CN113202454B - Method, system, equipment and storage medium for controlling power of rock drilling machine - Google Patents
Method, system, equipment and storage medium for controlling power of rock drilling machine Download PDFInfo
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- CN113202454B CN113202454B CN202110441347.XA CN202110441347A CN113202454B CN 113202454 B CN113202454 B CN 113202454B CN 202110441347 A CN202110441347 A CN 202110441347A CN 113202454 B CN113202454 B CN 113202454B
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
- E21B44/02—Automatic control of the tool feed
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
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Abstract
The invention discloses a rock drill power control method, a rock drill power control system, rock drill power control equipment and a storage medium, wherein the rock drill power control method comprises the following steps: acquiring preset rotary pressure of the rock drill; acquiring the actual rotary pressure of the rock drill; calculating the difference value between the actual revolving pressure and the preset revolving pressure; and controlling the propelling pressure of the rock drilling machine according to the difference value so that the actual rotary pressure is the same as the preset rotary pressure. In the rock drilling process, the actual rotary pressure and the preset rotary pressure of the rock drill are obtained, the size of the rock drill is compared, the propelling pressure of the rock drill is controlled according to the difference value between the actual rotary pressure and the preset rotary pressure, the actual rotary pressure of the rock drill is adjusted in real time, the actual rotary pressure of the rock drill is consistent with the preset rotary pressure, the stability of the rotary power of the rock drill is ensured, the rock drill is prevented from being damaged due to the fact that the rock drill works under the condition that the rotary power is too large for a long time, meanwhile, the stability of the rock drill is ensured, and the situation that the rock drill is stuck by a skewer is avoided.
Description
Technical Field
The invention relates to the technical field of rock drill control, in particular to a method, a system, equipment and a storage medium for controlling the power of a rock drill.
Background
In tunneling and mining, rock breaking is generally performed by a rock drilling and blasting technique.
In the rock drilling process of the rock drilling machine, the power of the rock drilling machine can be divided into rotary power and impact power according to the working characteristics of the rock drilling machine.
In the process of drilling, the rock stratum is constantly changed, if the characteristics of the rock stratum are different, the rotary pressure of the rock drill is different, therefore, the rotary power of the rock drill can change along with the change of the rock stratum, and the rotary power of the rock drill is fluctuated due to the change of the local characteristics of the rock stratum in the process of drilling.
If the rotation power of the rock drill is not controlled properly, for example, when the rock formation is hard, the rotation power of the rock drill is too high, and the rock drill is easy to be damaged; in addition, the rotary power of the rock drill is unstable, and the phenomena of drill rod clamping, rock drilling instability and the like of the rock drill are easily caused.
Therefore, how to solve the problem that the rotation power of the rock drilling machine fluctuates along with the change of the rock stratum in the rock drilling process is a problem to be solved urgently by those skilled in the art at present.
Disclosure of Invention
In view of the above, it is an object of the present invention to provide a method, a system, a device and a storage medium for controlling the power of a rock drill, in order to ensure the stability of the rotational power of the rock drill.
In order to achieve the above purpose, the invention provides the following technical scheme:
a method of rock drill power control comprising:
acquiring preset rotary pressure of the rock drill;
acquiring actual rotary pressure of the rock drill;
calculating the difference value between the actual revolving pressure and the preset revolving pressure;
and controlling the propelling pressure of the rock drilling machine according to the difference value so as to enable the actual rotary pressure to be the same as the preset rotary pressure.
Preferably, controlling the feed pressure of the rock drilling machine according to the difference comprises:
obtaining the control quantity of the electric proportional overflow valve for the propelling pressure of the rock drilling machine according to the difference value;
and adjusting the opening of the propulsion pressure electric proportional overflow valve according to the control quantity.
Preferably, the method further comprises the following steps:
acquiring a first preset propelling pressure and a second preset propelling pressure, wherein the first preset propelling pressure is a pressure which is smaller than the expected propelling pressure of the rock drilling machine by a preset value, and the second preset propelling pressure is a pressure which is larger than the corresponding propelling pressure in an empty load by a preset value;
acquiring actual propelling pressure of the rock drill;
when the actual propelling pressure is larger than the first preset propelling pressure, controlling a control value of an impact pressure electric proportional overflow valve of the rock drilling machine to be a high impact parameter;
when the actual propelling pressure is smaller than the first preset propelling pressure and larger than the second preset propelling pressure, reducing the control value of the impact pressure electric proportional overflow valve until the control value of the impact pressure electric proportional overflow valve reaches a pilot hole parameter;
and when the actual propelling pressure is smaller than the second preset propelling pressure, controlling the control value of the impact pressure electric proportional overflow valve to be the pilot hole parameter.
Preferably, the method further comprises the following steps:
acquiring a first preset propelling speed and a second preset propelling speed, wherein the first preset propelling speed is a speed value which is larger than the expected propelling speed of the rock drilling machine by a preset value, and the second preset propelling speed is a speed value which is smaller than the corresponding propelling speed under the condition of empty load by a preset value;
acquiring the actual propelling speed of the rock drill;
when the actual propelling speed is lower than the first preset propelling speed, controlling the control value of the impact pressure electric proportional overflow valve to be a high impact parameter;
when the actual propelling speed is higher than the first preset propelling speed and lower than the second preset propelling speed, reducing the control value of the impulse pressure electric proportional overflow valve until the control value of the impulse pressure electric proportional overflow valve reaches a pilot hole parameter;
and when the actual propelling speed is greater than the second preset propelling speed, controlling the control value of the impact pressure electric proportional overflow valve to be the pilot hole parameter.
Preferably, the reducing the control value of the surge pressure electro-proportional relief valve includes:
the control value of the surge pressure electro-proportional relief valve is reduced in a ramped manner or proportionally.
A rock drill power control system comprising:
the display unit is used for acquiring and displaying control parameters of the rock drilling machine, and the control parameters comprise preset rotary pressure of the rock drilling machine;
the first sensor is used for acquiring the actual rotary pressure of the rock drilling machine;
and the control unit is respectively connected with the display unit and the first sensor, and is used for calculating the difference value between the actual revolving pressure and the preset revolving pressure and controlling the propelling pressure of the rock drilling machine according to the difference value.
Preferably, the method further comprises the following steps:
a second sensor for acquiring an actual feed pressure of the rock drill;
the control parameters further comprise a first preset propelling pressure and a second preset propelling pressure, wherein the first preset propelling pressure is a pressure smaller than the expected propelling pressure of the rock drilling machine by a preset value, and the second preset propelling pressure is a pressure larger than the corresponding propelling pressure under an empty load by a preset value;
the control unit is further configured to:
when the actual propelling pressure is larger than the first preset propelling pressure, controlling a control value of an impact pressure electric proportional overflow valve of the rock drilling machine to be a high impact parameter;
when the actual propelling pressure is smaller than the first preset propelling pressure and larger than the second preset propelling pressure, reducing the control value of the impact pressure electric proportional overflow valve until the control value of the impact pressure electric proportional overflow valve reaches a pilot hole parameter;
and when the actual propelling pressure is smaller than the second preset propelling pressure, controlling the control value of the impact pressure electric proportional overflow valve to be the pilot hole parameter.
Preferably, the method further comprises the following steps:
a third sensor for acquiring an actual propulsion speed of the rock drill;
the control parameters further comprise a first preset propelling speed and a second preset propelling speed, wherein the first preset propelling speed is a speed value which is larger than the expected propelling speed of the rock drilling machine by a preset value, and the second preset propelling speed is a speed value which is smaller than the corresponding propelling speed under the condition of empty load by a preset value;
the control unit is further configured to:
when the actual propelling speed is lower than the first preset propelling speed, controlling the control value of the impact pressure electric proportional overflow valve to be a high impact parameter;
when the actual propelling speed is higher than the first preset propelling speed and lower than the second preset propelling speed, reducing the control value of the impulse pressure electric proportional overflow valve until the control value of the impulse pressure electric proportional overflow valve reaches a pilot hole parameter;
and when the actual propelling speed is greater than the second preset propelling speed, controlling the control value of the impact pressure electric proportional overflow valve to be the pilot hole parameter.
A rock drill power control apparatus comprises
A memory for storing a computer program;
a processor for implementing the steps of any one of the rock drill power control methods described above when executing said computer program.
A computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method for power control of a rock drill as set forth in any one of the above.
The method for controlling the power of the rock drill provided by the invention has the advantages that in the rock drilling process, the actual rotary pressure of the rock drill and the preset rotary pressure are obtained, the actual rotary pressure of the rock drill is controlled according to the difference value between the actual rotary pressure and the preset rotary pressure by comparing the actual rotary pressure and the preset rotary pressure, the actual rotary pressure of the rock drill is enabled to be consistent with the preset rotary pressure, the stability of the rotary power of the rock drill is ensured, the rock drill is prevented from being damaged due to the fact that the rock drill works under the condition of overlarge rotary power for a long time, the stability of rock drilling is ensured, and the sticking and the like of the rock drill are avoided.
The invention also provides a rock drilling machine power control system, equipment and a computer readable storage medium corresponding to the rock drilling machine power control method, which have the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a method for controlling power of a rock drilling machine according to an embodiment of the present invention;
fig. 2 is a flowchart of a rock drilling power control method according to a second embodiment of the present invention;
fig. 3 is a flowchart of a rock drilling power control method according to a third embodiment of the present invention;
fig. 4 is a block diagram of a power control system of a rock drill according to an embodiment of the present invention;
fig. 5 is a block diagram of a power control system for a rock drill according to another embodiment of the present invention;
fig. 6 is a block diagram of a power control apparatus for a rock drill according to an embodiment of the present invention.
The reference numerals in fig. 4 to 6 are as follows:
the device comprises a display unit 1, a first sensor 2, a control unit 3, a propulsion pressure electric proportional overflow valve 4, a second sensor 5, a third sensor 6, an impact pressure electric proportional overflow valve 7, a memory 8 and a processor 9.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide a rock drill power control method, system, equipment and storage medium to ensure the stability of the rotary power of the rock drill.
Referring to fig. 1, the present invention provides a rock drilling power control method, including steps S101 to S104:
step S101: and acquiring the preset rotary pressure of the rock drill.
Step S102: and acquiring the actual rotary pressure of the rock drill.
Step S103: and calculating the difference value of the actual rotary pressure of the rock drill and the preset rotary pressure of the rock drill.
Step S104: and controlling the propelling pressure of the rock drill according to the difference value of the actual rotary pressure of the rock drill and the preset rotary pressure of the rock drill so as to enable the actual rotary pressure of the rock drill to be the same as the preset rotary pressure.
The preset revolving pressure of the rock drilling machine is a pressure value determined according to the characteristics of the rock drilling machine, and is preset and input by a user.
The actual rotary pressure of the rock drill is a real-time pressure value of the rock drill in the rock drilling process, and can be detected and acquired through a sensor.
In addition, the invention utilizes the strong coupling relation between the rotation and the propulsion of the rock drill, and indirectly adjusts the actual rotation pressure of the rock drill by adjusting the propulsion pressure of the rock drill until the actual rotation pressure of the rock drill is equal to the preset rotation pressure of the rock drill.
It will be appreciated that there is a correspondence between the rotary pressure of the rock drill and the feed pressure, which can be derived by a person skilled in the art in view of common knowledge, so that after calculating the difference between the actual rotary pressure of the rock drill and its preset rotary pressure, an adjustment to the feed pressure can be derived from the difference.
The actual revolving pressure of the rock drill is adjusted in real time by obtaining the actual revolving pressure and the preset revolving pressure of the rock drill and comparing the actual revolving pressure and the preset revolving pressure, the propelling pressure of the rock drill is controlled according to the difference value between the actual revolving pressure and the preset revolving pressure, so that the actual revolving pressure of the rock drill is consistent with the preset revolving pressure, the stability of the revolving power of the rock drill is ensured, the rock drill is prevented from being damaged due to the fact that the rock drill works under the condition of overlarge revolving power for a long time, the stability of rock drill is ensured, and the sticking of the rock drill is avoided.
In view of the convenience of adjusting the feed pressure of the rock drilling machine, on the basis of the above-described embodiment, the step S104 of controlling the feed pressure of the rock drilling machine according to the difference between the actual rotary pressure of the rock drilling machine and the preset rotary pressure thereof comprises the steps of:
and obtaining the control quantity of the electric proportional overflow valve for the propelling pressure of the rock drill according to the difference value of the actual rotary pressure of the rock drill and the preset rotary pressure of the rock drill.
The opening of the boost pressure electric proportional relief valve is adjusted according to the control quantity.
That is to say, this embodiment adjusts the propulsion pressure of rock drill through the aperture of adjusting the propulsion pressure electricity proportional relief valve, and then realizes the regulation to the actual gyration pressure of rock drill.
In addition, in the rock drilling process, when the rock stratum is softer, the required impact power is smaller, and at the moment, if the actually output power exceeds the power required by the load, the impact power of the rock drilling machine is not matched with the impact power required by the actual rock drilling, the rock drilling machine is operated under the condition for a long time, and the rock drilling machine is further damaged.
Referring to fig. 2, to solve the technical problem, on the basis of the above embodiment, the method further includes steps S201 to S205:
step S201: and acquiring a first preset propelling pressure and a second preset propelling pressure, wherein the first preset propelling pressure is a pressure smaller than the expected propelling pressure of the rock drilling machine by a preset value, and the second preset propelling pressure is a pressure larger than the corresponding propelling pressure in an empty load by a preset value.
Step S202: and acquiring the actual propelling pressure of the rock drilling machine.
Step S203: and when the actual propelling pressure is greater than the first preset propelling pressure, controlling the control value of the impact pressure electric proportional overflow valve of the rock drilling machine to be a high impact parameter.
Step S204: and when the actual propelling pressure is smaller than the first preset propelling pressure and larger than the second preset propelling pressure, reducing the control value of the impact pressure electric proportional overflow valve until the control value of the impact pressure electric proportional overflow valve reaches the pilot hole parameter.
Step S205: and when the actual propelling pressure is smaller than the second preset propelling pressure, controlling the control value of the impact pressure electric proportional overflow valve to be a pilot hole parameter.
It will be appreciated that when the rock formation is soft, the propulsion of the rock drilling machine exhibits a characteristic in which the propulsion pressure is relatively low, and the load to which the impact of the rock drilling machine is subjected is also relatively small, so that the impact power required by the rock drilling machine should be suitably reduced, i.e. the impact power of the rock drilling machine can be adjusted by determining whether the propulsion pressure of the rock drilling machine meets the above-mentioned conditions.
It should be noted that the first preset feed pressure and the second preset feed pressure of the rock drilling machine are pressure values determined according to the characteristics of the rock drilling machine, and are preset and input by a user.
The actual propelling pressure of the rock drilling machine refers to a real-time propelling pressure value of the rock drilling machine in the rock drilling process, and can be detected and acquired through a sensor.
Specifically, when the actual propelling pressure of the rock drilling machine is greater than the first preset propelling pressure, the rock drilling machine is indicated to normally drill hard rock, and at the moment, the required impact power is relatively high, so that the control value of the impact pressure electric proportional overflow valve of the rock drilling machine is controlled to be a high impact parameter.
When the actual propelling pressure of the rock drill is smaller than the first preset propelling pressure and larger than the second preset propelling pressure, the rock stratum is soft, and at the moment, the required impact power is reduced, so that the control value of the impact pressure electric proportional overflow valve is reduced until the control value of the impact pressure electric proportional overflow valve reaches the pilot hole parameter.
When the actual propelling pressure of the rock drill is smaller than the second preset propelling pressure, the situation that the rock drill just starts to drill or the load is close to zero is indicated, at the moment, the required impact power is small, and the control value of the electric proportional overflow valve for controlling the impact pressure is the pilot hole parameter.
Furthermore, when the rock stratum is soft, the characteristics displayed by the propulsion of the rock drilling machine are that the propulsion speed is high, and therefore, the impact power of the rock drilling machine can be adjusted by judging whether the propulsion speed of the rock drilling machine meets certain conditions.
That is, referring to fig. 3, on the basis of the above embodiment, the method further includes steps S301 to S305:
step S301: and acquiring a first preset propelling speed and a second preset propelling speed, wherein the first preset propelling speed is a speed value which is larger than the expected propelling speed of the rock drilling machine by a preset value, and the second preset propelling speed is a speed value which is smaller than the corresponding propelling speed under the condition of empty load by a preset value.
Step S302: and acquiring the actual propelling speed of the rock drilling machine.
Step S303: and when the actual propelling speed is less than the first preset propelling speed, controlling the control value of the impact pressure electric proportional overflow valve to be a high impact parameter.
Step S304: and when the actual propelling speed is greater than the first preset propelling speed and less than the second preset propelling speed, reducing the control value of the impact pressure electric proportional overflow valve until the control value of the impact pressure electric proportional overflow valve reaches the pilot hole parameter.
Step S305: and when the actual propelling speed is greater than the second preset propelling speed, controlling the control value of the impact pressure electric proportional overflow valve to be a pilot hole parameter.
It should be noted that the first preset feed speed and the second preset feed speed of the rock drilling machine are speed values determined according to the characteristics of the rock drilling machine, and are preset and input by the user.
The actual propelling speed of the rock drilling machine is a real-time propelling speed value of the rock drilling machine in the rock drilling process, and can be detected and acquired through a sensor.
Specifically, when the actual propulsion speed of the rock drilling machine is lower than the first preset propulsion speed, the rock drilling machine is indicated to normally drill hard rock, and at the moment, the required impact power is relatively high, so that the control value of the impact pressure electric proportional overflow valve is controlled to be a high impact parameter.
When the actual propelling speed is greater than the first preset propelling speed and less than the second preset propelling speed, the rock stratum is soft, at the moment, the required impact power is reduced, and therefore the control value of the impact pressure electric proportional overflow valve is reduced until the control value of the impact pressure electric proportional overflow valve reaches the pilot hole parameter.
When the actual propelling speed is higher than the second preset propelling speed, the situation that the rock drill just starts to drill or the load is close to zero is indicated, at the moment, the required impact power is small, and the control value of the control impact pressure electric proportional overflow valve is the pilot hole parameter.
That is to say, this embodiment can be through using propulsion pressure to adjust impact power as the judgement condition, also can use propulsion speed to adjust impact power as the judgement condition, as long as any one in propulsion pressure and the propulsion speed satisfies its judgement condition that corresponds, then adjust the impact power of rock drill, that is, judge the resistance that the rock drill bit met through propulsion pressure and propulsion speed, and then adjust the impact power of rock drill through adjusting impact pressure, when the stratum is softer or the stratum is broken, can effectively reduce the rock drill and strike, make the rock drill avoid empty impact, effectively protect the rock drill, extension rock drill life.
Further, in the above-described embodiment, the control values of the surge-pressure-reducing electro-proportional relief valve in step S204 and step S304 include:
the control value of the surge pressure electro-proportional relief valve is reduced in a ramped manner or proportionally.
Referring to fig. 4, a block diagram of a power control system of a rock drilling machine according to an embodiment of the present invention is shown.
In addition to the above-described rock drilling power control method, the present invention also provides a rock drilling power control system implementing the rock drilling power control method disclosed in the above-described embodiment, the rock drilling power control system including a display unit 1, a first sensor 2, and a control unit 3.
Specifically, the display unit 1 is used to acquire and display control parameters of the rock drilling machine, including a preset rotary pressure of the rock drilling machine.
The first sensor 2 is used to obtain the actual gyrating pressure of the rock drilling machine.
The control unit 3 is respectively connected with the display unit 1 and the first sensor 2, and the control unit 3 is used for calculating the difference value between the actual revolving pressure and the preset revolving pressure and controlling the propelling pressure of the rock drilling machine according to the difference value.
That is, after a user inputs a preset rotation pressure through the display unit 1, the display unit 1 sends the preset rotation pressure to the control unit 3, in the rock drilling process, after the first sensor 2 detects the actual rotation pressure of the rock drilling machine, the actual rotation pressure is sent to the control unit 3, the control unit 3 compares the difference value of the actual rotation pressure of the rock drilling machine and the preset rotation pressure, and controls the propelling pressure of the rock drilling machine according to the difference value, for example, the control unit 3 outputs a control instruction to the propelling pressure electric proportional overflow valve 4, so that the propelling pressure electric proportional overflow valve 4 adjusts the opening according to the control quantity sent by the control unit 3, the purpose of adjusting the propelling pressure is achieved, and the rotation power of the rock drilling machine is stable.
Further, referring to fig. 5, on the basis of the above embodiment, a second sensor 5 is included for obtaining the actual feed pressure of the rock drilling machine.
At this time, the control parameters of the display unit 1 further include a first preset feed pressure and a second preset feed pressure, wherein the first preset feed pressure is a pressure that is smaller than the desired feed pressure of the rock drilling machine by a preset value, and the second preset feed pressure is a pressure that is larger than the corresponding feed pressure at empty load by a preset value.
Meanwhile, the control unit 3 is also configured to:
when the actual propelling pressure is greater than the first preset propelling pressure, controlling the control value of an impact pressure electric proportional overflow valve 7 of the rock drill to be a high impact parameter;
when the actual propelling pressure is smaller than the first preset propelling pressure and larger than the second preset propelling pressure, reducing the control value of the impact pressure electric proportional overflow valve 7 until the control value of the impact pressure electric proportional overflow valve 7 reaches the pilot parameter;
and when the actual propelling pressure is smaller than the second preset propelling pressure, controlling the control value of the impact pressure electric proportional overflow valve 7 to be a pilot parameter.
It can be seen that the rock drilling machine power control system provided by this embodiment corresponds to the above-mentioned method embodiment for adjusting the percussion power according to the judgment condition of the propulsion pressure, and therefore, reference may be made to the detailed description of the above-mentioned method embodiment, which is not described herein again.
Further, as shown in fig. 5, on the basis of the above-described embodiment, a third sensor 6 is included, which is used to obtain the actual advance speed of the rock drilling machine.
At this time, the control parameters of the display unit 1 further include a first preset advance speed, which is a speed value greater than the expected advance speed of the rock drill by a preset value, and a second preset advance speed, which is a speed value smaller than the corresponding advance speed at the time of an empty load by a preset value.
Meanwhile, the control unit 3 is also configured to:
when the actual propelling speed is lower than the first preset propelling speed, controlling the control value of the impact pressure electric proportional overflow valve 7 to be a high impact parameter;
when the actual propelling speed is higher than the first preset propelling speed and lower than the second preset propelling speed, reducing the control value of the impact pressure electric proportional overflow valve 7 until the control value of the impact pressure electric proportional overflow valve 7 reaches the pilot parameter;
and when the actual propelling speed is higher than a second preset propelling speed, controlling the control value of the impact pressure electro-proportional overflow valve 7 as a pilot hole parameter.
It can be seen that the rock drilling machine power control system provided by this embodiment corresponds to the above-mentioned method embodiment for adjusting the impact power according to the determination condition of the propulsion speed, and therefore, reference may be made to the detailed description of the above-mentioned method embodiment, which is not described herein again.
Referring to fig. 6, fig. 6 is a block diagram of a rock drilling power control apparatus according to an embodiment of the present invention, where the rock drilling power control apparatus may include:
a memory 8 for storing a computer program;
a processor 9 for implementing the steps of the rock drill power control method as disclosed in any one of the above embodiments when executing the computer program.
The rock drilling machine power control equipment provided by the embodiment of the invention has the beneficial effects of the rock drilling machine power control method.
For the description of the rock drill power control device provided by the present invention, reference is made to the above method embodiment, and the present invention is not described herein again.
Corresponding to the above method embodiment, the present invention further provides a computer readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the rock drilling power control method as disclosed in any one of the above embodiments.
The computer-readable storage medium provided by the embodiment of the invention has the beneficial effects of the rock drill power control method.
The computer-readable storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
For the introduction of the computer-readable storage medium provided by the present invention, please refer to the above method embodiments, which are not described herein again.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The method, the system, the equipment and the storage medium for controlling the rock drilling machine power provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (6)
1. A method of controlling power in a rock drill, comprising:
acquiring preset rotary pressure of the rock drill;
acquiring actual rotary pressure of the rock drill;
calculating the difference value between the actual revolving pressure and the preset revolving pressure;
controlling the propelling pressure of the rock drill according to the difference value so as to enable the actual rotary pressure to be the same as the preset rotary pressure;
further comprising:
acquiring a first preset propelling pressure and a second preset propelling pressure, wherein the first preset propelling pressure is a pressure which is smaller than the expected propelling pressure of the rock drilling machine by a preset value, and the second preset propelling pressure is a pressure which is larger than the corresponding propelling pressure in an empty load by a preset value;
acquiring actual propelling pressure of the rock drill;
when the actual propelling pressure is larger than the first preset propelling pressure, controlling a control value of an impact pressure electric proportional overflow valve of the rock drilling machine to be a high impact parameter;
when the actual propelling pressure is smaller than the first preset propelling pressure and larger than the second preset propelling pressure, reducing the control value of the impact pressure electric proportional overflow valve until the control value of the impact pressure electric proportional overflow valve reaches a pilot hole parameter;
when the actual propelling pressure is smaller than the second preset propelling pressure, controlling the control value of the impact pressure electric proportional overflow valve to be the pilot hole parameter;
and/or, further comprising:
acquiring a first preset propelling speed and a second preset propelling speed, wherein the first preset propelling speed is a speed value which is larger than the expected propelling speed of the rock drilling machine by a preset value, and the second preset propelling speed is a speed value which is smaller than the corresponding propelling speed under the condition of empty load by a preset value;
acquiring the actual propelling speed of the rock drill;
when the actual propelling speed is lower than the first preset propelling speed, controlling a control value of an impact pressure electric proportional overflow valve of the rock drilling machine to be a high impact parameter;
when the actual propelling speed is higher than the first preset propelling speed and lower than the second preset propelling speed, reducing the control value of the impulse pressure electric proportional overflow valve until the control value of the impulse pressure electric proportional overflow valve reaches a pilot hole parameter;
and when the actual propelling speed is greater than the second preset propelling speed, controlling the control value of the impact pressure electric proportional overflow valve to be the pilot hole parameter.
2. Rock drill power control method according to claim 1, characterized in that controlling the feed pressure of the rock drill in dependence of the difference value comprises:
obtaining the control quantity of the electric proportional overflow valve for the propelling pressure of the rock drilling machine according to the difference value;
and adjusting the opening of the propulsion pressure electric proportional overflow valve according to the control quantity.
3. A rock drill power control method according to claim 1 or 2, characterized in that said reducing the control value of the percussion pressure electro-proportional relief valve comprises:
the control value of the surge pressure electro-proportional relief valve is reduced in a ramped manner or proportionally.
4. A rock drill power control system, comprising:
the device comprises a display unit (1) and a control unit, wherein the display unit is used for acquiring and displaying control parameters of the rock drilling machine, and the control parameters comprise preset rotary pressure of the rock drilling machine;
a first sensor (2) for obtaining an actual swing pressure of the rock drilling machine;
the control unit (3) is respectively connected with the display unit (1) and the first sensor (2), and the control unit (3) is used for calculating the difference value between the actual rotary pressure and the preset rotary pressure and controlling the propelling pressure of the rock drilling machine according to the difference value;
further comprising:
a second sensor (5) for acquiring the actual feed pressure of the rock drilling machine;
the control parameters further comprise a first preset propelling pressure and a second preset propelling pressure, wherein the first preset propelling pressure is a pressure smaller than the expected propelling pressure of the rock drilling machine by a preset value, and the second preset propelling pressure is a pressure larger than the corresponding propelling pressure in an empty load by a preset value;
the control unit (3) is further configured to:
when the actual propelling pressure is greater than the first preset propelling pressure, controlling a control value of an impact pressure electric proportional overflow valve (7) of the rock drill to be a high impact parameter;
when the actual propelling pressure is smaller than the first preset propelling pressure and larger than the second preset propelling pressure, reducing the control value of the impact pressure electric proportional overflow valve (7) until the control value of the impact pressure electric proportional overflow valve (7) reaches a pilot parameter;
when the actual propelling pressure is smaller than the second preset propelling pressure, controlling the control value of the impact pressure electric proportional overflow valve (7) to be the pilot hole parameter;
and/or, further comprising:
-a third sensor (6) for obtaining the actual propulsion speed of the rock drilling machine;
the control parameters further comprise a first preset propelling speed and a second preset propelling speed, wherein the first preset propelling speed is a speed value which is larger than the expected propelling speed of the rock drilling machine by a preset value, and the second preset propelling speed is a speed value which is smaller than the corresponding propelling speed under the condition of empty load by a preset value;
the control unit (3) is further configured to:
when the actual propelling speed is lower than the first preset propelling speed, controlling a control value of an impact pressure electric proportional overflow valve (7) of the rock drill to be a high impact parameter;
when the actual propelling speed is higher than the first preset propelling speed and lower than the second preset propelling speed, reducing the control value of the impact pressure electric proportional overflow valve (7) until the control value of the impact pressure electric proportional overflow valve (7) reaches a pilot parameter;
and when the actual propelling speed is higher than the second preset propelling speed, controlling the control value of the impact pressure electric proportional overflow valve (7) to be the pilot hole parameter.
5. A rock drill power control apparatus, comprising:
a memory (8) for storing a computer program;
a processor (9) for implementing the steps of the rock drill power control method as claimed in any one of claims 1 to 3 when executing the computer program.
6. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the rock drilling power control method as claimed in any one of claims 1 to 3.
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| CN202110441347.XA CN113202454B (en) | 2021-04-23 | 2021-04-23 | Method, system, equipment and storage medium for controlling power of rock drilling machine |
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| CN202110441347.XA CN113202454B (en) | 2021-04-23 | 2021-04-23 | Method, system, equipment and storage medium for controlling power of rock drilling machine |
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| CN113202454B true CN113202454B (en) | 2022-06-07 |
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| US6062650A (en) * | 1995-02-07 | 2000-05-16 | Advanced Technology For Rock Excavation Inc. | Continuous control system for a mining or tunnelling machine |
| CN102425401A (en) * | 2011-11-18 | 2012-04-25 | 山河智能装备股份有限公司 | Electro-hydraulic logic control loop of rock drilling actions of hydraulic rock drilling machine |
| CN203223215U (en) * | 2013-04-08 | 2013-10-02 | 江苏四维智能装备技术有限公司 | High-efficiency automatic control system of drilling machine |
| CN109113572A (en) * | 2018-11-19 | 2019-01-01 | 中国铁建重工集团有限公司 | A kind of control method and drill jumbo for drill jumbo |
| CN111636858A (en) * | 2020-06-16 | 2020-09-08 | 中国铁建重工集团股份有限公司 | Anti-jamming control method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FI112525B (en) * | 2002-02-22 | 2003-12-15 | Sandvik Tamrock Oy | Arrangement for control of striking rock drilling |
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- 2021-04-23 CN CN202110441347.XA patent/CN113202454B/en active Active
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| US6062650A (en) * | 1995-02-07 | 2000-05-16 | Advanced Technology For Rock Excavation Inc. | Continuous control system for a mining or tunnelling machine |
| CN102425401A (en) * | 2011-11-18 | 2012-04-25 | 山河智能装备股份有限公司 | Electro-hydraulic logic control loop of rock drilling actions of hydraulic rock drilling machine |
| CN203223215U (en) * | 2013-04-08 | 2013-10-02 | 江苏四维智能装备技术有限公司 | High-efficiency automatic control system of drilling machine |
| CN109113572A (en) * | 2018-11-19 | 2019-01-01 | 中国铁建重工集团有限公司 | A kind of control method and drill jumbo for drill jumbo |
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| CN113202454A (en) | 2021-08-03 |
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