CN112780251A - Drilling machine rotating speed monitoring system, control method and application method - Google Patents
Drilling machine rotating speed monitoring system, control method and application method Download PDFInfo
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- CN112780251A CN112780251A CN202110172102.1A CN202110172102A CN112780251A CN 112780251 A CN112780251 A CN 112780251A CN 202110172102 A CN202110172102 A CN 202110172102A CN 112780251 A CN112780251 A CN 112780251A
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- 238000005553 drilling Methods 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000012544 monitoring process Methods 0.000 title claims abstract description 12
- 230000001133 acceleration Effects 0.000 claims description 56
- 238000007667 floating Methods 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 4
- 230000003247 decreasing effect Effects 0.000 claims 2
- 239000003245 coal Substances 0.000 abstract description 2
- 238000010248 power generation Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B45/00—Measuring the drilling time or rate of penetration
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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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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a system for monitoring the rotating speed of a drilling machine, a control method and an application method, which relate to the field of coal mine machinery and comprise a slewing mechanism, wherein the slewing mechanism comprises a slewing disc, and N magnets are arranged on the slewing disc; the rotating speed sensor comprises a support and a sensor body, the support is vertically arranged at the bottom of the rotating mechanism, the sensor body is vertically arranged on the support, and the top end of the sensor body is opposite to the magnet of the rotating disc; and the processor is internally provided with a rotating speed threshold value for controlling the rotating speed of the slewing mechanism. The rotating speed sensor is used for detecting the magnet to calculate the rotating speed of the rotating mechanism of the drilling machine, the structure is simple and easy to realize, and meanwhile, the rotating speed sensor can be used for monitoring the operation process of unscrewing the drill rod by the double clamps, so that the probability of drilling machine accidents in the screw thread detaching process is reduced.
Description
Technical Field
The invention relates to the field of coal mine machinery, in particular to a drilling machine rotating speed monitoring system, a control method and an application method.
Background
When the drilling machine drills in the construction process, the rotating speed of the drilling machine during drilling needs to be adjusted according to different drilling media and drilling machine loads, the same automatic control drilling machine needs to collect parameters such as the rotating speed and the like in the drilling process if the drilling machine wants to keep efficient operation in the drilling process, and the operating state of the equipment needs to be automatically adjusted according to parameter changes so as to achieve the maximum operating efficiency.
In the prior art, a rotation speed detection method is disclosed, in which a friction power generation module is arranged in a slewing mechanism, and in addition, a circuit board is arranged in the whole system to detect the power generation frequency and calculate the rotation speed of a drilling tool according to the power generation frequency. The technical scheme has the following problems:
the friction power generation module of the slewing mechanism occupies a large space, the part layout structure is complex, and the rotating speed precision is low. Meanwhile, when the drilling machine uses the double-holder structure to disassemble the drill rods, the screw thread between the two drill rods needs to be unscrewed through the relative rotation between the two holders, if the clamping slip of the holder slips when the screw thread between the two drill rods is unscrewed, when the screw thread between the two drill rods cannot be loosened, equipment faults easily occur, the operation efficiency of the equipment is reduced, and even the equipment is damaged.
Disclosure of Invention
The invention discloses a system, a control method and an application method for detecting the rotating speed of a drilling machine, aiming at solving the problems in the prior art, solving the problem that the rotating speed precision is difficult to determine through the structural design of a sensor and a rotating mechanism, and simultaneously controlling the rotating mechanism through the rotating speed and the rotating acceleration to improve the safety and the stability of the drilling machine.
According to one aspect of the invention, a drilling rig rotational speed monitoring system comprises: the rotary mechanism comprises a rotary disc, and N magnets are arranged on the rotary disc; the rotating speed sensor comprises a support and a sensor body, the support is vertically arranged at the bottom of the rotating mechanism, the sensor body is vertically arranged on the support, and the top end of the sensor body is opposite to the magnet of the rotating disc; and the processor is internally provided with a rotating speed threshold value for controlling the rotating speed of the slewing mechanism.
Further optionally, the drill rotation speed detection system further comprises a floating clamp and a fixed clamp.
As a further alternative, the tachometer registers the time difference t between every two magnetsN。
According to one aspect of the invention, a method of controlling the rotational speed of a drilling rig comprises: n magnets are arranged on a rotary disc of the rotary mechanism, and a rotating speed sensor is arranged on a chassis to enable the sensor to detect magnet signals; when the slewing mechanism rotates, the time difference t of every two magnet signals is recorded by the rotating speed sensorNEach time difference tNThe rotation angle of the rotary mechanism is 360 degrees/N, and the time of one rotation of the rotary mechanism is N time differences tNSum of
The processor calculates the real-time rotating speed w of the slewing mechanism as per minute divided by
The processor simultaneously records the time difference t between adjacent turnsxObtaining the rotation acceleration of the slewing gear as
Judging whether the rotation acceleration of the slewing mechanism is within an acceleration threshold range, and if not, reducing the rotating speed; if not, judging whether the real-time rotating speed w of the slewing mechanism is within the rotating speed threshold range; if not, the rotating speed is reduced.
Further optionally, the step of determining whether the rotation acceleration of the slewing mechanism is within an acceleration threshold range, and if not, reducing the rotation speed includes: when the rotation acceleration exceeds 10% of the upper limit of the acceleration threshold, the processor controls the slewing mechanism to reduce the rotation speed by 5%; when the rotation acceleration exceeds 20% of the upper limit of the acceleration threshold, the processor controls the slewing mechanism to reduce the rotation speed by 20%; when the rotation acceleration exceeds 50% of the upper limit of the acceleration threshold, the processor controls the slewing mechanism to stop rotating; when the rotation acceleration is lower than 10% of the lower limit of the acceleration threshold, the processor controls the rotation mechanism to increase the rotation speed by 15%; when the rotation acceleration is lower than 20% of the lower limit of the acceleration threshold, the processor controls the slewing mechanism to increase the rotating speed by 40%; and when the rotation acceleration is lower than 50% of the lower limit of the acceleration threshold, the processor controls the slewing mechanism to stop rotating.
Further optionally, the step of determining whether the real-time rotation speed w of the slewing mechanism is within the rotation speed threshold range, and if not, reducing the rotation speed includes: when the real-time rotating speed exceeds 10% of the upper limit of the rotating speed threshold, the processor controls the rotating mechanism to reduce the rotating speed by 10%; when the real-time rotating speed exceeds 20% of the upper limit of the rotating speed threshold, the processor controls the rotating mechanism to reduce the rotating speed by 30%; when the real-time rotating speed exceeds 60% of the upper limit of the rotating speed threshold, the processor controls the rotating mechanism to stop rotating; when the real-time rotating speed is lower than 10% of the lower limit of the rotating speed threshold, the processor controls the rotating mechanism to increase the rotating speed by 20%; when the real-time rotating speed is lower than 20% of the lower limit of the rotating speed threshold, the processor controls the rotating mechanism to increase the rotating speed by 50%; and when the real-time rotating speed is lower than 60% of the lower limit of the acceleration threshold, the processor controls the slewing mechanism to stop rotating.
According to one aspect of the invention, the application method of the drill rotation speed monitoring is characterized by comprising the following steps: n magnets are arranged on a rotary disc of the rotary mechanism, and a rotating speed sensor is arranged on a chassis to enable the sensor to detect magnet signals; when the slewing mechanism rotates, the time difference t of every two magnet signals is recorded by the rotating speed sensorNEach time difference tNThe rotating angle of the rotating shaft is 360 degrees/N; the processor controls to simultaneously clamp the fixed clamp and the floating clamp, the floating clamp is turned over to drive the drill rod and the swing mechanism to rotate reversely, and the screw thread between the drill rod and the drill rod is loosened; and judging the number N of the time differences recorded by the rotating speed sensor in the process of reverse rotation, if N is less than the threshold value of the number of the time differences, judging that a slipping phenomenon exists between the clamping devices, and stopping the slewing mechanism.
The invention has the beneficial effects that:
the rotating speed sensor is used for detecting the magnet to calculate the rotating speed of the rotating mechanism of the drilling machine, the structure is simple and easy to realize, and meanwhile, the rotating speed sensor can be used for monitoring the operation process of unscrewing the drill rod by the double clamps, so that the probability of drilling machine accidents in the screw thread detaching process is reduced. The rotating speed of the drilling machine is cooperatively controlled by combining the rotating speed and the rotating acceleration, the drill jamming condition of the drilling machine in the drilling process is reduced, and the rotating angle identification precision is improved by the design scheme of matching the rotating speed sensor and the magnet, so that the problem of drill jamming of the clamp holder is solved.
Drawings
Fig. 1 shows a schematic structural diagram of a drilling machine rotation speed monitoring system provided by the invention.
Detailed Description
The content of the invention will now be discussed with reference to a number of exemplary embodiments. It is to be understood that these examples are discussed only to enable those of ordinary skill in the art to better understand and thus implement the teachings of the present invention, and are not meant to imply any limitations on the scope of the invention.
As used herein, the term "include" and its variants are to be read as open-ended terms meaning "including, but not limited to. The term "based on" is to be read as "based, at least in part, on". The terms "one embodiment" and "an embodiment" are to be read as "at least one embodiment". The term "another embodiment" is to be read as "at least one other embodiment".
Example 1
As shown in fig. 1, the present embodiment will clearly and completely describe the technical solution, and the described embodiment is only a part of embodiments of the present invention, but not all embodiments. The embodiment discloses a drilling machine rotational speed monitoring system, it mainly includes:
the slewing mechanism comprises a slewing disc, N magnets are arranged on the slewing disc, and N is preferably 72 in the embodiment, namely 72 magnets are uniformly distributed at the slewing disc of the slewing mechanism.
The rotating speed sensor comprises a support and a sensor body, the support is vertically arranged at the bottom of the rotary mechanism, the sensor body is vertically arranged on the support, and the top end of the sensor body is opposite to the magnet of the rotary disc.
And a rotating speed threshold value is arranged in the processor and used for controlling the rotating speed of the slewing mechanism.
The clamping assembly includes a floating clamp and a fixed clamp.
When the slewing mechanism rotates, the time difference t of every two magnet signals is recorded by the rotating speed sensorNEach time difference rotating mechanism rotates 5 degrees, the average time of each circle is 72 time differences, and the time of one circle of rotation of the rotating mechanism is 72 time differences tNSum of
The processor calculates the real-time rotating speed w of the slewing mechanism as per minute divided by
The rotating speed sensor is used for detecting the rotating speed of the magnet calculating drilling machine rotating mechanism, the structure is simple and easy to achieve, meanwhile, the process of unscrewing the drill rod by the double clamps can be monitored, and the probability of drilling machine accidents in the screw thread detaching process is reduced. The rotating speed of the drilling machine is cooperatively controlled by combining the rotating speed and the rotating acceleration, the drill jamming condition of the drilling machine in the drilling process is reduced, and the rotating angle identification precision is improved by the design scheme of matching the rotating speed sensor and the magnet, so that the problem of drill jamming of the clamp holder is solved.
Example 2
As shown in fig. 1, the present embodiment will clearly and completely describe the technical solution, and the described embodiment is only a part of embodiments of the present invention, but not all embodiments. The embodiment discloses a method for controlling the rotating speed of a drilling machine, which mainly comprises the following steps:
the rotary disc of the rotary mechanism is provided with 72 magnets, and the chassis is provided with a rotating speed sensor, so that the sensor can detect the magnet signals;
when the slewing mechanism rotates, the time difference t of every two magnet signals is recorded by the rotating speed sensorNEach time difference tNIs 5 DEG, the slewing mechanism rotatesOne circle of time is N time differences tNSum of
The processor calculates the real-time rotating speed w of the slewing mechanism as per minute divided by
The processor simultaneously records the time difference t between adjacent turnsxObtaining the rotation acceleration of the slewing gear as
Judging whether the rotation acceleration of the slewing mechanism is within an acceleration threshold range, and if not, reducing the rotating speed; the specific rotating speed mode comprises the following steps:
when the rotation acceleration exceeds 10% of the upper limit of the acceleration threshold, the processor controls the slewing mechanism to reduce the rotation speed by 5%; when the rotation acceleration exceeds 20% of the upper limit of the acceleration threshold, the processor controls the slewing mechanism to reduce the rotation speed by 20%; when the rotation acceleration exceeds 50% of the upper limit of the acceleration threshold, the processor controls the slewing mechanism to stop rotating;
when the rotation acceleration is lower than 10% of the lower limit of the acceleration threshold, the processor controls the slewing mechanism to increase the rotation speed by 15%; when the rotation acceleration is lower than 20% of the lower limit of the acceleration threshold, the processor controls the slewing mechanism to increase the rotating speed by 40%; and when the rotation acceleration is lower than 50% of the lower limit of the acceleration threshold, the processor controls the slewing mechanism to stop rotating.
Judging whether the real-time rotating speed w of the slewing mechanism is within a rotating speed threshold range, if not, reducing the rotating speed, wherein the specific rotating speed reducing mode comprises the following steps:
when the real-time rotating speed exceeds 10% of the upper limit of the rotating speed threshold, the processor controls the rotating mechanism to reduce the rotating speed by 10%; when the real-time rotating speed exceeds 20% of the upper limit of the rotating speed threshold, the processor controls the rotating mechanism to reduce the rotating speed by 30%; when the real-time rotating speed exceeds 60% of the upper limit of the rotating speed threshold, the processor controls the rotating mechanism to stop rotating;
when the real-time rotating speed is lower than 10% of the lower limit of the rotating speed threshold, the processor controls the rotating mechanism to increase the rotating speed by 20%; when the real-time rotating speed is lower than 20% of the lower limit of the rotating speed threshold, the processor controls the rotating mechanism to increase the rotating speed by 50%; and when the real-time rotating speed is lower than 60% of the lower limit of the acceleration threshold, the processor controls the slewing mechanism to stop rotating.
The rotating speed sensor is used for detecting the rotating speed of the magnet calculating drilling machine rotating mechanism, the structure is simple and easy to achieve, meanwhile, the process of unscrewing the drill rod by the double clamps can be monitored, and the probability of drilling machine accidents in the screw thread detaching process is reduced. The rotating speed of the drilling machine is cooperatively controlled by combining the rotating speed and the rotating acceleration, the drill jamming condition of the drilling machine in the drilling process is reduced, and the rotating angle identification precision is improved by the design scheme of matching the rotating speed sensor and the magnet, so that the problem of slipping of the clamp holder is solved.
Example 3
As shown in fig. 1, the present embodiment will clearly and completely describe the technical solution, and the described embodiment is only a part of embodiments of the present invention, but not all embodiments. The embodiment discloses a method for applying the rotating speed of a drilling machine, which mainly comprises the following steps:
the rotary disc of the rotary mechanism is provided with 72 magnets, and the chassis is provided with a rotating speed sensor, so that the sensor can detect the magnet signals;
when the slewing mechanism rotates, the time difference t of every two magnet signals is recorded by the rotating speed sensorNEach time difference tNIs 5 °; the processor controls the fixed clamp to perform clamping operation, the floating clamp is loosened and the rotating mechanism is reversed, the rotating fixed angle of the floating clamp in the double clamps is 20 degrees, the minimum reverse angle of unscrewing the screw threads between the drill rods is 15 degrees, in the process of clamping the drill rods by the floating clamp and reversing, as long as the times that the proximity switch can sense the magnet signals are less than 3 times, the slip phenomenon can be judged to occur in the process of unscrewing the screw threads by the double clamps, the possibility that the screw threads between the drill rods are not unscrewed exists, and the system needs to be paused and carried forward for peopleAnd (6) carrying out processing.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
It should be understood that the order of execution of the steps in the summary of the invention and the embodiments of the present invention does not absolutely imply any order of execution, and the order of execution of the steps should be determined by their functions and inherent logic, and should not be construed as limiting the process of the embodiments of the present invention.
Claims (7)
1. A drilling rig speed monitoring system, comprising:
the rotary mechanism comprises a rotary disc, and N magnets are arranged on the rotary disc;
the rotating speed sensor comprises a support and a sensor body, the support is vertically arranged at the bottom of the rotating mechanism, the sensor body is vertically arranged on the support, and the top end of the sensor body is opposite to the magnet of the rotating disc;
and the processor is internally provided with a rotating speed threshold value for controlling the rotating speed of the slewing mechanism.
2. The drill speed detection system of claim 1 further comprising a floating clamp and a fixed clamp.
3. Drill speed detection system according to claim 1, characterized in that the speed sensor registers the time difference t between every two magnetsN。
4. A method of controlling the rotational speed of a drilling machine, comprising:
n magnets are arranged on a rotary disc of the rotary mechanism, and a rotating speed sensor is arranged on a chassis to enable the sensor to detect magnet signals;
when the slewing mechanism rotates, the time difference t of every two magnet signals is recorded by the rotating speed sensorNEach time difference tNThe rotation angle of the rotary mechanism is 360 degrees/N, and the time of one rotation of the rotary mechanism is N time differences tNSum of
The processor calculates the real-time rotating speed w of the slewing mechanism as per minute divided by
The processor simultaneously records the time difference t between adjacent turnsxObtaining the rotation acceleration of the slewing gear as
Judging whether the rotation acceleration of the slewing mechanism is within an acceleration threshold range, and if not, reducing the rotating speed;
if not, judging whether the real-time rotating speed w of the slewing mechanism is within the rotating speed threshold range; if not, the rotating speed is reduced.
5. The drill rig speed control method as claimed in claim 4, wherein the step of determining whether the slewing gear rotational acceleration is within an acceleration threshold range, and if not, decreasing the speed comprises:
when the rotation acceleration exceeds 10% of the upper limit of the acceleration threshold, the processor controls the slewing mechanism to reduce the rotation speed by 5%;
when the rotation acceleration exceeds 20% of the upper limit of the acceleration threshold, the processor controls the slewing mechanism to reduce the rotation speed by 20%;
when the rotation acceleration exceeds 50% of the upper limit of the acceleration threshold, the processor controls the slewing mechanism to stop rotating;
when the rotation acceleration is lower than 10% of the lower limit of the acceleration threshold, the processor controls the rotation mechanism to increase the rotation speed by 15%;
when the rotation acceleration is lower than 20% of the lower limit of the acceleration threshold, the processor controls the slewing mechanism to increase the rotating speed by 40%;
and when the rotation acceleration is lower than 50% of the lower limit of the acceleration threshold, the processor controls the slewing mechanism to stop rotating.
6. The drill rig speed control method as claimed in claim 4, wherein the step of determining whether the real-time speed w of the swing mechanism is within a speed threshold range, and if not, decreasing the speed comprises:
when the real-time rotating speed exceeds 10% of the upper limit of the rotating speed threshold, the processor controls the rotating mechanism to reduce the rotating speed by 10%;
when the real-time rotating speed exceeds 20% of the upper limit of the rotating speed threshold, the processor controls the rotating mechanism to reduce the rotating speed by 30%;
when the real-time rotating speed exceeds 60% of the upper limit of the rotating speed threshold, the processor controls the rotating mechanism to stop rotating; when the real-time rotating speed is lower than 10% of the lower limit of the rotating speed threshold, the processor controls the rotating mechanism to increase the rotating speed by 20%;
when the real-time rotating speed is lower than 20% of the lower limit of the rotating speed threshold, the processor controls the rotating mechanism to increase the rotating speed by 50%;
and when the real-time rotating speed is lower than 60% of the lower limit of the acceleration threshold, the processor controls the slewing mechanism to stop rotating.
7. An application method of monitoring the rotating speed of a drilling machine is characterized by comprising the following steps:
n magnets are arranged on a rotary disc of the rotary mechanism, and a rotating speed sensor is arranged on a chassis to enable the sensor to detect magnet signals;
when the rotary mechanism rotates, the rotating speed is transmittedThe sensor records the time difference t of every two magnet signalsNEach time difference tNThe rotating angle of the rotating shaft is 360 degrees/N;
the processor controls to simultaneously clamp the fixed clamp and the floating clamp, the floating clamp is turned over to drive the drill rod and the swing mechanism to rotate reversely, and the screw thread between the drill rod and the drill rod is loosened;
and judging the number N of the time differences recorded by the rotating speed sensor in the process of reverse rotation, if N is less than the threshold value of the number of the time differences, judging that a slipping phenomenon exists between the clamping devices, and stopping the slewing mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110172102.1A CN112780251B (en) | 2021-02-08 | 2021-02-08 | Drilling machine rotating speed monitoring system, control method and application method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110172102.1A CN112780251B (en) | 2021-02-08 | 2021-02-08 | Drilling machine rotating speed monitoring system, control method and application method |
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| CN112780251A true CN112780251A (en) | 2021-05-11 |
| CN112780251B CN112780251B (en) | 2023-09-19 |
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