manipulator needs to press the floating button and pull the handle for a long time, the labor intensity is high, the rotary drilling rig in the related technology provides selection of an automatic rock entering mode for solving the technical problem, however, the rotary drilling rig is easy to have a drilling rod twist-off accident in the automatic rock entering process.
Disclosure of Invention
The invention aims to provide an intelligent rock-entering control device and method of a rotary drilling rig for carrying out pressure protection on automatic pressurization, so that a drill rod is prevented from being twisted off during construction, and the service life of the drilling rig is prolonged.
In order to achieve the aim, the invention provides an intelligent rock-entering control device of a rotary drilling rig, which comprises an oil cylinder assembly, a power head assembly, a proportion adjusting assembly, a control module and an automatic pressurizing assembly, wherein the oil cylinder assembly is connected with the power head assembly;
the oil cylinder assembly comprises a pressurizing oil cylinder and a pressurizing main valve communicated with an oil cavity of the pressurizing oil cylinder;
the power head assembly comprises a power head motor and a power head main valve communicated with an oil cavity of the power head motor;
the proportional regulating component comprises a pressurizing proportional valve communicated with the pressurizing main valve and a power head proportional valve communicated with the power head main valve; the pressurization proportional valve is used for receiving a first control signal sent by the control module so as to control the feeding speed of the pressurization oil cylinder by using the pressurization main valve; the power head proportional valve is used for receiving a second control signal sent by the control module so as to control the rotating speed of the power head motor by using the power head main valve, wherein the first control signal is a pulse signal;
the automatic pressurization assembly comprises a pressurization overflow protection valve and a pressurization pressure-regulating proportional valve which are communicated with each other, and the pressurization pressure-regulating proportional valve is used for receiving a third control signal sent by the control module so as to pressurize the pressurization oil cylinder by utilizing the pressurization main valve; and the pressurization overflow protection valve is communicated with the pressurization main valve and is used for performing overflow protection on the pressurization main valve when the pressurization force provided by the pressurization pressure-regulation proportional valve exceeds a preset pressurization force threshold value.
In a specific embodiment, the power head further comprises a pilot handle, and an output end of the pilot handle is respectively connected with a control end of the pressurization main valve and a control end of the power head main valve.
In a specific embodiment, the pressure sensor further comprises a sensing module, wherein the sensing module comprises an automatic pressurization starting switch and a pilot pressure relay, and the pilot pressure relay is used for monitoring the change of pilot pressure triggered by the pilot handle;
when the automatic pressurization starting switch is in an opening state and the pilot pressure relay monitors that the pilot pressure is in a first change, the intelligent rock entering control device of the rotary drilling rig enters a manual rock entering mode;
when the automatic pressurization starting switch is in an opening state and the pilot pressure relay monitors that the pilot pressure is in a second change, the intelligent rock entering control device of the rotary drilling rig enters an automatic rock entering mode.
In a specific implementation manner, the intelligent rock entering control device of the rotary drilling rig further comprises a display screen, and the display screen is provided with a pressurization mode selection area, a parameter setting area, an alarm display area, a construction data display area and a rock entering mode selection area.
In a specific embodiment, the display screen and the control module are electrically connected through a Controller Area Network (CAN) bus.
In a specific embodiment, the sensing module comprises a mast tilt sensor and a hydraulic pressure sensor for measuring the pressurizing force provided by the pressurizing pressure-regulating proportional valve, and the hydraulic pressure sensor and the mast tilt sensor are respectively and electrically connected with the control module; when the pressurizing pressure provided by the pressurizing pressure-regulating proportional valve exceeds the preset pressurizing pressure threshold value and the inclination angle of the mast detected by the mast inclination angle sensor is larger than the preset inclination angle, the control module controls the pressurizing proportional valve to be closed.
In a specific embodiment, the pressurization proportional valve, the power head proportional valve and the pressurization pressure-regulation proportional valve are all electro proportional valves.
The invention also provides a control method of the intelligent rock-entering control device of the rotary drilling rig, which comprises the following steps:
acquiring working parameters input by touching the display screen under an automatic rock entering mode, wherein the working parameters comprise a first parameter for controlling the opening of the pressurization proportional valve, a second parameter for controlling the opening of the power head proportional valve and a third parameter for controlling the opening of the pressurization pressure regulating proportional valve;
according to the working parameters, respectively sending a first control signal to the pressurization proportional valve, a second control signal to the power head proportional valve and a third control signal to the pressurization pressure-regulating proportional valve, wherein the first control signal is a pulse signal;
the pressurization proportional valve is used for delivering oil to the pressurization oil cylinder to control the feeding speed of the pressurization oil cylinder based on the received first control signal; the power head proportional valve is used for conveying oil to the power head motor to control the rotating speed of the power head motor based on the received second control signal; the pressurization pressure-regulating proportional valve is used for conveying oil to the pressurization oil cylinder to pressurize the pressurization oil cylinder based on the received third control signal;
and when the pressurizing force provided by the pressurizing pressure-regulating proportional valve exceeds the preset pressurizing force threshold value, the pressurizing overflow protection valve performs overflow protection on the pressurizing main valve.
In a specific embodiment, the first parameter comprises a pressurization proportional valve current value and a pulse period, wherein the pulse period comprises a pressurization time and a pressurization stop time, wherein the pressurization time comprises at least an acceleration time and a deceleration time.
In a particular embodiment, the method further comprises the step of switching between a manual entry mode and an automatic entry mode:
when the automatic pressurization starting switch is in an opening state, the pilot pressure relay monitors the change of the pilot pressure;
if the pilot pressure relay monitors that the pilot pressure is in a first change, a first induction signal is sent to a control module, so that the control module is switched to a manual rock entering mode;
and if the pilot pressure relay monitors that the pilot pressure is in a second change, sending a second induction signal to the control module so that the control module is switched to an automatic rock entering mode.
The beneficial effects of the invention at least comprise:
1. the intelligent rock entering control device of the rotary drilling rig comprises a control module, a pressurizing oil cylinder, a pressurizing main valve communicated with an oil cavity of the pressurizing oil cylinder, and a pressurizing proportional valve, wherein one end of the pressurizing proportional valve is connected with the control module, the other end of the pressurizing proportional valve is communicated with the pressurizing main valve, the pressurizing proportional valve receives a pulse signal sent by the control module, so that the feeding speed of the pressurizing oil cylinder is controlled by the pressurizing main valve, namely the feeding speed of the pressurizing oil cylinder is controlled in a pulse pressurizing mode, the pressurizing process and the stopping process are included, the impact of sudden change of pressurizing pressure on the drilling rig can be reduced, and accidents caused by pressurizing are avoided; in addition, when the pressurizing oil cylinder is automatically pressurized, the pressurizing pressure threshold value of the automatic pressurization is controlled by the pressurizing pressure regulating proportional valve, and the pressure of the automatic pressurization controlled by the pressurizing overflow protection valve does not exceed the pressurizing pressure threshold value, so that the accident of twisting off the drill rod due to overhigh pressurizing pressure is avoided, and the service life of the drilling machine is prolonged.
2. The intelligent rock entering control device of the rotary drilling rig provided by the invention has the advantages that the manual operation mode is preferred, in the automatic rock entering mode, the switching between the automatic rock entering mode and the manual mode can be completed only by operating or loosening the pilot handle to enable the pilot pressure relay to monitor the change of the pilot pressure, the switching between the manual mode and the intelligent rock entering mode is simple, the restarting is not needed, and the labor intensity is greatly reduced.
3. The intelligent rock entering control device of the rotary drilling rig further comprises a mast inclination angle sensor and a hydraulic pressure sensor for measuring a pressurizing pressure value of the pressurizing pressure regulating proportional valve, and when the pressurizing pressure value of the pressurizing pressure regulating proportional valve exceeds a preset pressurizing threshold value and the inclination angle of the mast detected by the mast inclination angle sensor is larger than a preset inclination angle, the control module can control the pressurizing pressure regulating proportional valve to be closed, so that automatic pressurization is protected when the rotary drilling rig is in a fault state, and accidents caused by overhigh pressure are avoided.
Drawings
Fig. 1 is a schematic diagram of an intelligent rock-entering control device of a rotary drilling rig according to an embodiment of the invention;
fig. 2 is a flowchart of an intelligent rock-entering control method of a rotary drilling rig according to another embodiment of the invention.
Description of reference numerals:
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110 | Pressurizing |
111 | Pressurized |
112 |
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120 | |
121 | Power head |
122 |
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130 | Pressurized |
131 | Power head |
132 |
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140 | |
150 | Pressure |
151 |
| Pressure-increasing and pressure-regulating |
152 | |
160 | |
170 |
| Automatic |
171 | |
172 | Mast |
173 |
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174 | |
180 |
Detailed Description
As shown in fig. 1, the invention provides an intelligent rock-entering control device of a rotary drilling rig, which comprises an oil cylinder assembly 110, a power head assembly 120, a proportion adjusting assembly 130, a control module 140 and an automatic pressurizing assembly 150;
the cylinder assembly 110 includes a pressurizing cylinder 111, and a pressurizing main valve 112 communicating with an oil chamber of the pressurizing cylinder 111;
the power head assembly 120 comprises a power head motor 121 and a power head main valve 122 communicated with an oil cavity of the power head motor 121;
the proportional adjustment assembly 130 includes a pressurized proportional valve 131 in communication with the pressurized main valve 112, a powerhead proportional valve 132 in communication with the powerhead main valve 122; the pressurization proportional valve 131 is used for receiving a first control signal sent by the control module 140 so as to control the feeding speed of the pressurization oil cylinder 111 by using the pressurization main valve 112; the powerhead proportional valve 132 is configured to receive a second control signal sent by the control module 140, so as to control the rotation speed of the powerhead motor 121 by using the powerhead main valve 122, where the first control signal is a pulse signal;
the automatic pressurization assembly 150 comprises a pressurization overflow protection valve 151 and a pressurization and pressure regulation proportional valve 152 which are communicated with each other, wherein the pressurization and pressure regulation proportional valve 152 is used for receiving a third control signal sent by the control module 140 so as to pressurize the pressurization oil cylinder 111 by using the pressurization main valve 112; the pressurization overflow protection valve 151 is in communication with the pressurization main valve 112, and is configured to perform overflow protection on the pressurization main valve 112 when the pressurization force provided by the pressurization pressure-regulation proportional valve 152 exceeds a preset pressurization force threshold value.
The intelligent rock entering control device of the rotary drilling rig comprises a control module 140, a pressurizing oil cylinder 111, a pressurizing main valve 112 communicated with an oil cavity of the pressurizing oil cylinder 111, and a pressurizing proportional valve 131, wherein one end of the pressurizing proportional valve 131 is connected with the control module 140, the other end of the pressurizing proportional valve 131 is communicated with the pressurizing main valve 112, the pressurizing proportional valve 131 receives a pulse signal sent by the control module 140, so that the feeding speed of the pressurizing oil cylinder 111 is controlled by the pressurizing main valve 112, namely the feeding speed of the pressurizing oil cylinder 111 is controlled in a pulse pressurizing mode, the pressurizing process and the stopping process are included, the impact of sudden change of pressurizing pressure on the drilling rig can be reduced, and accidents caused by pressurizing are avoided; in addition, when the pressurizing oil cylinder 111 is automatically pressurized, the pressurizing force threshold value for controlling automatic pressurization is set through the pressurizing pressure-regulating proportional valve 152, and the pressurizing force for controlling automatic pressurization through the pressurizing overflow protection valve 151 does not exceed the pressurizing force threshold value, so that the accident of twisting off the drill rod due to overhigh pressurizing force is avoided, and the service life of the drilling machine is prolonged.
The pressurizing oil cylinder 111 is powered by an auxiliary pump, provides downward pressure for drilling, and increases the drilling speed and the drilling force.
The power head motor 121 is used to drive the drill rod to rotate.
In this embodiment, the pressure proportional valve 131 controls the feed rate of the pressure cylinder, the pressure proportional valve 152 limits the maximum pressure of the automatic pressure, and the pressure cylinder 111 does not move downward during the automatic pressure when the feed rate of the pressure cylinder 111 is 0.
Preferably, the pressurization proportional valve 131, the power head proportional valve 132, and the pressurization pressure-regulation proportional valve 152 are all electric proportional valves, and the control module 140 stores the corresponding relationship between the pressure values and the current values of the three valves, and regulates the pressure values by setting the current values.
The pressurizing overflow preventing valve 151 is used to control the pressurizing force of the automatic pressurization not to exceed the pressurizing force threshold value, that is, the pressurizing force of the automatic pressurization does not increase any more when the pressurizing force of the automatic pressurization reaches the maximum.
In this embodiment, the signal time period of the first control signal includes a pressurization time and a pressurization stop time, the pressurization time and the pressurization stop time are determined by the geological condition of the formation, the harder the formation is, the smaller the pressurization time needs to be set, and the longer the pressurization stop time is set, so as to improve the service life of the drill bit. The pressurizing time also comprises acceleration time and deceleration time, and the acceleration time and the deceleration time are set to reduce the impact of sudden pressure change applied to the drilling machine on the drilling machine and prolong the service life of the drilling machine; increasing the increasing pressure of the pressurizing cylinder slowly in the acceleration time and controlling the feeding speed of the pressurizing cylinder 111 to reach the set speed, decreasing the increasing pressure of the pressurizing cylinder 111 slowly in the deceleration time and controlling the feeding speed of the pressurizing cylinder 111 to 0, and then entering the pressurizing stop time. In this embodiment, the acceleration process and the deceleration process are both linear processes, and the acceleration time and the deceleration time are the same, and when the pressurization time is longer than the sum of the acceleration time and the deceleration time, the pressurization time further includes a constant pressure time, that is, the pressure applied to the pressurization cylinder is the same within the constant pressure time, and the feeding speed of the pressurization cylinder is kept constant.
Further, a pilot handle 160 is further included, and an output end of the pilot handle 160 is connected to the control end of the pressurized main valve 112 and the control end of the power-head main valve 122, respectively.
The pilot handle 160 is used to trigger a manual rock entry mode in which the feed rate of the pressurizing cylinder 111 and the rotational speed of the head motor 121 are controlled by operating the pilot handle 160. Aiming at different rock hardness, the manipulator can accumulate some empirical data through self-learning of manual operation to better determine working parameters under the automatic rock entering mode so as to ensure the safety and reliability of the automatic rock entering mode.
Further, the hydraulic control system further comprises a sensing module 170, wherein the sensing module 170 comprises an automatic pressurization starting switch 171 and a pilot pressure relay 172, and the pilot pressure relay 172 is used for monitoring the pressure change of pilot hydraulic oil triggered by the pilot handle;
when the automatic pressurization starting switch 171 is in an open state and the pilot pressure relay 172 monitors that the pilot pressure is in a first change, the intelligent rock entering control device of the rotary drilling rig enters a manual rock entering mode;
when the automatic pressurization starting switch 171 is in an on state and the pilot pressure relay 172 monitors that the pilot pressure is in the second change, the intelligent rock entering control device of the rotary drilling rig enters an automatic rock entering mode.
The first change means that the pilot pressure changes from 0 to be present, that is, the pilot handle is operated to increase the pilot pressure, and the second change means that the pilot pressure changes from 0 to be present, that is, the pilot handle is released to enable the pilot pressure relay to monitor a signal that the pilot pressure is not present.
The intelligent rock entering control method of the rotary drilling rig provided by the invention has the advantages that the manual operation mode is preferred, in the automatic rock entering mode (namely, the button of the automatic pressurizing start switch is pressed), the pilot pressure relay can be switched to the manual rock entering mode only by operating the pilot handle to monitor the pilot pressure, if the intelligent rock entering mode is switched back, the pilot pressure is not required only by loosening the pilot handle, the manual rock entering mode and the intelligent rock entering mode are switched simply without being started again, and the labor intensity is greatly reduced. And when the drilling machine has an accident or the rotary drilling machine does not meet the automatic pressurizing condition (if the mast angle exceeds plus or minus 2 degrees), the manual rock entering mode can be quickly switched as long as the pilot handle is operated, so that the accident is avoided.
Note that, when the button of the automatic pressure start switch is not pressed, the manual rock entry mode is represented.
Further, the sensing module 170 includes a mast tilt sensor 173 and a hydraulic pressure sensor 174 for measuring a pressurizing force provided by the pressurizing pressure-regulating proportional valve, and the hydraulic pressure sensor 174 and the mast tilt sensor 173 are electrically connected to the control module 140 respectively; when the applied pressure provided by the pressure-adjusting proportional valve 152 exceeds the preset applied pressure threshold and the inclination angle of the mast detected by the mast inclination angle sensor 173 is greater than the preset inclination angle, the control module 140 controls the pressure-adjusting proportional valve 152 to close.
In this embodiment, the preset pressurizing force threshold is set by a manipulator according to geological conditions and personal experience, the preset inclination angle is 2 degrees, and it should be noted that the inclination angle refers to an included angle between the mast and the vertical direction.
Under the normal condition, through pressurization overflow protection valve 151 can protect the pressurization force that provides through pressurization pressure regulating proportional valve 152 can not exceed preset pressurization force threshold value, but when pressure pressurization pressure regulating overflow protection valve broke down or logic control appeared the deviation, then the condition that the pressurization force that pressurization pressure regulating proportional valve 152 provided exceeded preset pressurization force threshold value can appear, and at this moment, satisfied simultaneously when pressurization force exceeded preset pressurization force threshold value and the angle of inclination of mast is greater than two conditions of preset inclination, control module 140 control pressurization pressure regulating proportional valve 152 is closed to the automatic pressurization of rotary drilling rig under the fault condition protects, avoids taking place the accident that the pressure is too high to cause.
Further, the intelligent rock entering control device of the rotary drilling rig further comprises a display screen 180, and the display screen 180 is provided with a pressurization mode selection area, a parameter setting area, an alarm display area, a construction data display area, a rock entering mode selection area and the like.
In the present embodiment, the automatic pressurizing mode is selected by the pressurizing mode selection button in the pressurizing mode selection area, wherein the pressurizing modes include a manual pressurizing mode and a pulse pressurizing mode. When manual pressurization is selected, the feeding speed of the pressurization oil cylinder is controlled by setting the current value of the pressurization proportional valve; when the pulse pressurization mode is selected, three parameters of the current value, the pressurization time and the pressurization stopping time of the pressurization proportional valve are set, wherein the pressurization time and the pressurization stopping time are determined by the geological condition of the stratum, the harder the stratum is, the smaller the pressurization time needs to be set, and the longer the pressurization stopping time is set, so that the service life of the drill bit is prolonged. Of course, the length of the pressurizing period affects the working efficiency, the pressurizing stop time is long, and the working efficiency is low. For some softer strata, the construction requirement of entering the rock can be met in a main winch floating state by means of the dead weight of a drill pipe drilling bucket, at the moment, the pressurizing time can be set to be 0, external force is not executed to press the rock, and the adaptability of the intelligent rock entering control device of the rotary drilling rig to the rock entering of each stratum is met.
In this embodiment, the settings of parameters such as the current of the pressurization proportional valve, the current of the power head proportional valve, the current of the pressurization pressure-regulating proportional valve, the pressurization time, the pressurization stop time and the like can be adjusted in a parameter setting area, the setting of the parameters is mainly based on geological conditions and personal operation experience, and when rock entering construction is started to obtain better experience data, the rock entering construction can be manually constructed for a period of time by a manipulator to determine experience parameters.
In this embodiment, the alarm area is provided with an alarm display icon or an alarm display lamp, and after the automatic pressurizing switch is turned on, if the automatic pressurizing condition is not satisfied, an alarm display is performed. And when the pressurizing pressure value of the pressurizing pressure-regulating proportional valve does not exceed the preset pressurizing threshold value and the inclination angle of the mast detected by the mast inclination angle sensor is smaller than the preset inclination angle, the automatic pressurizing condition is met, and the automatic rock entering mode can be started.
In this embodiment, the data display area may display data such as a drill position, a current hole depth, a single bucket depth, a pressurization proportional valve current, a power head proportional valve current, a pressurization time, and a pressurization stop time.
In this embodiment, the normal mode and the rock entering mode can be selected in the rock entering mode selection area, and when the bottom layer is not hard, the normal mode is selected without entering the rock.
Further, the display screen 180 is electrically connected to the control module 140 through a controller area network CAN bus.
As shown in fig. 1 and fig. 2, in another aspect, the present invention provides a control method for an intelligent rock-entering control device of a rotary drilling rig, where the method includes:
s10, obtaining working parameters input by touching the display screen 180 and in an automatic rock entering mode, wherein the working parameters comprise a first parameter for controlling the opening of the pressurization proportional valve 131, a second parameter for controlling the opening of the power head proportional valve 132 and a third parameter for controlling the opening of the pressurization pressure-regulating proportional valve 152;
s20, according to the working parameters, respectively sending a first control signal to the pressurization proportional valve 131, a second control signal to the power head proportional valve 132, and a third control signal to the pressurization pressure-regulation proportional valve 152, wherein the first control signal is a pulse signal;
s30, the pressurization proportional valve 131 based on the received first control signal, delivering oil to the pressurization cylinder 111 to control the feeding speed of the pressurization cylinder 111; the power head proportional valve 132 delivers oil to the power head motor 121 to control the rotational speed of the power head motor 121 based on the received second control signal; the pressurization and pressure regulation proportional valve 152 supplies oil to the pressurization cylinder 111 to pressurize the pressurization cylinder 111 based on the received third control signal;
and S40, when the pressurizing force provided by the pressurizing pressure-regulating proportional valve 152 exceeds the preset pressurizing force threshold, the pressurizing overflow protection valve 151 performs overflow protection on the pressurizing main valve.
The working parameters of the automatic rock entering mode are set by the manipulator based on geological conditions and personal operation experience, so that the reliability is high, and the working parameters can be adjusted at any time. Meanwhile, in the automatic pressurization process, the opening degree of the pressurization pressure-regulation proportional valve 152 is controlled to control the pressurization threshold value of the automatic pressurization, the pressurization overflow protection valve 151 is arranged to control the pressure of the automatic pressurization not to exceed the pressurization threshold value, the accident that the drill rod is twisted off due to overhigh pressurization pressure is avoided, and the service life of the drilling machine is prolonged.
In this embodiment, the first parameter includes a pressurization proportional valve current value and a pulse period, wherein the pulse period includes a pressurization time and a pressurization stop time. The pressurizing time and the pressurizing stopping time are determined by the geological condition of the stratum, the harder the stratum is, the pressurizing time needs to be set to be a small point, and the pressurizing stopping time is set to be a long point so as to prolong the service life of the drill bit. The pressurizing time at least comprises acceleration time and deceleration time, and the acceleration time and the deceleration time are set to reduce the impact of sudden pressure change applied to the drilling machine on the drilling machine and prolong the service life of the drilling machine; increasing the pressure of the pressurizing oil cylinder slowly in the acceleration time and controlling the feeding speed of the pressurizing oil cylinder to reach the set speed, decreasing the pressure of the pressurizing oil cylinder slowly in the deceleration time and controlling the feeding speed of the pressurizing oil cylinder to 0, and then entering the pressurizing stop time. In this embodiment, the acceleration process and the deceleration process are both linear processes, and the acceleration time and the deceleration time are the same, and when the pressurization time is longer than the sum of the acceleration time and the deceleration time, the pressurization time further includes a constant pressure time, that is, the pressure applied to the pressurization cylinder is the same within the constant pressure time, and the feeding speed of the pressurization cylinder is kept constant.
In this embodiment, the second parameter and the third parameter are both current values.
Further, the method further comprises switching between a manual rock entering mode and an automatic rock entering mode:
in the on state of the automatic pressurization start switch 171, the pilot pressure relay 172 monitors a change in the pilot pressure;
if the pilot pressure relay 172 monitors that the pilot pressure is in a first change, a first sensing signal is sent to the control module, so that the control module 140 is switched to a manual rock entering mode;
if the pilot pressure relay 172 monitors that the pilot pressure is in the second change, a second sensing signal is sent to the control module, so that the control module 140 is switched to the automatic rock entering mode.
The first change means that the pilot pressure changes from 0 to be present, that is, the pilot handle is operated to increase the pilot pressure, and the second change means that the pilot pressure changes from 0 to be present, that is, the pilot handle is released to enable the pilot pressure relay to monitor a signal that the pilot pressure is not present.
The intelligent rock entering control method of the rotary drilling rig provided by the invention has the advantages that the manual operation mode is preferred, in the automatic rock entering mode (namely, the automatic mode is started by pressing the button of the automatic pressurization starting switch), the pilot pressure relay can be switched to the manual rock entering mode only by operating the pilot handle to monitor the pilot pressure, if the intelligent rock entering mode is switched back, the pilot pressure is not required only by loosening the pilot handle, the switching between the manual rock entering mode and the intelligent rock entering mode is simple, the restarting is not required, and the labor intensity is greatly reduced. And when the drilling machine has an accident, the pilot handle can be quickly switched to a manual rock entering mode only by operating, so that the accident is avoided.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions and substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. An intelligent rock-entering control device of a rotary drilling rig is characterized by comprising an oil cylinder assembly (110), a power head assembly (120), a proportion adjusting assembly (130), a control module (140) and an automatic pressurizing assembly (150);
the oil cylinder assembly (110) comprises a pressurizing oil cylinder (111) and a pressurizing main valve (112) communicated with an oil cavity of the pressurizing oil cylinder (111);
the power head assembly (120) comprises a power head motor (121) and a power head main valve (122) communicated with an oil cavity of the power head motor (121);
the proportional adjustment assembly (130) includes a pressurized proportional valve (131) in communication with the pressurized main valve (112), a powerhead proportional valve (132) in communication with the powerhead main valve (122); the pressurization proportional valve (131) is used for receiving a first control signal sent by the control module (140) so as to control the feeding speed of the pressurization oil cylinder by using the pressurization main valve (112); the power head proportional valve (132) is configured to receive a second control signal sent by the control module (140) to control a rotation speed of the power head motor (121) by using the power head main valve (122), where the first control signal is a pulse signal;
the automatic pressurization assembly (150) comprises a pressurization overflow protection valve (151) and a pressurization and pressure regulation proportional valve (152) which are communicated with each other, and the pressurization and pressure regulation proportional valve (152) is used for receiving a third control signal sent by the control module (140) so as to pressurize the pressurization oil cylinder (111) by using the pressurization main valve (112); the pressurization overflow protection valve (151) is communicated with the pressurization main valve (112) and used for performing overflow protection on the pressurization main valve (112) when the pressurization force provided by the pressurization pressure regulation proportional valve (152) exceeds a preset pressurization force threshold value.
2. The intelligent rock-entering control device of the rotary drilling rig according to claim 1, further comprising a pilot handle (160), wherein an output end of the pilot handle (160) is connected with a control end of the pressurizing main valve (112) and a control end of the power head main valve (122) respectively.
3. The intelligent rock-entering control device of the rotary drilling rig according to claim 2, characterized by further comprising a sensing module (170), wherein the sensing module (170) comprises an automatic pressurization starting switch (171) and a pilot pressure relay (172), and the pilot pressure relay (172) is used for monitoring the change of pilot pressure triggered by the pilot handle (160);
when the automatic pressurization starting switch (171) is in an opening state and the pilot pressure relay (172) monitors that the pilot pressure is in a first change, the intelligent rock entering control device of the rotary drilling rig enters a manual rock entering mode;
when the automatic pressurization starting switch (171) is in an opening state and the pilot pressure relay (172) monitors that the pilot pressure is in a second change, the intelligent rock entering control device of the rotary drilling rig enters an automatic rock entering mode.
4. The intelligent rock-entering control device of the rotary drilling rig according to claim 3, characterized by further comprising a display screen (180), wherein the display screen (180) is provided with a pressurization mode selection area, a parameter setting area, an alarm display area, a construction data display area and a rock-entering mode selection area.
5. The intelligent rock-entering control device of the rotary drilling rig according to claim 4, wherein the display screen (180) is electrically connected with the control module (140) through a Controller Area Network (CAN) bus.
6. The intelligent rock-entering control device of the rotary drilling rig according to any one of claims 1 to 5, wherein the sensing module (170) comprises a mast tilt angle sensor (173) and a hydraulic pressure sensor (174) for measuring the pressurizing force provided by the pressurizing pressure-regulating proportional valve (152), and the hydraulic pressure sensor (174) and the mast tilt angle sensor (173) are respectively and electrically connected with the control module (140); when the pressurizing pressure provided by the pressurizing pressure-regulating proportional valve exceeds the preset pressurizing pressure threshold value and the inclination angle of the mast detected by the mast inclination angle sensor is larger than the preset inclination angle, the control module (140) controls the pressurizing proportional valve (131) to be closed.
7. The intelligent rock-entering control device of the rotary drilling rig according to claim 1, wherein the pressurization proportional valve, the power head proportional valve (132) and the pressurization pressure-regulating proportional valve (152) are all electric proportional valves.
8. The control method of the intelligent rock-entering control device of the rotary drilling rig according to claim 4, characterized by comprising the following steps:
working parameters input by touching the display screen (180) in an automatic rock entering mode are obtained, and the working parameters comprise a first parameter for controlling the opening of the pressurization proportional valve (131), a second parameter for controlling the opening of the power head proportional valve (132) and a third parameter for controlling the opening of the pressurization pressure-regulating proportional valve (152);
according to the working parameters, respectively sending a first control signal to the pressurization proportional valve (131), a second control signal to the power head proportional valve (132) and a third control signal to the pressurization pressure regulation proportional valve (152), wherein the first control signal is a pulse signal;
the pressurization proportional valve (131) is used for conveying oil to the pressurization oil cylinder (111) to control the feeding speed of the pressurization oil cylinder (111) based on the received first control signal; the power head proportional valve (132) delivers oil to the power head motor to control the rotational speed of the power head motor (121) based on the received second control signal; the pressurization and pressure regulation proportional valve (152) is used for conveying oil to the pressurization oil cylinder (111) to pressurize the pressurization oil cylinder (111) based on the received third control signal;
when the pressurizing force provided by the pressurizing pressure-regulating proportional valve (152) exceeds the preset pressurizing force threshold value, the pressurizing overflow protection valve (151) performs overflow protection on the pressurizing main valve (112).
9. The method of claim 8, wherein the first parameter comprises a pressurization proportional valve current value and a pulse period, wherein the pulse period comprises a pressurization time and a pressurization stop time, wherein the pressurization time comprises at least an acceleration time and a deceleration time.
10. A method according to claim 8 or 9, characterized in that the method further comprises the step of switching between a manual entry mode and an automatic entry mode:
when the automatic pressurization starting switch is in an opening state, the pilot pressure relay monitors the change of the pilot pressure;
if the pilot pressure relay monitors that the pilot pressure is in a first change, a first induction signal is sent to a control module (140), so that the control module (140) is switched to a manual rock entering mode;
and if the pilot pressure relay monitors that the pilot pressure is in a second change, sending a second induction signal to the control module (140) so that the control module (140) is switched to an automatic rock entering mode.
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| CN113107352A (en) * | 2021-05-18 | 2021-07-13 | 恒天九五重工有限公司 | Rock-entering control device and method for rotary drilling rig |
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| CN115030705A (en) * | 2022-06-14 | 2022-09-09 | 恒天九五重工有限公司 | Rotary drilling rig with multi-gear power mode and control method thereof |
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