CN113107354A - Down-the-hole drill control method and down-the-hole drill control device - Google Patents
Down-the-hole drill control method and down-the-hole drill control device Download PDFInfo
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- CN113107354A CN113107354A CN202110513563.0A CN202110513563A CN113107354A CN 113107354 A CN113107354 A CN 113107354A CN 202110513563 A CN202110513563 A CN 202110513563A CN 113107354 A CN113107354 A CN 113107354A
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000001133 acceleration Effects 0.000 claims abstract description 96
- 230000002265 prevention Effects 0.000 claims abstract description 8
- 238000005553 drilling Methods 0.000 claims description 34
- 238000001914 filtration Methods 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 14
- 230000007246 mechanism Effects 0.000 claims description 11
- 230000000694 effects Effects 0.000 abstract description 7
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- 239000011435 rock Substances 0.000 description 9
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- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000003116 impacting effect Effects 0.000 description 2
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- 239000004566 building material 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
- E21B4/00—Drives for drilling, used in the borehole
- E21B4/02—Fluid rotary type drives
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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
- E21B12/00—Accessories for drilling tools
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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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- 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
- E21B47/00—Survey of boreholes or wells
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Abstract
A down-the-hole drill control method and a down-the-hole drill control device are provided, the down-the-hole drill control method comprises the following steps: judging whether the current air pressure is greater than a preset air pressure value, if so, controlling the propulsion direction to be reverse, and otherwise, judging whether the actual revolving pressure is greater than a preset revolving pressure value; controlling the propulsion direction to reverse when the actual revolving pressure is greater than the preset revolving pressure value, otherwise, judging whether the absolute value of the current propulsion acceleration is greater than the preset value of the propulsion acceleration; when the absolute value of the current propulsion acceleration is larger than the preset value of the propulsion acceleration, controlling the propulsion speed to decelerate; and when the current air pressure is not more than a preset air pressure value, the actual revolving pressure is not more than a preset revolving pressure value, or the absolute value of the current propulsion acceleration is not more than a propulsion acceleration preset value, controlling the down-the-hole drill to normally work. In the control method and the control device of the down-the-hole drill, the drill sticking can be prevented to the maximum extent by sequentially comparing the air pressure, the rotary pressure and the propulsion acceleration, and a good drill sticking prevention effect can be achieved.
Description
Technical Field
The invention relates to the technical field of underground construction equipment, in particular to a control method and a control device of a down-the-hole drill.
Background
The down-the-hole drill is an engineering machine for drilling minerals and rocks, is equipment for directly impacting a drill bit by an impactor in a down-the-hole and driving a drill rod to rotate outside the hole by a rotating mechanism to drill the rocks, and is mainly used for rock drilling in various projects such as open-pit mining, building foundations, water conservancy, power stations, building materials, traffic, national defense construction and the like; the method is one of rock drilling machines, and drilling operation is widely one of the rock drilling machines used at present. The common rock drill has the characteristics of deep drilling hole, large drilling hole diameter, high drilling efficiency, wide application range and the like, and the processes of impacting, propelling, rotating and deslagging are four basic links of the rock drilling work of the down-the-hole drill.
The working environment of the down-the-hole drill is complex, so that the drill is easy to block to cause damage to the impacter and the like, and the normal operation of the down-the-hole drill is influenced. At present, in order to prevent drill jamming, a rotary motor is usually controlled to reverse and rotate reversely when the rotary pressure is too high, a drill rod is lifted, the rotary pressure is recovered to rotate forwards after being reduced, the system is easy to enter vicious circle, the drill rod cannot be continuously lifted and separated from a drill jamming area, the drill jamming prevention effect is poor, and in the process of drill jamming prevention, the actions of lifting the drill rod and pulling down the drill rod are reverse, no prompt is provided, and misoperation of people is easy to occur.
Disclosure of Invention
The invention aims to provide a control method and a control device of a down-the-hole drill with better anti-sticking effect.
The invention provides a down-the-hole drill control method, which comprises the following steps:
acquiring the current air pressure provided by a rotary air supply mechanism of the down-the-hole drill, judging whether the current air pressure is greater than a preset air pressure value, controlling the propulsion direction to be reversed when the current air pressure is greater than the preset air pressure value until the current air pressure is not greater than the preset air pressure value, acquiring the actual rotary pressure of the down-the-hole drill when the current air pressure is not greater than the preset air pressure value, and judging whether the actual rotary pressure is greater than the preset rotary pressure value;
when the actual revolving pressure is larger than the preset revolving pressure value, controlling the propulsion direction to reverse until the actual revolving pressure is not larger than the preset revolving pressure value, when the actual revolving pressure is not larger than the preset revolving pressure value, acquiring the current propulsion acceleration of a drill rod of the down-the-hole drill, and judging whether the absolute value of the current propulsion acceleration is larger than the preset propulsion acceleration value or not;
when the absolute value of the current propulsion acceleration is larger than the preset value of the propulsion acceleration, controlling the propulsion speed to decelerate until the absolute value of the current propulsion acceleration is not larger than the preset value of the propulsion acceleration;
and when the propelling direction is controlled to be reversed so that the current air pressure is not greater than the preset air pressure value, the actual revolving pressure is not greater than the preset revolving pressure value, or the absolute value of the current propelling acceleration is not greater than the propelling acceleration preset value, controlling the down-the-hole drill to normally work.
In one embodiment, the current air pressure is obtained by arranging an air pressure detection element at an air outlet of a screw machine of a down-the-hole drill; or the actual rotary pressure is obtained by arranging a pressure detection element on a rotary loop of the drill rod; alternatively, the current propulsion acceleration is obtained by a flow meter disposed on the propulsion circuit.
In one embodiment, the downhole drill control method further comprises filtering at least one of the measured current barometric pressure data, the actual swing pressure data, and the current thrust acceleration data.
In one embodiment, when the down-the-hole drill is controlled to normally work, the down-the-hole drill is controlled to work at a preset propelling speed by adjusting the voltage applied to the propelling control valve through a PID algorithm.
In one embodiment, the control method of the down-the-hole drill further comprises the following steps:
setting the preset air pressure value, the preset gyration pressure value, the preset acceleration absolute value and the preset propelling speed; alternatively, the first and second electrodes may be,
the down-the-hole drill control method further comprises the steps of:
and judging whether manual control is performed or not, if so, entering a manual control mode, and if not, entering an automatic control mode.
In one embodiment, the control method of the down-the-hole drill further comprises the following steps:
and prompting the automatic anti-jamming drilling mode to be started after controlling the reverse direction of the propelling direction or controlling the propelling speed to decelerate.
The invention also provides a control device of the down-the-hole drill, which comprises an air pressure detection element, a propulsion acceleration detection element and a controller, wherein the air pressure detection element is connected to the controller and used for acquiring the current air pressure provided by a rotary air supply mechanism of the down-the-hole drill;
the controller is used for judging whether the current air pressure is greater than the preset air pressure value or not, controlling the propulsion motor to reversely rotate until the current air pressure is not greater than the preset air pressure value when the judgment result is that the current air pressure is greater than the preset air pressure value, judging whether the actual revolving pressure is greater than the preset revolving pressure value when the judgment result is that the current air pressure is not greater than the preset air pressure value or not, controlling the propulsion direction to reversely rotate until the actual revolving pressure is not greater than the preset revolving pressure value when the judgment result is that the actual revolving pressure is not greater than the preset revolving pressure value, judging whether the absolute value of the current propulsion acceleration is greater than the preset propulsion acceleration value or not when the judgment result is that the actual revolving pressure is not greater than the preset revolving pressure value, and controlling the propulsion speed to decelerate until the absolute value of the current propulsion acceleration is greater than the preset acceleration value when the judgment result is that the absolute value of And the absolute value of the current propulsion acceleration is not greater than the preset acceleration value.
In one embodiment, the controller includes a PID module for adjusting the voltage applied to the propulsion control valve using a PID algorithm.
In one embodiment, the controller further includes a filtering module, and the filtering module is configured to perform filtering processing on the measured current barometric pressure data, the measured actual revolving pressure data, and the measured propulsion acceleration data.
In one embodiment, the control device of the down-the-hole drilling machine further includes an automatic anti-sticking mode start prompting module, the automatic anti-sticking mode start prompting module is connected to the controller, and the automatic anti-sticking mode start prompting module is configured to prompt the automatic anti-sticking mode to start when the determination result indicates that the current air pressure is greater than the preset air pressure value, the actual revolving pressure is greater than the preset revolving pressure value, or the absolute value of the current propulsion acceleration is greater than the preset propulsion acceleration value.
In the control method and the control device of the down-the-hole drill provided by the embodiment of the invention, the clamping of the drill bit can be prevented to the maximum extent by judging the air pressure firstly, then judging the rotation pressure and finally judging the propulsion acceleration, and the serious clamping of the drill bit can be immediately solved by the strongest measure, so that the good clamping prevention effect can be achieved, and the normal operation of the down-the-hole drill can be ensured to the maximum extent.
Drawings
FIG. 1 is a flow chart of a down-the-hole drill control method according to an embodiment of the present invention.
FIG. 2 is a schematic view of the swivel circuit of the down-the-hole drill.
FIG. 3 is a schematic view of the propulsion circuit of the down-the-hole drill.
Fig. 4 is a block diagram of a down-the-hole drill control apparatus according to an embodiment of the present invention.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects of the present invention will be made with reference to the accompanying drawings and examples.
As shown in fig. 1, a down-the-hole drill control method according to an embodiment of the present invention includes the steps of:
s11, obtaining the current air pressure provided by the rotary air supply mechanism of the down-the-hole drill, judging whether the current air pressure is larger than the preset air pressure value, if so, executing the step S13, otherwise, executing the step S21.
Specifically, an air pressure detecting element 91 (see fig. 4) may be disposed at an air outlet of the screw machine of the down-the-hole drill to measure the air outlet pressure of the screw machine, so as to obtain the current air pressure provided by the rotary air supply mechanism, and generally speaking, the air outlet pressure of the screw machine is equal to the air pressure provided by the rotary air supply mechanism. It is understood that the air pressure detecting element 91 may be provided in the revolving air supply mechanism.
Specifically, step S11 further includes performing filtering processing on the measured current air pressure data to remove abnormal data, so as to avoid an abnormal data trigger error operation caused by the jitter of the air pressure detecting element itself. The filtering process may be to remove data that is outside a predetermined range.
And S13, controlling the propulsion direction to reverse.
Specifically, the propulsion direction can be reversed (i.e. the drill rod is lifted up) by controlling the propulsion motor to reversely rotate, and further, the propulsion motor can be controlled to reversely rotate by controlling a propulsion control valve connected with the propulsion motor to reverse. More specifically, the propulsion control valve may be a solenoid directional valve, although the propulsion control valve may also be a pilot operated valve, with the only difference being the manner in which the propulsion control valve is controlled to switch. The propulsion control valve can be a proportional valve, so that the rotating speed of the propulsion motor can be controlled by controlling the opening of the propulsion control valve, and further the propulsion speed of the down-the-hole drill is controlled.
And S15, judging whether the current air pressure is larger than the preset air pressure value again, if so, returning to the step S13, and if not, executing the step S41.
Specifically, the current air pressure may be obtained in the same manner as in step S11 in this step, and will not be described herein again.
And S21, acquiring the actual rotary pressure of the down-the-hole drill, judging whether the actual rotary pressure is larger than a preset rotary pressure value, if so, executing the step S23, and if not, executing the step S31.
Specifically, referring to fig. 2, a pressure sensing element 71 may be provided on the swing circuit of the drill pipe to thereby obtain the actual swing pressure of the down-the-hole drill. Specifically, the rotary circuit includes a rotary motor 73, a first oil port 732 and a second oil port 734 of the rotary motor 73 are used for being connected to a third oil port and a fourth oil port of a rotary reversing valve (not shown), a fifth oil port and a sixth oil port of the rotary reversing valve are respectively connected to an oil outlet and an oil tank of a rotary hydraulic pump (not shown), different communication states among the third oil port, the fourth oil port, the fifth oil port and the sixth oil port of the rotary reversing valve can be realized by reversing the rotary reversing valve, so as to control the oil outlet of the hydraulic pump to supply oil to the first oil port 732 or the second oil port 734, and the rotary motor 73 rotates forward or reversely respectively. The pressure detecting element 71 is disposed on an oil path between the first oil port 732 and the rotary direction changing valve to detect the oil inlet pressure of the rotary motor 73 when the rotary motor 73 rotates forward, thereby obtaining the actual rotary pressure of the down-the-hole drill. It is understood that the pressure detecting element 71 may be provided at other positions such as the oil outlet of the hydraulic pump as long as the actual rotation pressure of the down-the-hole drill can be obtained.
Specifically, step S21 further includes performing filtering processing on the measured actual revolving pressure data to remove the abnormal data, so as to avoid the abnormal data triggering the misoperation caused by the shaking of the pressure detecting element 71 itself. The filtering process may be to remove data that is outside a predetermined range.
And S23, controlling the propulsion direction to reverse. The control of the propulsion motor in this step may be the same as that in step S13, and will not be described herein.
And S25, the actual rotary pressure of the down-the-hole drill is performed again, whether the actual rotary pressure is larger than the preset rotary pressure value or not is judged, if yes, the step S23 is returned, and if not, the step S41 is executed.
Specifically, the current swing pressure may be obtained in the same manner as in step S21 in this step, and will not be described in detail here.
S31, acquiring the current propulsion acceleration of the drill rod of the down-the-hole drill, judging whether the absolute value of the current propulsion acceleration is larger than the preset value of the propulsion acceleration, if so, executing the step S33, and if not, executing the step S41. The reason why the absolute value of the current propulsion acceleration and the preset value of the propulsion acceleration are compared is that the situation that a rock fracture zone exists when the propulsion speed is suddenly increased or suddenly reduced is indicated, and the drill jamming is very easy to occur without control, so the drill jamming may exist when the propulsion acceleration is positive or negative.
In particular, the current thrust acceleration of the drill pipe of the down-the-hole drill can be obtained by providing a flow meter on the thrust circuit, the greater the flow rate, the greater the current thrust acceleration. Referring to fig. 3, the propulsion circuit includes a propulsion motor 81, a flow meter 83a, a first oil path 85 and a second oil path 87, the propulsion motor 81 includes a seventh oil port 812 and a second oil port 814, the first oil path 85 and the second oil path 87 are respectively connected to the seventh oil port 812 and the second oil port 814, and the flow meter 83a is disposed on the first oil path 85. The first oil path 85 and the second oil path 87 are further respectively connected to a ninth oil port and a tenth oil port of a propelling directional control valve (not shown), an eleventh oil port and a twelfth oil port of the propelling directional control valve are respectively connected to an oil outlet and an oil tank of a hydraulic pump (not shown), different communication states among the ninth oil port, the tenth oil port, the eleventh oil port and the twelfth oil port can be realized by reversing the propelling directional control valve, so that the oil outlet of the hydraulic pump is controlled to supply oil to the seventh oil port 812 or the eighth oil port 814, and the propelling motor 73 respectively rotates forwards or backwards, so that a drill rod is drilled or lifted. It will be appreciated that the thrust acceleration may also be obtained by means of other thrust acceleration detecting elements 83 (see fig. 4), for example, position sensors may be provided on the drill rod, and the thrust acceleration may be calculated by taking different up and down positions of the drill rod.
Specifically, step S31 includes performing a filtering process on the measured current propulsion acceleration data to remove the abnormal data, so as to avoid the abnormal data triggering the malfunction due to the jitter of the flow meter 83a itself. The filtering process may be to remove data that is outside a predetermined range.
And S33, controlling the propulsion speed to decelerate. Specifically, the deceleration may be achieved by controlling the propulsion motor to decelerate, and further, the propulsion motor may be controlled to decelerate by controlling the opening of a propulsion control valve connected to the propulsion motor.
S35, obtaining the current propelling acceleration of the drill rod of the down-the-hole drill again, judging whether the current propelling acceleration is larger than the propelling acceleration preset value, if so, returning to the step S33, and if not, executing the step S41. The manner of acquiring the current propulsion acceleration in this step may be the same as that in step S31, and will not be described in detail here.
And S41, controlling the down-the-hole drill to work normally. Specifically, the down-the-hole drill is controlled to operate at a predetermined thrust speed. This propulsion speed may be determined based on rock hardness, etc., which may be obtained from experience or experimentation of the operator. The propulsion speed is determined by the opening degree of the propulsion control valve, the larger the opening degree is, the faster the propulsion speed is, the better the opening degree of the propulsion control valve needs to be controlled to control the propulsion speed, and the voltage applied to the propulsion control valve needs to be controlled to control the opening degree of the propulsion control valve. Specifically, after a voltage value corresponding to a predetermined opening degree, the propulsion speed may deviate from the predetermined propulsion speed after the corresponding voltage is applied for various reasons, and therefore, in the present embodiment, the voltage applied to the propulsion control valve is continuously adjusted by the PID algorithm. The control of the propulsion speed can be more accurate through the PID algorithm.
Specifically, step S41 includes:
s411, an input voltage applied to the propulsion control valve is determined according to the predetermined propulsion speed.
And S413, acquiring the current value of the propulsion control valve, comparing the input voltage with the current value of the propulsion control valve, performing PID operation processing to obtain a processed voltage, and applying the processed voltage as the input voltage to the propulsion control valve. Step S413 is repeatedly executed.
In the present embodiment, the down-the-hole drill control method further includes the following steps before step S11:
and S51, setting a preset air pressure value, a preset revolution pressure value, a preset acceleration absolute value and a preset propelling speed. These predetermined values may be empirically or experimentally determined, and are typically determined based on the formation hardness at the site, etc. It will be appreciated that after step S51 and before step S11, the down-the-hole drill may also need to be turned on to place the down-the-hole drill in a drilling position, in which the propulsion motor is rotating in a forward direction. It will be appreciated that step S51 may be performed at any time after the down-the-hole drill is powered on, and typically need only be set up once at the same formation site.
In this embodiment, the down-the-hole drill control method further includes the steps of:
and S53, determining whether to perform manual control. If so, the process proceeds to step S55, otherwise, the process proceeds to step S51. Specifically, S53 may specifically determine whether to manually control the propulsion control valve. It is understood that step S11 may be entered directly when there is no manual control, e.g., step S51 may precede step S53. That is, if there is no manual control instruction, the automatic control mode is entered, and the automatic control mode includes steps S11 to S43.
And S55, entering a manual control mode, namely controlling the down-the-hole drill to work according to the handle signal. Specifically, controlling the operation of the down-the-hole drill based on the grip signal may include outputting a voltage value applied to the propulsion control valve based on the grip signal. Thus, the down-the-hole drill can be controlled manually or automatically, the down-the-hole drill enters a manual control mode when receiving a manual control signal, and otherwise, the down-the-hole drill is in an automatic control mode, so that an operator can take over the control of the down-the-hole drill at any time.
In this embodiment, the down-the-hole drill control method further includes the step between S13 and S15 of:
and S17, prompting the automatic anti-sticking drill mode to be started. Specifically, the automatic anti-jamming drilling mode can be started by displaying the automatic anti-jamming drilling mode on the display, an automatic anti-jamming drilling indicating lamp can be arranged on the down-the-hole drilling machine, the lamp is on to indicate that the automatic anti-jamming drilling mode is started, an alarm can be arranged on the down-the-hole drilling machine, and the alarm sounds to indicate that the automatic anti-jamming drilling mode is started. Of course, the automatic anti-jamming drilling mode opening can be prompted in other modes. The automatic anti-jamming drilling mode is started through prompting, so that an operator can be reminded to pay close attention to the working condition of the down-the-hole drilling machine, the emergency situation can be handled in time, and the occurrence of serious accidents is avoided.
In this embodiment, the down-the-hole drill control method further includes the step between S23 and S25 of:
and S27, prompting the automatic anti-sticking drill mode to be started.
In this embodiment, the down-the-hole drill control method further includes the step between S33 and S35 of:
and S37, prompting the automatic anti-sticking drill mode to be started.
In this embodiment, the down-the-hole drill control method further includes, after S41, the step of:
and S43, prompting the automatic anti-sticking drill mode to close.
In the down-the-hole drill, once the air pressure exceeds the preset air pressure value, the drilling tool is completely blocked and is the most serious stuck drill, and the fact that the advance acceleration exceeds the preset acceleration absolute value is only a sign of stuck drill and needs to be prevented in advance.
Referring to fig. 4, the present invention further provides a down-the-hole drill control apparatus, which includes an air pressure detecting element 91, a pressure detecting element 71, a thrust acceleration detecting element 83 and a controller 96.
The air pressure detecting element 91 is connected to the controller 96 for obtaining the current air pressure provided by the rotary air supply mechanism of the down-the-hole drill, the pressure detecting element 71 is connected to the controller 96 for obtaining the actual rotary pressure of the down-the-hole drill, and the propulsion acceleration detecting element 83 is connected to the controller 96 for obtaining the current propulsion acceleration of the drill rod. The controller 96 is preset with a preset air pressure value, a preset turning pressure value and a preset propulsion acceleration value. The controller 96 is configured to control the down-the-hole drill to operate in an automatic control mode, in the automatic control mode, the controller 96 is configured to determine whether a current air pressure is greater than a preset air pressure value, control the propulsion motor to reverse until the current air pressure is not greater than the preset air pressure value when the determination result is that the current air pressure is greater than the preset air pressure value, and determine whether an actual revolving pressure is greater than a preset revolving pressure value when the determination result is that the current air pressure is not greater than the preset air pressure value, the controller 96 is further configured to control the propulsion direction to reverse until the actual revolving pressure is not greater than the preset revolving pressure value when the determination result is that the actual revolving pressure is greater than the preset revolving pressure value, and determine whether an absolute value of a current propulsion acceleration is greater than a preset propulsion acceleration value when the determination result is that the absolute value of the current propulsion acceleration is greater than the preset acceleration value, the controller 96 is further configured to control the propulsion The pair value is not greater than the acceleration preset value.
Specifically, the down-the-hole drill is controlled to normally work when the controller 96 controls the propulsion motor to reversely rotate until the current air pressure is not greater than the preset air pressure value or the actual revolving pressure is not greater than the preset revolving pressure value, or the absolute value of the current propulsion acceleration is not greater than the acceleration preset value. Normal operation of the down-the-hole drill includes setting a predetermined thrust speed for operation.
In this embodiment, the controller 96 is also configured to receive a control command, and the controller 96 is configured to control the down-the-hole drill to enter the manual control mode when the manual control command is received, and otherwise to enter the automatic control mode.
In this embodiment, the controller 96 includes a PID module 962 for adjusting the voltage applied to the propulsion control valve using a PID algorithm. Specifically, the PID module 962 is configured to determine an input voltage applied to the propulsion control valve according to the predetermined propulsion speed, obtain a current value of the propulsion control valve, compare the input voltage with the current value of the propulsion control valve, perform PID operation processing to obtain a processed processing voltage, and apply the processed voltage as the input voltage to the propulsion control valve. The control of the propulsion speed can be made more precise by the PID module 962.
In this embodiment, the controller 96 further includes a filtering module 964, where the filtering module 964 is configured to perform filtering processing on the measured current air pressure data, actual revolving pressure data, and propulsion acceleration data to remove abnormal data, so as to avoid an abnormal data trigger misoperation caused by the jitter of the element itself. The filtering process may be to remove data that is outside a predetermined range.
In this embodiment, the down-the-hole drill control device further includes an automatic anti-sticking mode start prompting module 98, the automatic anti-sticking mode start prompting module 98 is connected to the controller 96, and the automatic anti-sticking mode start prompting module 98 is configured to prompt the automatic anti-sticking mode to start when the determination result is that the current air pressure is greater than the preset air pressure value, the actual revolving pressure is greater than the preset revolving pressure value, or the current absolute value of the propulsion acceleration is greater than the preset propulsion acceleration value. Specifically, the automatic anti-jamming drilling mode can be started by displaying the automatic anti-jamming drilling mode on the display, an automatic anti-jamming drilling indicating lamp can be arranged on the down-the-hole drilling machine, the lamp is on to indicate that the automatic anti-jamming drilling mode is started, an alarm can be arranged on the down-the-hole drilling machine, and the alarm sounds to indicate that the automatic anti-jamming drilling mode is started. Of course, the automatic anti-jamming drilling mode opening can be prompted in other modes. The automatic anti-jamming drilling mode is started through prompting, so that an operator can be reminded to pay close attention to the working condition of the down-the-hole drilling machine, the emergency situation can be handled in time, and the occurrence of serious accidents is avoided.
The automatic anti-sticking mode turn-on prompt module 98 is further configured to prompt the automatic anti-sticking mode to turn off when the current air pressure is not greater than the preset air pressure value, the actual revolving pressure is not greater than the preset revolving pressure value, or the absolute value of the current propulsion acceleration is not greater than the propulsion acceleration preset value after controlling the propulsion motor to rotate reversely or the propulsion motor to decelerate.
In this embodiment, the current air pressure can be detected by the air pressure detecting element, and the air pressure detecting element can be arranged at the air outlet of the screw machine of the down-the-hole drill. It will be appreciated that the air pressure sensing element may also be provided within the rotary air supply mechanism of the down-the-hole drill.
In this embodiment, the down-the-hole drill control apparatus further comprises a swing circuit and a propel circuit. The pressure detecting element 71 is provided on the rotary circuit, and the propulsion circuit is provided with a propulsion acceleration detecting element.
Specifically, referring to fig. 2, the rotary circuit includes a rotary motor 73, the rotary motor 73 includes a first oil port 732 and a second oil port 734, and the pressure detection element 71 is disposed on an oil path connected to the first oil port 732. The first oil port 732 and the second oil port 734 of the rotary motor 73 are used for being connected with a third oil port and a fourth oil port of a rotary reversing valve (not shown), the fifth oil port and the sixth oil port of the rotary reversing valve are respectively connected with an oil outlet and an oil tank of a rotary hydraulic pump (not shown), different communication states among the third oil port, the fourth oil port, the fifth oil port and the sixth oil port can be realized by reversing the rotary reversing valve, so that the oil outlet of the hydraulic pump is controlled to supply oil to the first oil port 732 or the second oil port 734, and the rotary motor 73 rotates forwards or backwards respectively. The pressure detecting element 71 is disposed on an oil path between the first oil port 732 and the rotary direction changing valve to detect the oil inlet pressure of the rotary motor 73 when the rotary motor 73 rotates forward, thereby obtaining the actual rotary pressure of the down-the-hole drill. It is understood that the pressure detecting element 71 may be provided at other positions such as the oil outlet of the hydraulic pump as long as the actual rotation pressure of the down-the-hole drill can be obtained.
Specifically, referring to fig. 3, the propulsion acceleration detecting element may be a flow meter 83a disposed on the propulsion circuit, the propulsion circuit includes a propulsion motor 81, the flow meter 83a, a first oil path 85 and a second oil path 87, the propulsion motor 81 includes a seventh oil port 812 and a second oil port 814, the first oil path 85 and the second oil path 87 are respectively connected to the seventh oil port 812 and the second oil port 814, and the flow meter 83a is disposed on the first oil path 85. The first oil path 85 and the second oil path 87 are further respectively connected to a ninth oil port and a tenth oil port of a propelling directional control valve (not shown), an eleventh oil port and a twelfth oil port of the propelling directional control valve are respectively connected to an oil outlet and an oil tank of a hydraulic pump (not shown), different communication states among the ninth oil port, the tenth oil port, the eleventh oil port and the twelfth oil port can be realized by reversing the propelling directional control valve, so that the oil outlet of the hydraulic pump is controlled to supply oil to the seventh oil port 812 or the eighth oil port 814, and the propelling motor 73 respectively rotates forwards or backwards, so that a drill rod is drilled or lifted. It will be appreciated that the thrust acceleration may also be obtained by other thrust acceleration detection elements than the flow meter, for example, a position sensor may be provided on the drill pipe, and the thrust acceleration may be calculated by obtaining different up and down positions of the drill pipe.
In the control device of the down-the-hole drill in the embodiment, the controller can prevent the drill from being stuck to the maximum extent by judging the air pressure firstly, then judging the rotation pressure and finally judging the propulsion acceleration, and can immediately solve the serious drill sticking by the strongest measure, thereby playing a good effect of preventing the drill from being stuck and ensuring the normal operation of the down-the-hole drill to the maximum extent.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A down-the-hole drill control method, comprising:
acquiring the current air pressure provided by a rotary air supply mechanism of the down-the-hole drill, judging whether the current air pressure is greater than a preset air pressure value, controlling the propulsion direction to be reversed when the current air pressure is greater than the preset air pressure value until the current air pressure is not greater than the preset air pressure value, acquiring the actual rotary pressure of the down-the-hole drill when the current air pressure is not greater than the preset air pressure value, and judging whether the actual rotary pressure is greater than the preset rotary pressure value;
when the actual revolving pressure is larger than the preset revolving pressure value, controlling the propulsion direction to reverse until the actual revolving pressure is not larger than the preset revolving pressure value, when the actual revolving pressure is not larger than the preset revolving pressure value, acquiring the current propulsion acceleration of a drill rod of the down-the-hole drill, and judging whether the absolute value of the current propulsion acceleration is larger than the preset propulsion acceleration value or not;
when the absolute value of the current propulsion acceleration is larger than the preset value of the propulsion acceleration, controlling the propulsion speed to decelerate until the absolute value of the current propulsion acceleration is not larger than the preset value of the propulsion acceleration;
and when the propelling direction is controlled to be reversed so that the current air pressure is not greater than the preset air pressure value, the actual revolving pressure is not greater than the preset revolving pressure value, or the absolute value of the current propelling acceleration is not greater than the propelling acceleration preset value, controlling the down-the-hole drill to normally work.
2. The down-the-hole drill control method of claim 1, wherein the current air pressure level is obtained by providing an air pressure detecting element (91) at an air outlet of a screw machine of the down-the-hole drill; or the actual revolving pressure is obtained by arranging a pressure detection element (71) on a revolving loop of the drill rod; alternatively, the current propulsion acceleration is obtained by a flow meter (83a) provided on the propulsion circuit.
3. The down-the-hole drill control method of claim 1, further comprising filtering at least one of the measured current barometric pressure data, the actual swing pressure data, and the current thrust acceleration data.
4. The down-the-hole drill control method of claim 1, wherein the down-the-hole drill is controlled to operate at a predetermined thrust speed by adjusting a voltage applied to the thrust control valve through a PID algorithm during normal operation of the down-the-hole drill.
5. The down-the-hole drill control method of claim 1, further comprising the steps of:
setting the preset air pressure value, the preset gyration pressure value, the preset acceleration absolute value and the preset propelling speed; alternatively, the first and second electrodes may be,
the down-the-hole drill control method further comprises the steps of:
and judging whether manual control is performed or not, if so, entering a manual control mode, and if not, entering an automatic control mode.
6. The down-the-hole drill control method of claim 1, further comprising the steps of:
and prompting the automatic anti-jamming drilling mode to be started after controlling the reverse direction of the propelling direction or controlling the propelling speed to decelerate.
7. The down-the-hole drill control device is characterized by comprising an air pressure detection element (91), a pressure detection element (71), a propulsion acceleration detection element (83) and a controller (96), wherein the air pressure detection element (91) is connected to the controller (96) and used for obtaining the current air pressure provided by a rotary air supply mechanism of the down-the-hole drill, the pressure detection element (71) is connected to the controller (96) and used for obtaining the actual rotary pressure of the down-the-hole drill, the propulsion acceleration detection element (83) is connected to the controller (96) and used for obtaining the current propulsion acceleration of a drill rod, and a preset air pressure value, a preset rotary pressure value and a preset propulsion acceleration value are preset in the controller (96);
the controller (96) is configured to determine whether a current air pressure is greater than the preset air pressure value, control the propulsion motor to reverse until the current air pressure is not greater than the preset air pressure value when the determination result is that the current air pressure is greater than the preset air pressure value, determine whether an actual revolving pressure is greater than the preset revolving pressure value when the determination result is that the current air pressure is not greater than the preset air pressure value, control the propulsion direction to reverse until the actual revolving pressure is not greater than the preset revolving pressure value when the determination result is that the actual revolving pressure is greater than the preset revolving pressure value, determine whether a current propulsion acceleration absolute value is greater than the propulsion acceleration preset value when the determination result is that the actual revolving pressure is not greater than the preset revolving pressure value, and control the propulsion motor to push when the determination result is that the current propulsion acceleration absolute value is greater than the acceleration preset value And decelerating the speed until the absolute value of the current propulsion acceleration is not greater than the preset acceleration value.
8. A down-the-hole drill control apparatus according to claim 7, characterised in that the controller (96) comprises a PID module (962), the PID module (962) being arranged to adjust the voltage applied to the thrust control valve by a PID algorithm.
9. The down-the-hole drill control device of claim 7, characterized in that the controller (96) further comprises a filtering module (964), the filtering module (964) being configured to filter the measured current barometric pressure data, the actual gyrating pressure data, and the thrust acceleration data.
10. The down-the-hole drill control device of claim 7, further comprising an automatic stuck prevention mode start prompting module (98), wherein the automatic stuck prevention mode start prompting module (98) is connected to the controller (96), and the automatic stuck prevention mode start prompting module (98) is configured to prompt an automatic stuck prevention mode start when the current air pressure is greater than the preset air pressure value, the actual revolving pressure is greater than the preset revolving pressure value, or the absolute value of the current propulsion acceleration is greater than the preset propulsion acceleration value as a result of the determination.
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| CN114233266A (en) * | 2021-12-17 | 2022-03-25 | 中联重科股份有限公司 | Automatic control method and system for drilling machine and storage medium |
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| CN113107354B (en) | 2022-05-17 |
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