CN113107352B - Rock entering control device and method for rotary drilling rig - Google Patents
Rock entering control device and method for rotary drilling rig Download PDFInfo
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- CN113107352B CN113107352B CN202110537885.9A CN202110537885A CN113107352B CN 113107352 B CN113107352 B CN 113107352B CN 202110537885 A CN202110537885 A CN 202110537885A CN 113107352 B CN113107352 B CN 113107352B
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- 239000011435 rock Substances 0.000 title claims abstract description 66
- 238000005553 drilling Methods 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 239000007788 liquid Substances 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 description 14
- 239000002828 fuel tank Substances 0.000 description 10
- 230000001105 regulatory effect Effects 0.000 description 10
- 238000010276 construction Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 230000036346 tooth eruption Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 238000006467 substitution reaction 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
- E21B3/00—Rotary drilling
- E21B3/02—Surface drives for rotary drilling
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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
- E21B44/06—Automatic control of the tool feed in response to the flow or pressure of the motive fluid of the drive
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Abstract
The invention provides a rock entering control device and method of a rotary drilling rig. The method comprises the following steps: based on a power head speed control instruction of the controller, the first proportional control valve group controls the opening of the power head direction control valve to be a first real-time opening; the first load sensing control valve is used for controlling the power head driving pump to output first real-time oil flow in a feedback mode based on a first real-time differential pressure value corresponding to the first real-time opening, so as to control the output rotating speed of the power head motor; based on a speed control instruction of the pressurizing oil cylinder of the controller, the second proportional control valve group controls the opening of the direction control valve of the pressurizing oil cylinder to be a second real-time opening; the second load sensing control valve is used for controlling the pressurizing oil cylinder driving pump to output second real-time oil flow in a feedback mode based on a second real-time pressure difference value corresponding to the second real-time opening, so that the output speed of the pressurizing oil cylinder is controlled. The scheme provided by the embodiment of the invention can meet the requirements of cutting speed, pressurizing force and pressurizing speed under different rock stratum conditions, and improves the rock entering drilling efficiency.
Description
Technical Field
The invention belongs to the technical field of hydraulic control of engineering machinery, and particularly relates to a rock entering control device and method of a rotary drilling rig.
Background
The rotary drilling rig is a construction machine suitable for pore-forming operation in building foundation engineering, and has the characteristics of high pore-forming speed, less pollution, strong maneuverability, no need of mud circulation and slag discharge and the like. In the foundation construction of the rotary drilling rig, geological conditions of rock entering are frequently encountered, the feeding speed is very slow, 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 rock is put into, the cutting teeth of the drilling tool are pressed into the rock under the pressurization load and the rotation torque, so that shearing force is generated between the cutting teeth of the drilling tool and the contact surface of the rock, and the rock is sheared and broken. The rock breaking modes are different due to different hardness and softness of different rocks. Currently, a single rotary drilling rig is difficult to meet the rock breaking requirements of various rocks.
Disclosure of Invention
The invention aims to provide a rock entering control device and method for a rotary drilling rig, which meet the rock breaking requirements of various rocks.
In order to achieve the above purpose, the invention provides a rock entering control device of a rotary drilling rig, which comprises a power head motor and a pressurizing oil cylinder, and further comprises:
the power head speed control group comprises a first proportional control valve group, a power head driving pump, a first load sensing control valve and a power head direction control valve which are respectively connected with the first proportional control valve group, the power head driving pump, the first load sensing control valve and the power head motor; the first proportional control valve group controls the opening of the power head direction control valve to be a first real-time opening; the first load sensing control valve is used for controlling the power head driving pump to output first real-time oil flow in a feedback mode based on a first real-time differential pressure value corresponding to the first real-time opening, so as to control the output rotating speed of the power head motor;
the pressurizing oil cylinder speed control group comprises a second proportional control valve group, a pressurizing oil cylinder driving pump, a second load sensing control valve and a pressurizing oil cylinder direction control valve which are respectively connected with the second proportional control valve group, the pressurizing oil cylinder driving pump, the second load sensing control valve and the pressurizing oil cylinder; the second proportional control valve group controls the opening of the direction control valve of the pressurizing oil cylinder to be a second real-time opening; and the second load sensing control valve is used for controlling the pressurizing oil cylinder driving pump to output second real-time oil flow in a feedback mode based on a second real-time pressure difference value corresponding to the second real-time opening, so as to control the output speed of the pressurizing oil cylinder.
In a specific embodiment, the method further comprises:
the pilot pump is connected with the power head motor;
the power head torque control group comprises an electromagnetic reversing valve connected with the power head motor, and when the electromagnetic reversing valve is powered off, the variable starting point of the power head motor is a preset initial value so as to control the torque of the power head motor to be a preset torque; when the electromagnetic reversing valve is electrified, the variable starting point of the power head motor is reduced under the pilot pressure provided by the pilot pump, so that the output torque of the power head motor is improved.
In a specific embodiment, the electromagnetic directional valve is a two-position three-way electromagnetic directional valve.
In a specific embodiment, the method further comprises:
the pressure control group of the pressurizing oil cylinder comprises a first Ls overflow valve connected with a large cavity of the pressurizing oil cylinder, a second Ls overflow valve connected with a small cavity of the pressurizing oil cylinder and an electric proportional overflow valve connected with the first Ls overflow valve in parallel; the electric proportional relief valve is used for maintaining or reducing a feedback pressure set value of a feedback oil path connected with the first Ls relief valve so as to control the pressurizing force of the pressurizing oil cylinder.
In a specific embodiment, the method further comprises:
the pilot handle control valve group comprises a first pilot handle control valve group and a second pilot handle control valve group;
the shuttle valve group comprises a first shuttle valve and a second shuttle valve; the two input ends of the first shuttle valve are respectively connected with the first proportional control valve group and the first pilot handle control valve group, and the output end of the first shuttle valve is connected with the power head direction control valve; two input ends of the second shuttle valve are respectively connected with the second proportional control valve group and the second pilot handle control valve group, and the output end of the second shuttle valve is connected with the pressurizing oil cylinder direction control valve;
the first proportional control valve group is connected with the power head direction control valve, and the second proportional control valve group is connected with the pressurizing oil cylinder direction control valve; or, the first pilot handle control valve group is connected with the power head directional control valve, and the second pilot handle control valve group is connected with the pressurized oil cylinder directional control valve.
In a specific embodiment, the pressurizing cylinder speed control group is a load sensitive system, the pressurizing cylinder driving pump is a load sensitive pump, and the pressurizing cylinder direction control valve is a load sensitive valve.
In a specific embodiment, the power head direction control valve is a three-position seven-way reversing valve, and the pressurized oil cylinder direction control valve is a three-position seven-way reversing valve.
The invention also provides a rock entering control method of the rotary drilling rig, which is applied to the rock entering control device of the rotary drilling rig; the method comprises the following steps:
based on a power head speed control instruction of a controller, the first proportional control valve group controls the opening of the power head direction control valve to be a first real-time opening; the first load sensing control valve is used for controlling the power head driving pump to output first real-time oil flow in a feedback mode based on a first real-time differential pressure value corresponding to the first real-time opening, so as to control the output rotating speed of the power head motor;
the opening of the direction control valve of the pressurizing oil cylinder is controlled to be a second real-time opening by the second proportional control valve group based on a speed control instruction of the pressurizing oil cylinder of the controller; and the second load sensing control valve is used for controlling the pressurizing oil cylinder driving pump to output second real-time oil flow in a feedback mode based on a second real-time pressure difference value corresponding to the second real-time opening, so as to control the output speed of the pressurizing oil cylinder.
In a specific embodiment, the method further comprises:
when the electromagnetic reversing valve is powered off, the variable starting point of the power head motor is a preset initial value, so that the torque of the power head motor is controlled to be a preset torque; when the electromagnetic reversing valve is electrified, the variable starting point of the power head motor is reduced under the pilot pressure provided by the pilot pump, so that the output torque of the power head motor is improved.
In a specific embodiment, the method further comprises:
the electric proportional overflow valve keeps or reduces a feedback pressure set value of a feedback oil way connected with the first Ls overflow valve so as to control the pressurizing force of the pressurizing oil cylinder, and when the pressurizing force reaches the feedback pressure set value, the pressurizing oil cylinder drives the pump to output oil liquid in a minimum displacement until the pressure difference between the outlet pressure of the pressurizing oil cylinder and the set pressure value is the same as the second real-time pressure difference value of the second load sensing control valve.
The beneficial effects of the invention at least comprise:
1. in the embodiment of the invention, a power head speed control group of a rock entering control device of a rotary drilling rig electrically controls the current of a first proportional control valve group so as to control the opening of a power head direction control valve to be a first real-time opening, and controls the output flow of a power head driving pump based on the first real-time opening feedback so as to control the output rotating speed of a power head motor to realize the rotating speed adjustment of the power head; the control group of the speed of the pressurizing oil cylinder of the rock entering control device of the rotary drilling rig electrically controls the current of the second proportional control valve group so as to control the opening degree of the pressurizing oil cylinder control valve to be a second real-time opening degree, and the output flow of the pressurizing oil cylinder driving pump is controlled based on the feedback of the second real-time opening degree so as to control the output speed of the pressurizing oil cylinder driving pump; therefore, the invention can adjust the rotating speed of the power head and the output speed of the pressurizing oil cylinder according to the construction geological conditions, realize the control of the cutting force and the cutting speed during automatic rock-entering drilling, and can adjust the most suitable speed to break the rock when the rock with different hardness is broken, thereby meeting the requirements on the speed under different rock breaking conditions and improving the rock breaking efficiency.
2. According to the invention, the rotation degree of the power head is regulated through the power head speed control group, the output speed of the pressurizing oil cylinder is regulated through the pressurizing oil cylinder speed control group, the output torque of the power head is regulated through the electromagnetic reversing valve, the oiling force of the pressurizing oil cylinder is regulated through the electric proportional overflow valve, the parameters of the power head and the pressurizing oil cylinder can be regulated according to different working conditions, the pressure control and the speed control are respectively and independently controlled, the system loss is small, and the reliability is high.
Drawings
Fig. 1 is a hydraulic schematic diagram of a rock entering control device of a rotary drilling rig according to an embodiment of the present invention.
Reference numerals illustrate:
| power head |
110 | First proportional |
111 | Power |
112 |
| First load |
113 | Direction control valve for |
114 | Speed control group for pressurized |
120 |
| Second proportional |
121 | Pressurized oil |
122 | Second load |
123 |
| Direction control valve for pressurized |
124 | |
130 | Power head |
140 |
| |
141 | Pressure control set for pressurized |
150 | Electric |
151 |
| Pilot handle |
160 | |
170 | |
171 |
| |
172 | |
200 | Pressurized |
300 |
Detailed Description
As shown in fig. 1, the invention provides a rock entering control device of a rotary drilling rig, which comprises a power head motor 200 and a pressurizing oil cylinder 300 as shown in fig. 1; further comprises:
a power head speed control group 110 including a first proportional control valve group 111, a power head driving pump 112, a first load sensing control valve 113, and a power head direction control valve 114 respectively connected to the first proportional control valve group 111, the power head driving pump 112, the first load sensing control valve 113, and the power head motor 200; the first proportional control valve group 111 controls the opening of the power head direction control valve 114 to be a first real-time opening; the first load sensing control valve 113 feedback-controls the power head driving pump 112 to output a first real-time oil flow based on a first real-time differential pressure value corresponding to the first real-time opening degree, so as to control the output rotation speed of the power head motor 200;
a pressure cylinder speed control group 120 including a second proportional control valve group 121, a pressure cylinder driving pump 122, a second load sensing control valve 123, and a pressure cylinder direction control valve 124 respectively connected to the second proportional control valve group 121, the pressure cylinder driving pump 122, the second load sensing control valve 123, and the pressure cylinder 300; the second proportional control valve group controls the opening of the direction control valve of the pressurizing oil cylinder to be a second real-time opening; and the second load sensing control valve is used for controlling the pressurizing oil cylinder driving pump to output second real-time oil flow in a feedback mode based on a second real-time pressure difference value corresponding to the second real-time opening, so as to control the output speed of the pressurizing oil cylinder.
In the embodiment of the invention, a power head speed control group of a rock entering control device of a rotary drilling rig electrically controls the current of a first proportional control valve group so as to control the opening of a power head direction control valve to be a first real-time opening, and controls the output flow of a power head driving pump based on the first real-time opening feedback so as to control the output rotating speed of a power head motor to realize the rotating speed adjustment of the power head; the control group of the speed of the pressurizing oil cylinder of the rock entering control device of the rotary drilling rig electrically controls the current of the second proportional control valve group so as to control the opening degree of the pressurizing oil cylinder control valve to be a second real-time opening degree, and the output flow of the pressurizing oil cylinder driving pump is controlled based on the feedback of the second real-time opening degree so as to control the output speed of the pressurizing oil cylinder driving pump; therefore, the invention can adjust the rotating speed of the power head and the output speed of the pressurizing oil cylinder according to the construction geological conditions, realize the control of the cutting force and the cutting speed during automatic rock-entering drilling, and can adjust the most suitable speed to break the rock when the rock with different hardness is broken, thereby meeting the requirements on the speed under different rock breaking conditions and improving the rock breaking efficiency.
As shown in fig. 1, the first proportional control valve set 111 may include 2 electric proportional control valves, and the 2 electric proportional control valves may be supplied from the same fuel tank or from different fuel tanks, which is not limited herein. The power head direction control valve 114 includes two interfaces which are oppositely arranged, and the 2 electric proportional control valves are respectively connected with the two interfaces of the power head direction control valve 114 in a one-to-one correspondence manner, wherein one of the 2 electric proportional control valves does not work when the other one works, the power head direction control valve 114 controls the power head motor 200 to rotate forward when one works, and the power head direction control valve 114 controls the power head motor 200 to rotate reversely when the other one works.
The first load sensing control valve 113 is connected to the power head direction control valve 114, and after determining that the opening of the power head direction control valve 114 is a first real-time opening, determines a first real-time differential pressure value corresponding to the first real-time opening, so as to adjust the output oil flow of the power head driving pump 112 based on the first real-time differential pressure value, and make the differential pressure between the output pressure of the power head driving pump 112 and the load feedback pressure equal to the first real-time differential pressure value. When the opening degree of the head direction control valve 114 is different, the differential pressure value determined by the first load sensing control valve 113 is also different.
The first real-time oil flow is the oil flow corresponding to the output pressure of the adjusted power head driving pump 112.
Similarly, as shown in fig. 1, the second proportional control valve set 121 includes 2 electric proportional control valves, and the 2 electric proportional control valves may be supplied from the same fuel tank or from different fuel tanks, which is not limited herein. The above-mentioned pressure cylinder directional control valve 124 includes two interfaces which are oppositely arranged, and the 2 electric proportional control valves are respectively connected with the two interfaces of the pressure cylinder directional control valve 124 in a one-to-one correspondence manner, wherein one of the 2 electric proportional control valves does not work when the other one works, the pressure cylinder directional control valve 124 controls the pressure cylinder 300 to extend when one works, and the pressure cylinder directional control valve 124 controls the pressure cylinder 300 to retract when the other one works.
The second load sensing control valve 123 is connected to the pressurization cylinder direction control valve 124, and after determining that the opening of the pressurization cylinder direction control valve 124 is the second real-time opening, a second real-time differential pressure value corresponding to the second real-time opening is determined, so that the output oil flow of the pressurization cylinder driving pump 122 is adjusted based on the second real-time differential pressure value, and the differential pressure between the output pressure of the pressurization cylinder driving pump 122 and the load feedback pressure is equal to the second real-time differential pressure value. When the opening degree of the pressure cylinder directional control valve 124 is different, the differential pressure value determined by the second load sensing control valve 123 is also different.
The second real-time oil flow is the oil flow corresponding to the output pressure of the adjusted driving pump 122 of the pressurized oil cylinder.
The power head drive pump 112 may be a variable displacement pump.
The power head directional control valve 114 may be a three-position seven-way directional control valve, and the pressurized cylinder directional control valve 124 may be a three-position seven-way directional control valve.
In addition, the rock entering control device of the rotary drilling rig can also comprise a pressure compensation valve so as to avoid the condition of insufficient oil supply of the power head driving pump 112 and ensure the synchronization of executing devices.
Further, dig rig soon and go into rock controlling means still includes:
a pilot pump 130 connected to the head motor 200;
the power head torque control group 140 comprises an electromagnetic directional valve 141 connected with the power head motor 200, when the electromagnetic directional valve 141 is powered off, a variable starting point of the power head motor 200 is a preset initial value so as to control the torque of the power head motor 200 to be a preset torque; when the electromagnetic directional valve 141 is energized, the head motor 200 decreases the variable start point of the head motor 200 under the pilot pressure supplied from the pilot pump 130 to increase the output torque of the head motor 200. The pilot pump 130 is used to provide low pressure oil to the control system components. As shown in fig. 1, a pilot pump 130 may be connected to the first and second proportional control valve banks 111 and 121, respectively, to provide low pressure oil. In the present embodiment, the pilot pump 130 is connected to the head motor 200, and low-pressure oil is also supplied to the head motor 200.
The power head motor 200 is a motor with a variable start point and a variable end point controlled. The power head torque control unit 140 is used to control the output torque of the power head motor 200. Specifically, the power head torque control unit 140 includes an electromagnetic directional valve 141, when the electromagnetic directional valve 141 is powered off, the variable starting point of the power head motor 200 is not affected, that is, is a preset initial value, and at this time, the torque of the power head motor 200 is a preset torque; when the electromagnetic directional valve 141 is powered on, the power head motor 200 decreases the variable start point of the power head motor 200 under the pilot pressure provided by the pilot pump 130, and at this time, the output torque of the power head motor 200 is increased; the more the variable start point is lowered, the more the output torque of the head motor 200 is raised.
In this embodiment, torque control and speed control of the power head motor 200 are independent of each other, and the system loss is small and the reliability is high.
Preferably, the electromagnetic directional valve 141 is a two-position three-way electromagnetic directional valve.
Further, dig rig soon and go into rock controlling means still includes:
a pressurizing cylinder pressure control group 150 including a first Ls relief valve connected to a large chamber of the pressurizing cylinder 300, a second Ls relief valve connected to a small chamber of the pressurizing cylinder, and an electric proportional relief valve (151) connected in parallel with the first Ls relief valve; the electric proportional relief valve (151) is used for maintaining or reducing a feedback pressure set value of a feedback oil path connected with the first Ls relief valve so as to control the pressurizing force of the pressurizing oil cylinder.
Specifically, the second load sensing control valve 123 controls the differential pressure value between the outlet pressure value of the pressurization cylinder driving pump 122 and the set pressure value to approach the second real-time differential pressure value to adjust the output pressure of the pressurization cylinder 300.
In this embodiment, the pressure control group 150 of the pressurization cylinder includes a first Ls relief valve connected to the large chamber of the pressurization cylinder 300, a second Ls relief valve connected to the small chamber of the pressurization cylinder, and an electric proportional relief valve 151. The feedback pressure set value of the feedback oil path connected with the first Ls relief valve is set by the first Ls relief valve, in this embodiment, the electric proportional relief valve 151 is connected in parallel with the first Ls relief valve, and the electric proportional relief valve (151) is adjusted within the set pressure value of the first Ls relief valve, so that the feedback pressure set value is determined by the control pressure of the electric proportional relief valve 151, the adjusting range of the electric proportional relief valve 151 is adjusted from 0 to the set value of the first Ls relief valve, and the larger the current is, the larger the pressure value controlled by the electric proportional relief valve 151 is.
When the pressure reaches the feedback pressure set value, the pressure cylinder driving pump moves to the minimum displacement variable until the pressure difference between the outlet pressure of the pressure cylinder driving pump and the feedback pressure set value is the same as the second valve pressure difference value of the second load sensing control valve. The second load sensing control valve 123 thus controls the differential pressure value between the outlet pressure value of the pressurized cylinder drive pump 122 and the feedback pressure set point to continuously approach the second real-time differential pressure value until it is the same as the second real-time differential pressure value.
The embodiment may further include two secondary overflow valves to maintain the pressure in the system, so that the pressure in the system can be stabilized, where one secondary overflow valve is connected to the first Ls overflow valve, and the set pressure value of the first Ls overflow valve is smaller than the set pressure value of the secondary overflow valve; the other two-stage overflow valve is connected with the second Ls overflow valve, and the set pressure value of the second Ls overflow valve is smaller than the set pressure value of the two-stage overflow valve.
Further, dig rig soon and go into rock controlling means still includes:
a pilot handle control valve block 160 comprising a first pilot handle control valve block and a second pilot handle control valve block;
a shuttle valve block 170 including a first shuttle valve 171 and a second shuttle valve 172; two input ends of the first shuttle valve 171 are respectively connected with the first proportional control valve bank 111 and the first pilot handle control valve bank, and an output end of the first shuttle valve 171 is connected with the power head direction control valve 114; two input ends of the second shuttle valve 172 are respectively connected with the second proportional control valve bank 121 and the second pilot handle control valve bank, and an output end of the second shuttle valve 172 is connected with the pressurized cylinder directional control valve 124;
the first proportional control valve bank 111 is connected to the power head directional control valve 114 and the second proportional control valve bank 121 is connected to the pressurized cylinder directional control valve 124; alternatively, the first pilot operated valve block is connected to the power head directional control valve 114 and the second pilot operated valve block is connected to the pressurized cylinder directional control valve 124.
In this embodiment, the rock entering control device of the rotary drilling rig includes an automatic rock entering control mode and a manual rock entering control mode, and the switching between the automatic control pipeline and the manual control pipeline is performed through the shuttle valve group 170, so that the switching between the automatic rock entering control mode and the manual rock entering control mode is realized.
The first proportional control valve group 111 is a device for controlling the speed of the power head motor 200 in the automatic rock-in control mode, and the second proportional control valve group 121 is a device for controlling the speed of the pressurized cylinder 300 in the automatic rock-in control mode. The specific operation is as described above and will not be described here.
The first pilot handle control valve group is a device for controlling the speed of the power head motor 200 in the manual rock entering control mode, and the second pilot handle control valve group is a device for controlling the speed of the pressurized cylinder 300 in the manual rock entering control mode.
As shown in fig. 1, the first pilot-handle control valve set may include 2 pilot-handle control valves, where the 2 pilot-handle control valves may be supplied from the same fuel tank or from different fuel tanks, and is not limited herein. Correspondingly, the first shuttle valve 171 also comprises 2 shuttle valves, and the 2 shuttle valves are respectively connected with the 2 pilot handle control valves of the first pilot handle control valve group and the 2 electric proportional control valves of the first proportional control valve group 111. Specifically, a first input of a shuttle valve is connected to the pilot operated handle control valve, a second input of the shuttle valve is connected to the electric proportional control valve, and an output of the shuttle valve is connected to an interface of the power head directional control valve 114. The two shuttle valves interface the pilot handle control valve with the power head directional control valve 114 at the same time, or interface the electro-proportional control valve with the power head directional control valve 114 at the same time.
One of the 2 pilot-operated control valves is not operated when the other is operated, the power head direction control valve 114 controls the power head motor 200 to rotate forward when the other is operated, and the power head direction control valve 114 controls the power head motor 200 to rotate reversely when the other is operated.
Correspondingly, the second pilot handle control valve group may include 2 pilot handle control valves, and the 2 pilot handle control valves may be supplied with oil from the same oil tank or from different oil tanks, which is not limited herein. Correspondingly, the second shuttle valve 172 also comprises 2 shuttle valves, and the 2 shuttle valves are respectively connected with 2 pilot handle control valves of the second pilot handle control valve group and 2 electric proportional control valves of the second proportional control valve group 121. Specifically, a first input of a shuttle valve is connected to the pilot operated control valve, a second input of the shuttle valve is connected to the electric proportional control valve, and an output of the shuttle valve is connected to an interface of the pressurized cylinder directional control valve 124. The two shuttle valves interface the pilot handle control valve with the pressure ram directional control valve 124 at the same time, or interface the electro-proportional control valve with the pressure ram directional control valve 124 at the same time.
One of the 2 pilot operated control valves is not operated when the other is operated, the pressurizing cylinder directional control valve 124 controls the pressurizing cylinder 300 to extend when one is operated, and the pressurizing cylinder directional control valve 124 controls the pressurizing cylinder 300 to retract when the other is operated.
Further, the ram speed control group 120 is a load sensitive system, the ram drive pump 122 is a load sensitive pump, and the ram directional control valve 124 is a load sensitive valve.
The embodiment of the invention also provides a rock entering control method of the rotary drilling rig, which is applied to the rock entering control device of the rotary drilling rig; the method comprises the following steps:
based on a power head speed control instruction of a controller, the first proportional control valve group controls the opening of the power head direction control valve to be a first real-time opening; the first load sensing control valve is used for controlling the power head driving pump to output first real-time oil flow in a feedback mode based on a first real-time differential pressure value corresponding to the first real-time opening, so as to control the output rotating speed of the power head motor;
the opening of the direction control valve of the pressurizing oil cylinder is controlled to be a second real-time opening by the second proportional control valve group based on a speed control instruction of the pressurizing oil cylinder of the controller; and the second load sensing control valve is used for controlling the pressurizing oil cylinder driving pump to output second real-time oil flow in a feedback mode based on a second real-time pressure difference value corresponding to the second real-time opening, so as to control the output speed of the pressurizing oil cylinder.
According to the rock entering control device of the rotary drilling rig, the speed of the power head and the speed of the pressurizing oil cylinder during rock breaking are controlled through the power head speed control group and the pressurizing oil cylinder speed control group, when rock breaking is carried out on rocks with different hardness, the optimal speed can be adjusted to break the rock, the requirement on the speed under different rock breaking conditions is met, and the rock breaking efficiency is improved.
As shown in fig. 1, the first proportional control valve set 111 may include 2 electric proportional control valves, and the 2 electric proportional control valves may be supplied from the same fuel tank or from different fuel tanks, which is not limited herein. The power head direction control valve 114 includes two interfaces which are oppositely arranged, and the 2 electric proportional control valves are respectively connected with the two interfaces of the power head direction control valve 114 in a one-to-one correspondence manner, wherein one of the 2 electric proportional control valves does not work when the other one works, the power head direction control valve 114 controls the power head motor 200 to rotate forward when one works, and the power head direction control valve 114 controls the power head motor 200 to rotate reversely when the other one works.
The first load sensing control valve 113 is connected to the power head direction control valve 114, and after determining that the opening of the power head direction control valve 114 is a first real-time opening, determines a first real-time differential pressure value corresponding to the first real-time opening, so as to adjust the output pressure of the power head driving pump 112 based on the first real-time differential pressure value, so that the differential pressure between the output pressure of the power head driving pump 112 and the load feedback pressure is equal to the first real-time differential pressure value. When the opening degree of the head direction control valve 114 is different, the differential pressure value determined by the first load sensing control valve 113 is also different.
The first real-time oil flow is the oil flow corresponding to the output pressure of the adjusted power head driving pump 112.
Similarly, as shown in fig. 1, the second proportional control valve set 121 includes 2 electric proportional control valves, and the 2 electric proportional control valves may be supplied from the same fuel tank or from different fuel tanks, which is not limited herein. The above-mentioned pressure cylinder directional control valve 124 includes two interfaces which are oppositely arranged, and the 2 electric proportional control valves are respectively connected with the two interfaces of the pressure cylinder directional control valve 124 in a one-to-one correspondence manner, wherein one of the 2 electric proportional control valves does not work when the other one works, the pressure cylinder directional control valve 124 controls the pressure cylinder 300 to extend when one works, and the pressure cylinder directional control valve 124 controls the pressure cylinder 300 to contract when the other one works.
The second load sensing control valve 123 is connected to the pressurization cylinder direction control valve 124, and after determining that the opening of the pressurization cylinder direction control valve 124 is the second real-time opening, a second real-time differential pressure value corresponding to the second real-time opening is determined, so that the output pressure of the pressurization cylinder driving pump 122 is adjusted based on the second real-time differential pressure value, and the differential pressure between the output pressure of the pressurization cylinder driving pump 122 and the load feedback pressure is equal to the second real-time differential pressure value. When the opening degree of the pressure cylinder directional control valve 124 is different, the differential pressure value determined by the second load sensing control valve 123 is also different.
The second real-time oil flow is the oil flow corresponding to the output pressure of the adjusted driving pump 122 of the pressurized oil cylinder.
The power head drive pump 112 may be a variable displacement pump.
The power head directional control valve 114 may be a three-position seven-way directional control valve, and the pressurized cylinder directional control valve 124 may be a three-position seven-way directional control valve.
In addition, the rock entering control device of the rotary drilling rig can also comprise a pressure compensation valve so as to avoid the condition of insufficient oil supply of the power head driving pump 112 and ensure the synchronization of executing devices.
Further, the rock entering control device of the rotary drilling rig comprises:
the pilot pump is connected with the power head motor;
the power head torque control group comprises an electromagnetic reversing valve connected with the power head motor, and when the electromagnetic reversing valve is powered off, the variable starting point of the power head motor is a preset initial value so as to control the torque of the power head motor to be a preset torque; when the electromagnetic reversing valve is powered on, the variable starting point of the power head motor is reduced under the pilot pressure provided by the pilot pump by the power head motor so as to improve the output torque of the power head motor;
the method further comprises the steps of:
when the electromagnetic reversing valve is powered off, the variable starting point of the power head motor is a preset initial value, so that the torque of the power head motor is controlled to be a preset torque; when the electromagnetic reversing valve is electrified, the variable starting point of the power head motor is reduced under the pilot pressure provided by the pilot pump, so that the output torque of the power head motor is improved.
The pilot pump 130 is used to provide low pressure oil to the control system components. As shown in fig. 1, a pilot pump 130 may be connected to the first and second proportional control valve banks 111 and 121, respectively, to provide low pressure oil. In the present embodiment, the pilot pump 130 is connected to the head motor 200, and low-pressure oil is also supplied to the head motor 200.
The power head motor 200 is a motor with a variable start point and a variable end point controlled. The power head torque control unit 140 is used to control the output torque of the power head motor 200. Specifically, the power head torque control unit 140 includes an electromagnetic directional valve 141, when the electromagnetic directional valve 141 is powered off, the variable starting point of the power head motor 200 is not affected, that is, is a preset initial value, and at this time, the torque of the power head motor 200 is a preset torque; when the electromagnetic directional valve 141 is powered on, the power head motor 200 decreases the variable start point of the power head motor 200 under the pilot pressure provided by the pilot pump 130, and at this time, the output torque of the power head motor 200 is increased; the more the variable start point is lowered, the more the output torque of the head motor 200 is raised.
In this embodiment, torque control and speed control of the power head motor 200 are independent of each other, and the system loss is small and the reliability is high.
Preferably, the electromagnetic directional valve 141 is a two-position three-way electromagnetic directional valve.
Further, the rock entering control device of the rotary drilling rig comprises:
the pressure control group of the pressurizing oil cylinder comprises a first Ls overflow valve connected with a large cavity of the pressurizing oil cylinder, a second Ls overflow valve connected with a small cavity of the pressurizing oil cylinder and an electric proportional overflow valve connected with the first Ls overflow valve in parallel; the electric proportional overflow valve is used for maintaining or reducing a feedback pressure set value of a feedback oil path connected with the first Ls overflow valve so as to control the pressurizing force of the pressurizing oil cylinder;
the method further comprises the steps of:
the electric proportional overflow valve keeps or reduces a feedback pressure set value of a feedback oil way connected with the first Ls overflow valve so as to control the pressurizing force of the pressurizing oil cylinder, and when the pressurizing force reaches the feedback pressure set value, the pressurizing oil cylinder drives the pump to output oil liquid in a minimum displacement until the pressure difference between the outlet pressure of the pressurizing oil cylinder and the set pressure value is the same as the second real-time pressure difference value of the second load sensing control valve.
The second load sensing control valve 123 controls the differential pressure value between the outlet pressure value of the pressurized cylinder driving pump 122 and the set pressure value to approach the second real-time differential pressure value to adjust the output pressure of the pressurized cylinder 300.
In this embodiment, the pressure control group 150 of the pressurization cylinder includes a first Ls relief valve connected to the large chamber of the pressurization cylinder 300, a second Ls relief valve connected to the small chamber of the pressurization cylinder, and an electric proportional relief valve 151. The feedback pressure set value of the feedback oil path connected with the first Ls relief valve is set by the first Ls relief valve, the electric proportional relief valve 151 is connected with the first Ls relief valve in parallel, the electric proportional relief valve (151) is adjusted within the set pressure value of the first Ls relief valve, so that the feedback pressure set value is determined by the control pressure of the electric proportional relief valve 151, the adjusting range of the electric proportional relief valve 151 is adjusted from 0 to the set value of the first Ls relief valve, and the larger the current is, the larger the pressure value controlled by the electric proportional relief valve 151 is.
When the pressure reaches the feedback pressure set value, the pressure cylinder driving pump moves to the minimum displacement variable until the pressure difference between the outlet pressure of the pressure cylinder driving pump and the feedback pressure set value is the same as the second valve pressure difference value of the second load sensing control valve. The second load sensing control valve 123 thus controls the differential pressure value between the outlet pressure value of the pressurized cylinder drive pump 122 and the feedback pressure set point to continuously approach the second real-time differential pressure value until it is the same as the second real-time differential pressure value.
The embodiment may further include two secondary overflow valves to maintain the pressure in the system, so that the pressure in the system can be stabilized, where one secondary overflow valve is connected to the first Ls overflow valve, and the set pressure value of the first Ls overflow valve is smaller than the set pressure value of the secondary overflow valve; the other two-stage overflow valve is connected with the second Ls overflow valve, and the set pressure value of the second Ls overflow valve is smaller than the set pressure value of the two-stage overflow valve.
According to the invention, the rotation degree of the power head is regulated through the power head speed control group, the output speed of the pressurizing oil cylinder is regulated through the pressurizing oil cylinder speed control group, the output torque of the power head is regulated through the electromagnetic reversing valve, the oiling force of the pressurizing oil cylinder is regulated through the electric proportional overflow valve, the parameters of the power head and the pressurizing oil cylinder can be regulated according to different working conditions, the pressure control and the speed control are respectively and independently controlled, the system loss is small, and the reliability is high.
The foregoing is a further detailed description of the invention in connection with specific preferred embodiments, and is not intended to limit the practice of the invention to such description. It will be apparent to those skilled in the art that several simple deductions and substitutions can be made without departing from the spirit of the invention, and these are considered to be within the scope of the invention.
Claims (8)
1. The utility model provides a dig rig soon and go into rock controlling means, includes unit head motor (200) and pressurized cylinder (300), its characterized in that still includes:
the power head speed control group (110) comprises a first proportional control valve group (111), a power head driving pump (112), a first load sensing control valve (113) and a power head direction control valve (114) which are respectively connected with the first proportional control valve group (111), the power head driving pump (112), the first load sensing control valve (113) and the power head motor (200); the first proportional control valve group (111) controls the opening of the power head direction control valve (114) to be a first real-time opening; the first load sensing control valve (113) is used for controlling the power head driving pump (112) to output first real-time oil flow in a feedback mode based on a first real-time differential pressure value corresponding to the first real-time opening degree so as to control the output rotating speed of the power head motor (200);
a pressurizing cylinder speed control group (120) comprising a second proportional control valve group (121), a pressurizing cylinder driving pump (122), a second load sensing control valve (123) and a pressurizing cylinder direction control valve (124) respectively connected with the second proportional control valve group (121), the pressurizing cylinder driving pump (122), the second load sensing control valve (123) and the pressurizing cylinder (300); the second proportional control valve group (121) controls the opening of the pressurizing oil cylinder direction control valve (124) to be a second real-time opening; the second load sensing control valve (123) feedback-controls the pressurizing oil cylinder driving pump (122) to output a second real-time oil flow based on a second real-time differential pressure value corresponding to the second real-time opening degree so as to control the output speed of the pressurizing oil cylinder (300);
a pilot pump (130) connected to the head motor (200);
a power head torque control group (140) comprising an electromagnetic directional valve (141) connected with the power head motor (200), wherein when the electromagnetic directional valve (141) is deenergized, the variable starting point of the power head motor (200) is a preset initial value so as to control the torque of the power head motor (200) to be a preset torque; when the electromagnetic directional valve (141) is powered on, the power head motor (200) reduces the variable starting point of the power head motor (200) under the pilot pressure provided by the pilot pump (130) so as to improve the output torque of the power head motor (200).
2. The rock entering control device of the rotary drilling rig according to claim 1, wherein the electromagnetic directional valve (141) is a two-position three-way electromagnetic directional valve.
3. The rotary drilling rig rock entering control device of claim 1, further comprising:
a pressurizing cylinder pressure control group (150) comprising a first Ls overflow valve connected with a large cavity of the pressurizing cylinder (300), a second Ls overflow valve connected with a small cavity of the pressurizing cylinder, and an electric proportional overflow valve (151) connected with the first Ls overflow valve in parallel; the electric proportional relief valve (151) is used for maintaining or reducing a feedback pressure set value of a feedback oil path connected with the first Ls relief valve so as to control the pressurizing force of the pressurizing oil cylinder.
4. The rotary drilling rig rock entering control device of claim 1, further comprising:
a pilot handle control valve block (160) comprising a first pilot handle control valve block and a second pilot handle control valve block;
a shuttle valve group (170) including a first shuttle valve (171) and a second shuttle valve (172); two input ends of the first shuttle valve (171) are respectively connected with the first proportional control valve group (111) and the first pilot handle control valve group, and an output end of the first shuttle valve (171) is connected with the power head direction control valve (114); two input ends of the second shuttle valve (172) are respectively connected with the second proportional control valve group (121) and the second pilot handle control valve group, and the output end of the second shuttle valve (172) is connected with the pressurizing oil cylinder direction control valve (124);
the first proportional control valve group (111) is connected with the power head direction control valve (114) and the second proportional control valve group (121) is connected with the pressurizing oil cylinder direction control valve (124); or, the first pilot handle control valve group is connected with the power head direction control valve (114) and the second pilot handle control valve group is connected with the pressurized oil cylinder direction control valve (124).
5. The rotary drilling rig rock entering control device according to claim 1, wherein the pressurization cylinder speed control group (120) is a load sensitive system, the pressurization cylinder driving pump (122) is a load sensitive pump, and the pressurization cylinder direction control valve (124) is a load sensitive valve.
6. The rotary drilling rig rock entering control device according to claim 1, wherein the power head direction control valve (114) is a three-position seven-way reversing valve, and the pressurized oil cylinder direction control valve (124) is a three-position seven-way reversing valve.
7. A rock entering control method of a rotary drilling rig, characterized by being applied to the rock entering control device of the rotary drilling rig according to any one of claims 1 to 6; the method comprises the following steps:
based on a power head speed control instruction of a controller, the first proportional control valve group controls the opening of the power head direction control valve to be a first real-time opening; the first load sensing control valve is used for controlling the power head driving pump to output first real-time oil flow in a feedback mode based on a first real-time differential pressure value corresponding to the first real-time opening, so as to control the output rotating speed of the power head motor;
the opening of the direction control valve of the pressurizing oil cylinder is controlled to be a second real-time opening by the second proportional control valve group based on a speed control instruction of the pressurizing oil cylinder of the controller; the second load sensing control valve is used for controlling the pressurizing oil cylinder driving pump to output second real-time oil flow in a feedback mode based on a second real-time pressure difference value corresponding to the second real-time opening, so that the output speed of the pressurizing oil cylinder is controlled;
when the electromagnetic reversing valve is powered off, the variable starting point of the power head motor is a preset initial value, so that the torque of the power head motor is controlled to be a preset torque; when the electromagnetic reversing valve is electrified, the variable starting point of the power head motor is reduced under the pilot pressure provided by the pilot pump, so that the output torque of the power head motor is improved.
8. The method of claim 7, applied to the rotary drilling rig rock-entering control device of claim 3; the method further comprises the steps of:
the electric proportional overflow valve keeps or reduces a feedback pressure set value of a feedback oil way connected with the first Ls overflow valve so as to control the pressurizing force of the pressurizing oil cylinder, and when the pressurizing force reaches the feedback pressure set value, the pressurizing oil cylinder drives the pump to output oil liquid in a minimum displacement until the pressure difference between the outlet pressure of the pressurizing oil cylinder and the set pressure value is the same as the second real-time pressure difference value of the second load sensing control valve.
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| CN114109961B (en) * | 2021-11-12 | 2023-04-25 | 恒天九五重工有限公司 | Calibration method for motor variable starting point of power head of rotary drilling rig |
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| CN203430500U (en) * | 2013-08-21 | 2014-02-12 | 上海中联重科桩工机械有限公司 | Rotary drilling rig pressurizing control system |
| CN204003698U (en) * | 2014-07-23 | 2014-12-10 | 北京市三一重机有限公司 | Reverse feedback hydraulic system and rotary drilling rig |
| CN104373399B (en) * | 2014-11-03 | 2017-03-15 | 上海中联重科桩工机械有限公司 | Can achieve hydraulic system and the rotary drilling rig of many torque outputs |
| CN204571827U (en) * | 2015-01-15 | 2015-08-19 | 山河智能装备股份有限公司 | Fast discharge of rotary drill rig control system |
| CN105909576B (en) * | 2016-05-05 | 2017-11-14 | 上海中联重科桩工机械有限公司 | The coordinated control system and method and rotary drilling rig of pressurization oil cylinder and rear support leg oil cylinder |
| CN107489413B (en) * | 2017-09-22 | 2021-06-15 | 上海中联重科桩工机械有限公司 | Intelligent control device and method for rotary drilling rig |
| CN112727435B (en) * | 2020-12-31 | 2023-09-01 | 恒天九五重工有限公司 | Intelligent rock entering control device and method for rotary drilling rig |
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