CN115324505A

CN115324505A - Method and device for automatically lowering drill rod and operation machine

Info

Publication number: CN115324505A
Application number: CN202210929325.2A
Authority: CN
Inventors: 翟明浩; 张自航; 于卓伟
Original assignee: Beijing Sany Intelligent Technology Co Ltd
Current assignee: Beijing Sany Intelligent Technology Co Ltd
Priority date: 2022-08-03
Filing date: 2022-08-03
Publication date: 2022-11-11

Abstract

The invention relates to the field of control of working machinery, and provides a method and a device for automatically lowering a drill rod and the working machinery, wherein the method comprises the following steps: when the running state of the operation machine is determined to meet the automatic lowering condition of the drill rod, controlling the drill rod to be lowered at a first preset speed; determining a corresponding impact position of the drill rod in the lowering process; adjusting the lowering speed of the drill rod in the lowering process based on the impact position; when the drill rod is determined to be lowered to the bottom of the hole, calculating the actual total length of the drill rod extending out; determining a target pressurizing position corresponding to the actual extending total length of the drill rod; and controlling the power head to rotate forwards to a target position of the power head. The drilling rod lowering device is used for overcoming the defects of low working efficiency and short service life of the operation machinery caused by manual control mode of lowering the drilling rod in the prior art, and the operation efficiency and the service life of the operation machinery are improved.

Description

Method and device for automatically lowering drill rod and operation machine

Technical Field

The invention relates to the technical field of control of working machines, in particular to a method and a device for automatically lowering a drill rod and a working machine.

Background

The conventional operation machine for drilling comprises a chassis, a mast, a drill rod, a power head, a main winch, a drilling tool and other structures, such as a rotary drilling rig, a down-the-hole drilling rig and the like. The drill rod is lowered to be a basic operation step in the working cycle of the working machine, and the safe, quick and stable lowering process is the target pursued by a manipulator.

In the prior art, the control of the lowering of the drill rod is completely dependent on the manual operation of a machine hand. The position of operating devices such as a drill rod, a power head and a main winch and the operation condition of operating machinery need to be observed constantly by a manipulator in the operation process, and the lowering speed of the drill rod is controlled by adjusting an operating handle.

The drill rod is lowered in a manual control mode, and various problems exist, for example, the drill rod is lowered depending on the operation experience and technology of a manipulator, the operation steps are complex, the operation burden of the manipulator is large, the lowering stability is poor, the lowering speed fluctuation is large, the lowering efficiency is low, and the like; for another example, impact is easily generated between the drill rod and the power head buffer device, between two sections of drill rods and between the drilling tool and the hole bottom, so that the operating mechanisms such as the drill rod, the main winch speed reducer and the power head are damaged, and the service life of the operating machine is influenced; and so on.

Disclosure of Invention

The invention provides a method and a device for automatically lowering a drill rod and an operating machine, which are used for overcoming the defects of low working efficiency and short service life of the operating machine caused by lowering the drill rod in a manual control mode in the prior art, and realizing the improvement of the operating efficiency and the service life of the operating machine.

The invention provides a method for automatically lowering a drill rod, which comprises the following steps:

when the operating state of the operating machine is determined to meet the automatic lowering condition of the drill rod, controlling the drill rod to be lowered at a first preset speed;

determining the corresponding impact position of the drill rod in the lowering process;

adjusting the lowering speed of the drill rod in the lowering process based on the impact position;

calculating the actual total extension length of the drill rod when the drill rod is determined to be lowered to the bottom of the hole;

determining a target pressurizing position corresponding to the actual extending total length of the drill rod based on a first corresponding relation between the extending total length of the drill rod and the pressurizing position calibrated in advance;

and determining the target position of the power head corresponding to the target pressurizing position based on a second corresponding relation between the position of the power head and the pressurizing position calibrated in advance, and controlling the power head to rotate forwards to the target position of the power head.

The invention provides a method for automatically lowering a drill rod, which comprises the following steps of determining the corresponding impact position of the drill rod in the lowering process:

acquiring the lowering depth of the drill rod and the position of the power head at the current moment;

based on the pre-stored physical parameter information of the working machine, the lowering depth of the drill rod and the position of the power head, determining the number of extending sections of the drill rod and the extending current length of the drill rod at the current moment;

and determining the current impact position based on the position of the power head, the number of the extending sections of the drill rod and the extending current length of the drill rod.

According to the invention, the method for automatically lowering the drill rod is provided, and the method for adjusting the lowering speed of the drill rod in the lowering process based on the impact position comprises the following steps:

when the impact distance corresponding to the drill rod and the current impact position at the current moment is determined to be a first preset distance, determining a second preset speed based on the position of the power head, the number of extending sections of the drill rod and the current extending length of the drill rod;

controlling the drill rod to be placed at the second preset speed;

and after the impact is determined to be finished, controlling the drill rod to be lowered at the first preset speed.

The invention provides a method for automatically lowering a drill rod, which comprises the following steps of controlling the drill rod to be lowered at a second preset speed:

determining the main winch lowering feedforward current corresponding to the second preset speed;

controlling the drill rod to be lowered at the second preset speed based on the main winch lowering feedforward current;

acquiring the actual lowering speed of the drill rod in the lowering process;

comparing the second preset speed with the actual lowering speed to obtain a comparison result;

generating a main winch downward-discharging compensation current based on the comparison result;

and adjusting the actual lowering speed based on the main winch lowering compensation current.

The invention provides a method for automatically lowering a drill rod, wherein the step of determining a second preset speed based on the position of a power head, the number of extending sections of the drill rod and the current extending length of the drill rod comprises the following steps:

determining a target speed based on the position of the power head, the number of extending sections of the drill rod and the current length of the drill rod extending;

analyzing the target speed to obtain a second preset speed and a third preset speed;

the third preset speed is the moving speed of the power head;

when controlling the drill rod to be lowered at the second preset speed, the method further comprises the following steps:

and controlling the power head to move according to the moving speed.

According to the invention, the method for automatically lowering the drill rod further comprises the following steps before calculating the actual total extension length of the drill rod when the drill rod is determined to be lowered to the bottom of the hole:

acquiring a main hoisting pressure and a drilling depth;

and when the main winch pressure is determined to be smaller than the preset pressure and the difference value between the lowering depth and the drilling depth is determined to be smaller than the preset value, determining that the drill rod is lowered to the bottom of the hole.

According to the method for automatically lowering the drill rod, when the running state of the working machine is determined to meet the automatic lowering condition of the drill rod, before the drill rod is controlled to be lowered at a first preset speed, the method further comprises the following steps:

acquiring an automatic lowering instruction;

judging whether the running state of the operation machine at the current moment meets the automatic lowering condition of the drill rod or not based on the automatic lowering instruction;

when the operating state of the operation machine is determined to meet the automatic lowering condition of the drill rod, the drill rod is controlled to be lowered at a first preset speed, and the method comprises the following steps:

and when the operating state of the operating machine is judged to meet the automatic lowering condition of the drill rod, controlling the drill rod to be lowered at a first preset speed, and controlling the drill rod to rotate reversely at a preset rotating speed.

According to the invention, the automatic drill rod lowering method is provided, and the automatic lowering condition comprises the following steps: the rotating speed of an engine of the working machine belongs to a preset rotating speed range, the state of a pilot switch of the working machine is an open state, the inclination angle of a mast of the working machine belongs to a first preset angle range, the rotation angle of an upper vehicle body of the working machine belongs to a second preset angle range, a connecting pipe mark position of an operating handle of the working machine is a preset mark, and the working machine does not have any one or more of abnormal conditions and alarm information.

The invention also provides a device for automatically lowering the drill rod, which comprises:

the first control module is used for controlling the drill rod to be placed at a first preset speed when the running state of the operation machine is determined to meet the automatic placing condition of the drill rod;

the first determining module is used for determining the corresponding impact position of the drill rod in the lowering process;

the second control module is used for adjusting the lowering speed of the drill rod in the lowering process based on the impact position;

the second determination module is used for calculating the actual extending total length of the drill rod when the drill rod is determined to be lowered to the bottom of the hole;

the third determination module is used for determining a target pressurizing position corresponding to the actual extending total length of the drill rod based on a first corresponding relation between the extending total length of the drill rod and the pressurizing position calibrated in advance;

and the third control module is used for determining the target position of the power head corresponding to the target pressurizing position based on the second corresponding relation between the position of the pre-calibrated power head and the pressurizing position, and controlling the power head to rotate forwards to the target position of the power head.

The present invention also provides a working machine, comprising: the automatic drill rod lowering device comprises a working machine body and a controller, wherein the controller is used for realizing the automatic drill rod lowering method.

The invention provides a method and a device for automatically lowering a drill rod and an operating machine, wherein the drill rod is controlled to be lowered at a first preset speed when the operating state of the operating machine is determined to meet the automatic lowering condition of the drill rod; determining the corresponding impact position of the drill rod in the lowering process; based on the impact position, the lowering speed of the drill rod in the lowering process is adjusted, so that the impact force of the impact position is reduced by adjusting the lowering speed of the drill rod in the lowering process of the drill rod, the impact protection is realized, and the service life of the operating machine is prolonged; when the drill rod is determined to be lowered to the bottom of the hole, calculating the actual total length of the drill rod extending out; the target pressurizing position corresponding to the actual extending total length of the drill rod is determined based on the corresponding relation between the extending total length of the drill rod and the pressurizing position which is calibrated in advance, so that the target pressurizing position corresponding to the actual extending total length of the drill rod can be quickly obtained based on the first corresponding relation which is calibrated in advance; and determining the target position of the power head corresponding to the target pressurizing position based on the second corresponding relation between the position of the power head and the pressurizing position which is calibrated in advance, and controlling the power head to rotate forwards to the target position of the power head, so that a manipulator can directly perform pressurizing drilling operation without any operation, and the operating efficiency of the operating machine is improved.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic flow diagram of a method of the present invention for providing automatic lowering of a drill pipe;

FIG. 2 is a schematic structural diagram of a rotary drilling rig provided by the invention;

FIG. 3 is a mechanism schematic diagram of a drill rod of the rotary drilling rig provided by the invention;

FIG. 4 is a schematic view of an impact location provided by the present invention;

FIG. 5 is a second schematic flow chart of the method of the present invention for providing automatic lowering of a drill pipe;

FIG. 6 is a schematic diagram of a follow-up control strategy for the power head and drill pipe provided by the present invention;

FIG. 7 is a third schematic flow chart of the method of the present invention for providing automatic lowering of a drill pipe;

FIG. 8 is a schematic structural view of the apparatus for providing automatic lowering of a drill pipe according to the present invention;

FIG. 9 is a schematic structural diagram of an electronic device provided by the present invention;

fig. 10 is a schematic structural view of a work machine main body according to the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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 method for automatically lowering a drill pipe according to the present invention will be described with reference to fig. 1 to 7.

The embodiment of the invention provides a method for automatically lowering a drill rod, which can be applied to an intelligent terminal, such as a mobile phone, a computer, a tablet and the like, can also be applied to a server, and can also be applied to a controller of a working machine. In the following, the method is described as applied to a controller of a working machine, but it should be noted that the method is only an example and is not intended to limit the scope of the present invention. The other descriptions in the embodiments of the present invention are also for illustration purposes, and are not intended to limit the scope of the present invention.

The specific implementation of the method is shown in fig. 1:

in the following, an example is given in which the working machine is a rotary drilling rig, and the structure of the rotary drilling rig is illustrated in fig. 2, the rotary drilling rig includes: pulley yoke 201, follower yoke 202, drill pipe 203, power head 204, drilling tool 205, mast 206, mast oil boom 207, pressurized hoist 208, secondary hoist 209, primary hoist 210, luffing mechanism 211, counterweight 212, chassis 213, and the like.

The drill rod of a rotary drilling rig is illustrated by fig. 3, the drill rod comprising: a flat head 301, a first shock absorbing rubber 302, an outer key 303, a pressurizing table 304, a second shock absorbing rubber 305 and a square head 306.

And 101, controlling the drill rod to be lowered at a first preset speed when the running state of the operation machine is determined to meet the automatic lowering condition of the drill rod.

In one embodiment, if the automatic lowering of the drill rod is to be realized, the operating state of the working machine is required to meet the automatic lowering condition of the drill rod. Based on the above, the running state of the operation machine at the current moment is obtained, and whether the running state of the operation machine at the current moment meets the automatic lowering condition of the drill rod or not is judged; when the operating state of the operating machine is judged to meet the automatic lowering condition of the drill rod, controlling the drill rod to be lowered at a first preset speed, and controlling the drill rod to rotate reversely at a preset rotating speed; and when the operating state of the operating machine is judged to be not in accordance with the automatic lowering condition of the drill rod, generating an unexecutable instruction, and sending the operating state not in accordance with the instruction to a display of the operating machine for displaying.

In one embodiment, the automatic lowering conditions include: the rotating speed of an engine of the working machine belongs to a preset rotating speed range, the pilot switch state of the working machine is an open state, the inclination angle of a mast of the working machine belongs to a first preset angle range, the rotation angle of an upper vehicle body of the working machine belongs to a second preset angle range, a connecting pipe marker position of an operating handle of the working machine is a preset marker, and the working machine does not have any one or more of abnormal conditions and alarm information.

The following description will be made in detail by taking an example in which the automatic lowering condition includes all the above items:

the automatic lowering condition of the drill rod comprises the following steps: the rotating speed of an engine of the working machine belongs to a preset rotating speed range, a pilot switch of the working machine is turned on, a mast inclination angle of the working machine belongs to a first preset angle range, a rotation angle of an upper vehicle body of the working machine belongs to a second preset angle range, an operation handle connecting pipe zone bit is 0, and the working machine has no abnormal condition, alarm information and the like.

Specifically, an inclination angle sensor is installed at the mast to obtain an inclination angle of the mast, and an encoder is installed at the upper vehicle body to obtain a rotation angle.

For example, the preset rotation speed range is greater than or equal to 900 rpm, the first preset angle range is less than or equal to 5 degrees, the second preset angle range is less than or equal to 2 degrees, and the working machine has no abnormal condition or alarm information, that is, the working machine can work normally.

Wherein, running state is not conform to the instruction and is used for instructing the uncontrollable drilling rod to transfer voluntarily, and the motion state is not conform to the instruction: the method comprises specific conditions that the automatic lowering condition of the drill rod is not met, for example, the rotating speed of an engine does not belong to a preset rotating speed range, the preset rotating speed range is greater than or equal to 900 revolutions per minute, and for example, the connecting pipe mark position of an operating handle is not 0, and the like.

Specifically, after getting into the automatic mode of transferring of drilling rod, the control drilling rod reverses according to predetermineeing the rotational speed to be in the unblock state between the pressurization platform of assurance drilling rod and the spline of unit head, prevent the drilling rod and transfer the jamming rod condition that the in-process appears in the automation.

Wherein the preset rotation speed is not preferably set to be too large or too small, for example, 6 to 10 rpm.

In a specific embodiment, if the automatic lowering of the drill rod is to be realized, the operation machine needs to enter an automatic drill rod lowering mode, so that before judging whether the running state of the operation machine at the current moment meets the automatic drill rod lowering condition, an automatic lowering instruction is obtained to enable the operation machine to enter the automatic drill rod lowering mode, and then, based on the automatic lowering instruction, whether the running state of the operation machine at the current moment meets the automatic drill rod lowering condition is judged.

Specifically, the automatic lowering button in the display screen is clicked by a user, or the automatic lowering button on the operating handle triggers the automatic lowering mode of the drill rod.

According to the method, when the operating state of the operating machine is determined to meet the automatic lowering condition of the drill rod, the drill rod is controlled to be lowered at the first preset speed, and the safety and accuracy of lowering the drill rod are guaranteed.

And 102, determining the corresponding impact position of the drill rod in the lowering process.

Wherein, the drilling rod includes: the section bars are respectively defined as a first section bar, a second section bar, a third section bar, … and an Nth section bar from outside to inside, wherein N is an integer greater than 1.

Wherein, during the lowering of the drill rod, a plurality of impact positions exist. The plurality of impact locations includes: the impact position of the upper end of the first section rod corresponding to the power head buffer device, the impact position corresponding between two adjacent section rods and the impact position corresponding to the drilling tool and the hole bottom.

Specifically, the current time only corresponds to one impact position, namely the current impact position.

In one embodiment, the specific implementation of determining the corresponding impact position of the drill rod during the lowering process is as follows:

acquiring the lowering depth of a drill rod and the position of a power head at the current moment; determining the number of extending sections of the drill rod and the extending current length of the drill rod at the current moment based on the prestored physical parameter information of the operating machine, the lowering depth of the drill rod and the position of the power head; and determining the current impact position based on the position of the power head, the number of the extending sections of the drill rod and the extending current length of the drill rod.

Wherein the physical parameter information of the work machine includes: size information of each link and weight information of each link of the working machine.

Specifically, a depth sounding encoder is mounted at a main winch of the rotary drilling rig in advance and used for measuring the lowering depth of a drill rod; and mounting a displacement detection sensor on a power head of the rotary drilling rig in advance, mounting a magnetic strip on the mast, and measuring to obtain the position of the power head.

Specifically, the determination method of the lowering depth of the drill rod comprises the following steps: and taking the reference point as a starting point, taking the lowest part of a drilling tool of the rotary drilling rig as a terminal point, and taking the middle distance between the reference point and the drilling tool as the lowering depth of the drilling rod. For example, a point on the ground where the hole is located is taken as a reference point.

Specifically, the determination method of the position of the power head includes: and taking the datum point as a starting point, taking the position of the power head on the mast as an end point, and taking the position of the end point as the position of the power head.

Specifically, the determination mode of the number of protruding sections of the drill rod comprises the following steps: when a first section of rod of the rotary drilling rig passes through the lower part of the power head, recording the number of extending sections of the drill rod as 1; when a second section of rod of the rotary drilling rig extends out, the number of the extending sections of the drill rods is recorded to be 2, when a third section of rod of the rotary drilling rig extends out, the number of the extending sections of the drill rods is recorded to be 3, and the like is performed until the rotary drilling rig extends out of the last section of rod.

Specifically, the current length of the drill rod of the rotary drilling rig extending out is as follows: and taking the lower part of the power head as a reference point, and taking the length of the drill rod extending out of the lower part of the power head at the current moment as the length of the drill rod extending out of the current moment.

For example, when the current moment is determined as the first distance that the first section of rod extends out of the lower portion of the power head, the current impact position is the impact position of the upper end of the first section of rod corresponding to the power head buffering device; when the current moment is determined that the second section rod extends out of the first section rod, the corresponding impact position when the second section rod extends out of the second distance is the current impact position; when the third rod extends out of the second rod at the current moment, the corresponding impact position when the third rod extends out of the third distance is the current impact position, and so on; and when the current moment that the distance between the drilling tool and the hole bottom is the fourth distance is determined, the corresponding impact position is the current impact position.

The first distance, the second distance and the like can be obtained by calculating physical parameter information, the position of the power head, the number of extending sections of the drill rod and the current extending length of the drill rod.

The impact position is shown schematically in fig. 4, and 3 impact points (impact positions) are shown in fig. 4. 1 represents impact point 1, and impact point 1 is the impact position that first festival pole upper end corresponds with unit head buffer, and 2 represents impact point 2, and impact point 2 is the impact position that second festival pole striking first festival pole corresponds, and 3 represents impact point 3, and impact point 3 is the impact position that third festival pole striking second festival pole corresponds.

The invention predicts each impact position in the process of lowering the drill rod, and provides an effective data base for subsequently adjusting the lowering speed of the drill rod.

And 103, adjusting the lowering speed of the drill rod in the lowering process based on the impact position.

In one embodiment, based on the impact position, the specific implementation of adjusting the lowering speed of the drill rod in the lowering process is as follows:

when the impact distance corresponding to the current impact position of the drill rod at the current moment is determined to be a first preset distance, determining a second preset speed based on the position of the power head, the number of extending sections of the drill rod and the current extending length of the drill rod; controlling the drill rod to be placed at a second preset speed; and after the impact is determined to be finished, controlling the drill rod to be lowered at a first preset speed.

Wherein the second preset speed is less than the first preset speed.

Specifically, the first preset distance includes: first distance, second distance, third distance, fourth distance, and so on. And determining a first preset distance based on the current impact position corresponding to the current moment.

Specifically, since the size information and the weight information of each section of rod of the rotary drilling rig are inconsistent, the second preset speeds corresponding to the same impact position may also be different. Therefore, the size information and the weight information of each section of the drill rod are combined to determine a second preset speed corresponding to the position of the power head, the number of the extending sections of the drill rod and the extending current length of the drill rod.

Specifically, a first matching relation between the position of the power head, the number of extending sections of the drill rod and the current length of the extending drill rod and a second preset speed is obtained through calibration in advance, and the second preset speed is obtained based on the first matching relation obtained through calibration.

Specifically, the drill rod is controlled to descend at a second preset speed, impact protection is achieved, impact force at an impact position is reduced, and the drill rod and the power head are effectively protected. And after the striking is accomplished, the quick speed of transferring with the drilling rod resumes to first predetermined speed, and the drilling rod continues to be controlled and transfers according to first predetermined speed, has improved the efficiency of transferring of drilling rod.

In one embodiment, the specific implementation of controlling the drill rod to be lowered at the second preset speed is as follows:

determining the main winch lowering feedforward current corresponding to the second preset speed; controlling the drill rod to be lowered at a second preset speed based on the main winch lowering feedforward current; acquiring the actual lowering speed of the drill rod in the lowering process; comparing the second preset speed with the actual lowering speed to obtain a comparison result; generating a main winch downward-discharging compensation current based on the comparison result; and adjusting the actual lowering speed based on the lowering compensation current of the main winch.

Specifically, the lowering speed of the drill rod is controlled by controlling the main winch.

Specifically, the number of extending sections of the drill rod and the current length of the drill rod extending out have a first mapping relation with the main hoisting pressure, so that a second matching relation between the main hoisting pressure and a second preset speed can be obtained, and the second preset speed is determined based on the second matching relation.

Specifically, a second mapping relation exists among the position of the power head, the extending section number of the drill rod, the extending current length of the drill rod and the lowering depth, and the corresponding relation between the lowering depth and the second preset speed is obtained based on the second mapping relation. And obtaining a third matching relation between the lowering depth, the position of the power head and the tension of the main winch and a second preset speed.

Specifically, as shown in fig. 5, a second preset speed is obtained based on the third matching relationship. And controlling the main winch to lower the electromagnetic proportional valve by using the main winch lowering feedforward current corresponding to the second preset speed, and controlling the drill rod to lower at the second preset speed. At the moment, the actual lowering speed of the drill rod is monitored, the second preset speed and the actual lowering speed are input into the PID controller, the main winch lowering compensation current output by the PID controller is obtained, the main winch lowering compensation current acts on the main winch lowering electromagnetic proportional valve, the actual lowering speed is adjusted, and therefore the drill rod is guaranteed to be stably lowered according to the second preset speed.

The invention automatically adjusts the lowering speed of the drill rod through the PID controller, has high lowering efficiency, small lowering speed fluctuation and stable and reliable whole lowering process, can effectively reduce the impact force in the lowering process and prolongs the service life of the main winch.

The first preset speed and the second preset speed are continuously adjusted in the lowering process, and the impact force is reduced on the premise of ensuring the lowering efficiency.

In one embodiment, the specific implementation of determining the second preset speed based on the position of the power head, the number of protruding sections of the drill rod, and the current length of the drill rod protruding is as follows:

and determining a target speed based on the position of the power head, the number of extending sections of the drill rod and the current length of extending the drill rod, analyzing the target speed to obtain a second preset speed and a third preset speed, controlling the drill rod to be placed down at the first preset speed, and controlling the power head to move at the third preset speed. And the third preset speed is the moving speed of the power head and the drill rod in relative operation.

Specifically, before the target speed is determined, whether the power head has a moving space or not is judged based on the position of the power head; and when the power head is judged to have the moving space, the step of determining the target speed is executed, and when the power head is judged not to have the moving space, the position of the power head is adjusted, so that the power head has the moving space.

Of course, when it is determined that the power head does not have a movement space, the second preset speed may be determined based on the position of the power head, the number of extended sections of the drill rod, and the extended current length of the drill rod, that is, only the drill rod is controlled to be lowered.

The moving space is used for indicating the space in which the power head can move up and down on the mast.

Specifically, when the impact distance corresponding to the current impact position of the drill rod is calibrated in advance to be a first preset distance, the position of the power head, the number of extending sections of the drill rod and a speed curve of the current length of the drill rod extending to the target speed are decomposed, and a second preset speed corresponding to the drill rod and the moving speed corresponding to the power head are obtained in a determined analysis mode.

Specifically, in the actual automatic lowering process, a target speed corresponding to the position of the power head, the number of extending sections of the drill rod and the current length of the extending drill rod is obtained in the speed curve, and a second preset speed and a third preset speed are obtained based on a pre-calibrated analysis mode. And then, tracking and controlling the second preset speed and the third preset speed, adjusting the actual lowering speed of the drill rod by using a PID controller, and adjusting the actual moving speed of the power head by using the PID controller.

Specifically, the follow-up control strategy of the power head and the drill rod is illustrated by fig. 6:

fig. 6 (1) shows that the power head has no movement space and cannot move down (the range section corresponding to the right vertical bar in the drawing is used as the movement space); (2) The position of the power head is moved upwards, so that the power head has a moving space, and the main winch still puts the drill rod downwards at the moment (brackets in fig. 2 indicate the moving distance of the power head relative to the moving space when the power head and the drill rod move relatively); (3) The main winch keeps lowering the drill rod, and the power head waits to move; (4) the power head and the drill rod move in a follow-up manner; and (5) collision occurs, and the next cycle is carried out.

Wherein the arrows in fig. 6 indicate the direction of movement.

According to the invention, through a follow-up control strategy of the power head and the drill rod, impact protection is realized, on the basis of ensuring the lowering speed, the impact force between the drill rod and the power head, between the joint of two sections of drill rods and between the drilling tool and the hole bottom is ensured, the drill rod and the power head are protected, and the service life is prolonged.

And 104, calculating the actual total extension length of the drill rod when the drill rod is determined to be lowered to the bottom of the hole.

Wherein, the drill rod is lowered to the bottom of the hole to connect the drilling tool with the bottom of the hole.

Wherein, the actual total length that stretches out of drilling rod is: and when the drill rod is lowered to the bottom of the hole, the corresponding drill rod extends out by the current length.

In one embodiment, when the drill rod is lowered to the bottom of the hole, the main hoisting tension is reduced due to the supporting effect of the bottom of the hole, so that the main hoisting pressure and the drilling depth are obtained when the drill rod is determined to be lowered to the bottom of the hole; and when the main hoisting pressure is determined to be smaller than the preset pressure and the difference value between the lowering depth and the drilling depth is determined to be smaller than the preset value, determining that the drill rod is lowered to the bottom of the hole.

Of course, the drilling depth may also be obtained beforehand.

The preset value is a preset numerical value, for example, 0.4m, 0.5m or 0.6m, and the user can set the preset value according to actual conditions.

Specifically, in the process of lowering the drill rod, the situation of rod clamping may occur, the main hoisting pressure at the moment is also lower than the preset pressure, but the drill rod does not necessarily reach the bottom of the hole at the moment, so that the drill rod is judged whether to reach the bottom of the hole or not by combining the difference value between the lowering depth and the drilling depth on the basis of considering the main hoisting pressure, and the judgment accuracy for judging whether to lower the drill rod to the bottom of the hole is improved.

Specifically, a tension sensor is arranged at the sliding frame part of the mast to obtain the pressure of the main winch.

And 105, determining a target pressurizing position corresponding to the actual extending total length of the drill rod based on the first corresponding relation between the extending total length of the drill rod and the pressurizing position calibrated in advance.

Specifically, when the drill rod is determined to be lowered to the bottom of the hole, the lowering process is finished, and the target pressurization position is searched. Wherein the pressurizing position is a pressurizing table on the drill rod.

And 106, determining the target position of the power head corresponding to the target pressurizing position based on the second corresponding relation between the position of the power head calibrated in advance and the pressurizing position, and controlling the power head to rotate forwards to the target position of the power head.

Specifically, the current position of the power head is obtained, the power head is controlled to rotate forwards from the current position of the power head to the target position of the power head, and an inner key of the power head or an inner key of a drill rod is matched with an outer key, so that pressurized drilling construction can be carried out.

Specifically, the position, the main hoisting tension and the pressurizing pressure of the power head are monitored in real time while the pressurizing platform is searched, when the moving speed of the power head is reduced and the main hoisting tension and the pressurizing pressure are increased suddenly, the power head is determined to find the target pressurizing platform, and the forward rotation and the pressurizing action of the power head are stopped.

Specifically, in order to ensure the safety of the operation of the working machine, the operation priority of the manipulator is the highest level in the automatic drill rod lowering process. That is, in the automatic lowering process, if an abnormal condition or a handle operation is acquired, the automatic lowering operation is immediately stopped, and the control authority of the work machine is delivered to the manipulator.

The following describes an embodiment of the present invention with reference to fig. 7:

and step 701, acquiring an automatic transfer instruction.

And step 702, judging whether the running state of the working machine meets the automatic drill rod lowering condition or not based on the automatic lowering instruction, if so, executing step 703, and otherwise, executing step 707.

And 703, controlling the drill rod to be put down at a first preset speed and to be reversely rotated at a third preset speed.

The power head is controlled to rotate reversely to realize the reverse rotation of the drill rod, so that the drill rod is ensured to be in an unlocking state.

And 704, determining the corresponding impact position of the drill rod in the lowering process.

Step 705, based on the impact position, controlling the drill rod to be lowered at a first preset speed, and controlling the power head to move at a third preset speed.

And step 706, when the drill rod is determined to be lowered to the bottom of the hole, determining a target pressurizing position corresponding to the actual extended total length of the drill rod based on the first corresponding relation between the pre-calibrated extended total length of the drill rod and the pressurizing position.

And 707, determining a target position of the power head corresponding to the target pressurizing position based on a second corresponding relationship between the pre-calibrated position of the power head and the pressurizing position, controlling the drill rod to rotate forwards at a fourth preset speed, moving to the target position of the power head, and finding the target pressurizing position.

Wherein, the forward rotation of the power head is controlled to realize the forward rotation of the drill rod.

And step 708, sending prompt information to a display screen.

The prompt message from step 702 to step 708 includes: the running state of the operation machine does not accord with the automatic lowering condition of the drill rod, and please adjust; the prompt information from step 707 to step 708 is, for example: and (5) after the automatic lowering of the drill rod is completed, please perform subsequent operations.

The automatic drill rod lowering device can realize the operations of automatic drill rod lowering, searching for the pressurizing table and the like, does not need the intervention of a machine hand, reduces the operation burden of the machine hand and improves the lowering efficiency. Furthermore, the automatic lowering efficiency of the drill rod is high through PID control, the lowering speed fluctuation is small, the lowering process is stable and reliable, the impact force in the lowering process is reduced, and the service life of the main winch is prolonged. And the follow-up control strategy of the drill rod and the power head is adopted to ensure the lowering speed and reduce the impact force at the impact position. Finally, the target pressurizing platform is quickly found by utilizing the corresponding relation calibrated in advance, so that rock entering operation can be further carried out, operation steps are reduced, and the working efficiency of the rotary drilling rig is effectively improved.

The invention provides a method for automatically lowering a drill rod, which is characterized in that when the running state of an operating machine is determined to accord with the automatic lowering condition of the drill rod, the drill rod is controlled to be lowered at a first preset speed, so that the drill rod is controlled to be automatically lowered when the condition that the drill rod can be automatically lowered is determined, and the lowering stability of the automatic lowering process is higher than that of the manual operation of the drill rod; determining a corresponding impact position of the drill rod in the lowering process; based on the impact position, the lowering speed of the drill rod in the lowering process is adjusted, so that the impact force of the impact position is reduced by adjusting the lowering speed of the drill rod in the lowering process of the drill rod, the impact protection is realized, and the service life of the operating machine is prolonged; when the drill rod is determined to be lowered to the bottom of the hole, calculating the actual total length of the drill rod extending out; the target pressurizing position corresponding to the actual extending total length of the drill rod is determined based on the first corresponding relation between the extending total length of the drill rod and the pressurizing position which is calibrated in advance, so that the target pressurizing position corresponding to the actual extending total length of the drill rod can be quickly obtained based on the corresponding relation which is calibrated in advance; and determining the target position of the power head corresponding to the target pressurizing position based on the second corresponding relation between the position of the power head calibrated in advance and the pressurizing position, and controlling the power head to rotate forwards to the target position of the power head, so that a manipulator can directly perform pressurizing drilling operation without any operation, and the operating efficiency of the operating machine is improved.

The following describes the device for automatically lowering a drill rod according to the present invention, and the device for automatically lowering a drill rod and the method for automatically lowering a drill rod described above may be referred to correspondingly, and repeated details are not repeated, as shown in fig. 8, the device includes:

the first control module 801 is used for controlling the drill rod to be lowered at a first preset speed when the running state of the working machine is determined to meet the automatic lowering condition of the drill rod;

a first determining module 802, configured to determine a corresponding impact position of the drill rod in the lowering process;

the second control module 803 is used for adjusting the lowering speed of the drill rod in the lowering process based on the impact position;

a second determining module 804, configured to calculate an actual total length of extension of the drill rod when it is determined that the drill rod is lowered to the bottom of the hole;

a third determination module 805, configured to determine a target pressing position corresponding to the actual total extension length of the drill rod based on a first corresponding relationship between the pre-calibrated total extension length of the drill rod and the pressing position.

And a third control module 806, configured to determine a target position of the power head corresponding to the target pressurization position based on a second correspondence between a position of the power head and the pressurization position that is calibrated in advance, and control the power head to rotate forward to the target position of the power head.

In a specific embodiment, the first determining module 802 is specifically configured to obtain a lowering depth of a drill rod and a position of a power head at a current time; determining the number of extending sections of the drill rod and the extending current length of the drill rod at the current moment based on the prestored physical parameter information of the operating machine, the lowering depth of the drill rod and the position of the power head; and determining the current impact position based on the position of the power head, the number of the extending sections of the drill rod and the extending current length of the drill rod.

In a specific embodiment, the second control module 803 is specifically configured to, when it is determined that the impact distance between the drill rod and the current impact position at the current time is the first preset distance, determine a second preset speed based on the position of the power head, the number of extended sections of the drill rod, and the current length of extension of the drill rod; controlling the drill rod to be lowered at a second preset speed; and after the impact is determined to be finished, controlling the drill rod to be lowered at a first preset speed.

In an embodiment, the second control module 803 is specifically configured to determine a main winch lowering feedforward current corresponding to a second preset speed; controlling the drill rod to be lowered at a second preset speed based on the lowering feedforward current of the main winch; acquiring the actual lowering speed of the drill rod in the lowering process; comparing the second preset speed with the actual lowering speed to obtain a comparison result; generating a main winch downward-discharging compensation current based on the comparison result; and adjusting the actual lowering speed based on the lowering compensation current of the main winch.

In one embodiment, the second control module 803 is specifically configured to determine a target speed based on the position of the power head, the number of extended sections of the drill rod, and the current length of the drill rod extended; analyzing the target speed to obtain a second preset speed and a third preset speed; the third preset speed is the moving speed of the power head; and the second control module 803 is also used for controlling the power head to move according to the moving speed.

In a specific embodiment, the second determining module 804 is further configured to obtain a main uplift pressure and a drilling depth; and when the main hoisting pressure is determined to be smaller than the preset pressure and the difference value between the lowering depth and the drilling depth is determined to be smaller than the preset value, determining that the drill rod is lowered to the bottom of the hole.

In a specific embodiment, the first control module 801 is further configured to obtain an automatic lowering instruction; judging whether the running state of the operation machine at the current moment meets the automatic lowering condition of the drill rod or not based on the automatic lowering instruction; the first control module 801 is specifically configured to control the drill rod to be lowered at a first preset speed and control the drill rod to rotate reversely at a preset rotation speed when it is determined that the operating state of the working machine meets the automatic lowering condition of the drill rod.

In one embodiment, the automatic lowering condition includes: the rotating speed of an engine of the working machine belongs to a preset rotating speed range, the pilot switch state of the working machine is an open state, the inclination angle of a mast of the working machine belongs to a first preset angle range, the rotation angle of an upper vehicle body of the working machine belongs to a second preset angle range, a connecting pipe marker position of an operating handle of the working machine is a preset marker, and the working machine does not have any one or more of abnormal conditions and alarm information.

Fig. 9 illustrates a physical structure diagram of an electronic device, and as shown in fig. 9, the electronic device may include: a processor (processor) 901, a communication Interface (Communications Interface) 902, a memory (memory) 903 and a communication bus 904, wherein the processor 901, the communication Interface 902 and the memory 903 are communicated with each other through the communication bus 904. The processor 901 may invoke logic instructions in the memory 903 to perform a method of determining the pressurization location, the method comprising: when the running state of the operation machine is determined to meet the automatic lowering condition of the drill rod, controlling the drill rod to be lowered at a first preset speed; determining a corresponding impact position of the drill rod in the lowering process; adjusting the lowering speed of the drill rod in the lowering process based on the impact position; when the drill rod is determined to be lowered to the bottom of the hole, calculating the actual total length of the drill rod extending out; determining a target pressurizing position corresponding to the actual extending total length of the drill rod based on a first corresponding relation between the extending total length of the drill rod and the pressurizing position calibrated in advance; and determining the target position of the power head corresponding to the target pressurizing position based on the second corresponding relation between the position of the power head and the pressurizing position calibrated in advance, and controlling the power head to rotate forwards to the target position of the power head.

In addition, the logic instructions in the memory 903 may be implemented in a software functional unit and stored in a computer readable storage medium when the logic instructions are sold or used as a separate product. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

An embodiment of the present invention further provides a working machine, including: a work machine body and a controller for implementing a specific embodiment of any one of the method embodiments of determining a pressurized position.

Wherein, the operation machinery includes: rotary drilling rigs, rotary drilling rigs and the like.

Specifically, the work machine body includes: the depth encoder, the power head rotating speed encoder, the rotary encoder, the display, the handle, the displacement sensor, the mast tilt angle sensor, the power head forward rotation electromagnetic proportional valve, the power head reverse rotation electromagnetic proportional valve, the pressurization electromagnetic proportional valve, the lifting electromagnetic proportional valve, the main winch lowering electromagnetic proportional valve and the like, wherein the specific connection relationship can be seen in fig. 10.

The invention realizes the determination method of the pressurization position through the cooperation of the devices.

In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, which when executed by a computer, enable the computer to perform the method for automatic lowering of a drill pipe provided in the above embodiments, the method comprising: when the running state of the operation machine is determined to meet the automatic lowering condition of the drill rod, controlling the drill rod to be lowered at a first preset speed; determining a corresponding impact position of the drill rod in the lowering process; adjusting the lowering speed of the drill rod in the lowering process based on the impact position; when the drill rod is determined to be lowered to the bottom of the hole, calculating the actual total length of the drill rod extending out; determining a target pressurizing position corresponding to the actual extending total length of the drill rod based on a first corresponding relation between the extending total length of the drill rod and the pressurizing position calibrated in advance; and determining the target position of the power head corresponding to the target pressurizing position based on the second corresponding relation between the position of the power head and the pressurizing position calibrated in advance, and controlling the power head to rotate forwards to the target position of the power head.

In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above embodiments to provide a method for automatic lowering of a drill pipe, the method comprising: when the running state of the operation machine is determined to meet the automatic lowering condition of the drill rod, controlling the drill rod to be lowered at a first preset speed; determining a corresponding impact position of the drill rod in the lowering process; adjusting the lowering speed of the drill rod in the lowering process based on the impact position; when the drill rod is determined to be lowered to the bottom of the hole, calculating the actual total length of the drill rod extending out; determining a target pressurizing position corresponding to the actual extending total length of the drill rod based on a second corresponding relation between the extending total length of the drill rod and the pressurizing position calibrated in advance; and determining the target position of the power head corresponding to the target pressurizing position based on the second corresponding relation between the position of the power head and the pressurizing position calibrated in advance, and controlling the power head to rotate forwards to the target position of the power head.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A method for automatically lowering a drill rod is characterized by comprising the following steps:

when the running state of the operation machine is determined to meet the automatic lowering condition of the drill rod, controlling the drill rod to be lowered at a first preset speed;

2. The method for automatically lowering the drill rod according to claim 1, wherein the determining the corresponding impact position of the drill rod during the lowering process comprises:

determining the number of extending sections of the drill rod and the extending current length of the drill rod at the current moment based on the pre-stored physical parameter information of the operating machine, the lowering depth of the drill rod and the position of the power head;

3. The method for automatic lowering of a drill rod according to claim 2, wherein the adjusting the lowering speed of the drill rod during lowering based on the impact position comprises:

controlling the drill rod to be lowered at the second preset speed;

4. The method for automatically lowering a drill rod according to claim 3, wherein the controlling the drill rod to be lowered at the second preset speed comprises:

acquiring the actual lowering speed of the drill rod in the lowering process;

5. The method for automatically lowering the drill rod according to claim 3, wherein the determining a second preset speed based on the position of the power head, the number of protruding sections of the drill rod and the current length of protruding drill rod comprises:

the third preset speed is the moving speed of the power head;

when controlling the drill rod to be lowered at the second preset speed, the method further comprises the following steps: and controlling the power head to move according to the moving speed.

6. The method for automatically lowering a drill pipe according to claim 2, wherein before calculating the actual total extension length of the drill pipe when the drill pipe is lowered to the bottom of the hole, the method further comprises:

acquiring a main hoisting pressure and a drilling depth;

and when the main hoisting pressure is determined to be smaller than the preset pressure and the difference value between the lowering depth and the drilling depth is determined to be smaller than the preset value, determining that the drill rod is lowered to the bottom of the hole.

7. The method for automatically lowering a drill pipe according to any one of claims 1 to 6, wherein before controlling the drill pipe to be lowered at the first preset speed when the operation state of the working machine is determined to meet the automatic lowering condition of the drill pipe, the method further comprises:

acquiring an automatic lowering instruction;

and when the operating state of the operating machine is judged to accord with the automatic lowering condition of the drill rod, controlling the drill rod to be lowered at a first preset speed, and controlling the power head to rotate reversely at a preset rotating speed.

8. The method for automatic lowering of a drill rod according to any of claims 1-6, characterized in that the automatic lowering conditions comprise: the rotating speed of an engine of the working machine belongs to a preset rotating speed range, the pilot switch state of the working machine is an open state, the inclination angle of a mast of the working machine belongs to a first preset angle range, the rotation angle of an upper vehicle body of the working machine belongs to a second preset angle range, a connecting pipe marker bit of an operating handle of the working machine is a preset marker, and the working machine does not have any one or more of abnormal conditions and alarm information.

9. An automatic device that transfers of drilling rod which characterized in that includes:

and the third determination module is used for determining a target pressurizing position corresponding to the actual extending total length of the drill rod based on the first corresponding relation between the extending total length of the drill rod and the pressurizing position calibrated in advance.

10. A work machine, characterized in that the work machine comprises: a work machine body and a controller for implementing a method of automatic lowering of a drill rod as claimed in any of claims 1 to 8.