CN117027650B - Small and medium-sized automatic drilling horizontal directional drilling machine - Google Patents

Small and medium-sized automatic drilling horizontal directional drilling machine Download PDF

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Publication number
CN117027650B
CN117027650B CN202311294930.8A CN202311294930A CN117027650B CN 117027650 B CN117027650 B CN 117027650B CN 202311294930 A CN202311294930 A CN 202311294930A CN 117027650 B CN117027650 B CN 117027650B
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China
Prior art keywords
manipulator
push
pressure
pull
directional valve
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CN202311294930.8A
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Chinese (zh)
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CN117027650A (en
Inventor
陈凤钢
王超文
戴斌
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Jiangsu Gudeng Heavy Machinery Technology Co ltd
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Jiangsu Gudeng Heavy Machinery Technology Co ltd
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/04—Directional drilling
    • E21B7/046—Directional drilling horizontal drilling
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/16—Connecting or disconnecting pipe couplings or joints
    • E21B19/161—Connecting or disconnecting pipe couplings or joints using a wrench or a spinner adapted to engage a circular section of pipe
    • E21B19/163—Connecting or disconnecting pipe couplings or joints using a wrench or a spinner adapted to engage a circular section of pipe piston-cylinder actuated
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/16—Connecting or disconnecting pipe couplings or joints
    • E21B19/165—Control or monitoring arrangements therefor
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/18—Connecting or disconnecting drill bit and drilling pipe
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F15B11/165—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for adjusting the pump output or bypass in response to demand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
    • F15B2013/0448—Actuation by solenoid and permanent magnet
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6652—Control of the pressure source, e.g. control of the swash plate angle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6653—Pressure control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6656—Closed loop control, i.e. control using feedback

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  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Fluid Mechanics (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • Environmental & Geological Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Earth Drilling (AREA)

Abstract

The invention discloses a small and medium-sized automatic drilling horizontal directional drilling machine, which relates to the technical field of horizontal directional drilling and comprises a rotary motor, a rotary pressure sensor, an electric proportional rotary pump, a push-pull hydraulic motor, a push-pull pressure sensor, a push-pull electric proportional reversing valve and a controller; the rotary pressure sensor is used for monitoring rotary load pressure, and the push-pull pressure sensor is used for monitoring push-pull load pressure; the controller is used for setting a rotating pressure threshold value and a push-pull pressure threshold value, comparing the received rotating load pressure with the rotating pressure threshold value, comparing the received push-pull load pressure with the push-pull pressure threshold value, controlling the running power of the rotating motor through the electric proportion rotating pump, and controlling the running power of the push-pull hydraulic motor through the push-pull electric proportion reversing valve; the invention realizes the automatic control of the drilling machine, not only improves the working efficiency, but also reduces the labor intensity of operators.

Description

Small and medium-sized automatic drilling horizontal directional drilling machine
Technical Field
The invention relates to the technical field of horizontal directional drilling, in particular to a small and medium-sized automatic drilling horizontal directional drilling machine.
Background
The horizontal directional drilling machine is one of main force equipment of non-excavation construction gradually, and occupies more than 85% of the market. The method is widely applied to the pipeline laying and construction fields of underground water supply, pollution discharge, oil gas, communication, power supply and the like.
At present, a hydraulic control pilot or manual system is adopted in a middle-small horizontal directional drilling machine in the market, manual driller operation is needed in all operations in the construction process, the labor intensity is high, the efficiency is low, the artificial alertness of the drilling jamming phenomenon in the construction process is poor when an emergency is met, the response is slow, the construction progress is influenced when the response is slow, the element is damaged when the response is heavy, and the construction is failed.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and providing a small and medium-sized automatic drilling horizontal directional drilling machine.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a small and medium-sized automatic drilling horizontal directional drilling machine comprises a rotary motor, a rotary pressure sensor, an electric proportional rotary pump, a push-pull hydraulic motor, a push-pull pressure sensor, a push-pull electric proportional reversing valve and a controller;
the rotary pressure sensor is used for monitoring rotary load pressure during drilling construction and transmitting the rotary load pressure to the controller, and the push-pull pressure sensor is used for monitoring push-pull load pressure during drilling construction and transmitting the push-pull load pressure to the controller;
the controller is used for setting a rotating pressure threshold and a push-pull pressure threshold during drilling construction, comparing the received rotating load pressure with the rotating pressure threshold, comparing the received push-pull load pressure with the push-pull pressure threshold, controlling the running power of the rotating motor through the electric proportional rotating pump, and controlling the running power of the push-pull hydraulic motor through the push-pull electric proportional reversing valve;
when the push-pull load pressure is larger than a set push-pull pressure threshold value, and the rotation load pressure is smaller than the set rotation pressure threshold value, the controller reduces the current of the push-pull electric proportional reversing valve, and reduces the push-pull speed until the push-pull load pressure is smaller than or equal to the push-pull pressure threshold value; when the push-pull load pressure is regulated to be smaller than the push-pull pressure threshold value, the controller increases the current of the push-pull electric proportional reversing valve, and keeps the push-pull load pressure and the rotation load pressure smaller than or equal to the push-pull pressure threshold value and the rotation pressure threshold value respectively;
when the push-pull load pressure is smaller than a set push-pull pressure threshold value and the rotation load pressure is larger than a set rotation pressure threshold value, the controller reduces the current of the push-pull electric proportional reversing valve until the rotation load pressure is smaller than or equal to the rotation pressure threshold value, and when the rotation load pressure is still larger than the rotation pressure threshold value due to the fact that the current of the push-pull electric proportional reversing valve is reduced to a dead zone, the controller reduces the current of the electric proportional rotary pump until the rotation load pressure is smaller than or equal to the rotation pressure threshold value; when the rotation load pressure is regulated to be smaller than the rotation pressure threshold value, the controller increases the current of the electric proportion rotation pump and the current of the push-pull electric proportion reversing valve, and keeps the push-pull load pressure and the rotation load pressure smaller than or equal to the push-pull pressure threshold value and the rotation pressure threshold value respectively.
As a preferable scheme of the small automatic drilling horizontal directional drilling machine, the invention comprises the following steps: the system also comprises a slurry pump and a first electromagnetic directional valve, wherein the first electromagnetic directional valve is electrically connected with the controller and is arranged in a control loop of the slurry pump;
the controller is used for controlling the opening and closing of the slurry pump by controlling the opening and closing of the first electromagnetic directional valve.
As a preferable scheme of the small automatic drilling horizontal directional drilling machine, the invention comprises the following steps: the device also comprises a manipulator clamping oil cylinder, a manipulator rod feeding oil cylinder, a manipulator rotating oil cylinder, a second electromagnetic directional valve, a third electromagnetic directional valve and a fourth electromagnetic directional valve, wherein the second electromagnetic directional valve, the third electromagnetic directional valve and the fourth electromagnetic directional valve are electrically connected with the controller;
the second electromagnetic directional valve is arranged in a control loop of the manipulator clamping oil cylinder, the third electromagnetic directional valve is arranged in a control loop of the manipulator rod feeding oil cylinder, and the fourth electromagnetic directional valve is arranged in a control loop of the manipulator rotating oil cylinder.
As a preferable scheme of the small automatic drilling horizontal directional drilling machine, the invention comprises the following steps: the device also comprises a manipulator pressure sensor for detecting the pressure of the oil inlet of the manipulator.
As a preferable scheme of the small automatic drilling horizontal directional drilling machine, the invention comprises the following steps: the controller is used for controlling the second electromagnetic directional valve to obtain electricity, enabling the manipulator clamping oil cylinder to drive the manipulator to clamp, obtaining manipulator oil inlet pressure through the manipulator pressure sensor, controlling the second electromagnetic directional valve to lose electricity when the manipulator oil inlet pressure is equal to a preset manipulator oil inlet pressure threshold value, controlling the fourth electromagnetic directional valve to obtain electricity, enabling the manipulator rotating oil cylinder to drive the manipulator to rotate, obtaining manipulator oil inlet pressure through the manipulator pressure sensor, controlling the fourth electromagnetic directional valve to lose electricity when the manipulator oil inlet pressure is equal to the preset manipulator oil inlet pressure threshold value, controlling the third electromagnetic directional valve to obtain electricity, enabling the manipulator rod feeding oil cylinder to drive the manipulator rod, obtaining manipulator oil inlet pressure through the manipulator pressure sensor, and controlling the third electromagnetic directional valve to lose electricity when the manipulator oil inlet pressure is equal to the preset manipulator oil inlet pressure threshold value.
As a preferable scheme of the small automatic drilling horizontal directional drilling machine, the invention comprises the following steps: the controller is also used for controlling the third electromagnetic directional valve to be electrified, enabling the manipulator rod feeding oil cylinder to drive the manipulator to reset, obtaining the pressure of the manipulator oil inlet through the manipulator pressure sensor, controlling the third electromagnetic directional valve to lose electricity when the pressure of the manipulator oil inlet is equal to a preset manipulator oil inlet pressure threshold value, controlling the fourth battery directional valve to be electrified, enabling the manipulator rotating oil cylinder to drive the manipulator to reset, obtaining the pressure of the manipulator oil inlet through the manipulator pressure sensor, controlling the fourth electromagnetic directional valve to lose electricity when the pressure of the manipulator oil inlet is equal to a preset manipulator oil inlet pressure threshold value, controlling the second battery directional valve to be electrified, enabling the manipulator clamping oil cylinder to drive the manipulator to reset, and controlling the second electromagnetic directional valve to lose electricity when the pressure of the manipulator oil inlet is equal to a preset manipulator oil inlet pressure threshold value.
As a preferable scheme of the small automatic drilling horizontal directional drilling machine, the invention comprises the following steps: the device also comprises a front clamping oil cylinder, a rear clamping oil cylinder, a clamp holder overturning oil cylinder, a fifth electromagnetic directional valve, a sixth electromagnetic directional valve and a seventh electromagnetic directional valve, wherein the fifth electromagnetic directional valve, the sixth electromagnetic directional valve and the seventh electromagnetic directional valve are electrically connected with the controller;
the fifth electromagnetic directional valve is arranged in the control loop of the front clamping cylinder, the sixth electromagnetic directional valve is arranged in the control loop of the rear clamping cylinder, and the seventh electromagnetic directional valve is arranged in the control loop of the clamp overturning cylinder.
As a preferable scheme of the small automatic drilling horizontal directional drilling machine, the invention comprises the following steps: the device also comprises a clamp holder pressure sensor for detecting the pressure of the oil inlet of the clamp holder.
As a preferable scheme of the small automatic drilling horizontal directional drilling machine, the invention comprises the following steps: the controller is used for controlling the sixth electromagnetic directional valve to be electrified, enabling the rear clamping cylinder to drive the rear clamping device to clamp, obtaining the pressure of the clamping device oil inlet through the clamping device pressure sensor, controlling the sixth electromagnetic directional valve to be electrified when the pressure of the clamping device oil inlet is equal to a preset pressure threshold value of the clamping device oil inlet, controlling the fifth electromagnetic directional valve to be electrified, enabling the front clamping cylinder to drive the front clamping device to clamp, obtaining the pressure of the clamping device oil inlet through the clamping device pressure sensor, controlling the fifth electromagnetic directional valve to be electrified when the pressure of the clamping device oil inlet is equal to a preset pressure threshold value of the clamping device oil inlet, controlling the seventh electromagnetic directional valve to be electrified, enabling the clamping device overturning cylinder to control the clamping device to overturn, obtaining the pressure of the clamping device oil inlet through the clamping device pressure sensor, and controlling the seventh electromagnetic directional valve to be electrified when the pressure of the clamping device oil inlet is equal to a preset pressure threshold value of the clamping device oil inlet.
The beneficial effects of the invention are as follows:
(1) The invention realizes the automatic control of the drilling machine, not only improves the working efficiency, but also reduces the labor intensity of operators, and effectively solves the problems of poor artificial alertness and slow response of the drilling machine caused by emergency conditions such as the jamming phenomenon in the construction process.
(2) The invention integrates automatic drilling control, automatic rod loading control, automatic rod unloading control and automatic shackle control, and utilizes the pressure sensor as a feedback channel in the control process, thereby being convenient for realizing closed-loop control and logic control of electric control and improving the accuracy of automatic control.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a small and medium-sized automatic drilling horizontal directional drilling machine provided by the invention;
FIG. 2 is a diagram of an electrical control frame for automatic drilling of a drill rod in a small and medium-sized automatic drilling horizontal directional drilling machine;
FIG. 3 is a diagram of an electrical control frame for automatically feeding a rod in a small and medium-sized automatic drilling horizontal directional drilling machine provided by the invention;
FIG. 4 is a diagram of an electrical control frame for automatically unloading a rod in a small and medium-sized automatic drilling horizontal directional drilling machine provided by the invention;
FIG. 5 is a diagram of an electrical control frame for automatic shackle in a small and medium sized automatic drilling horizontal directional drilling machine provided by the invention;
wherein: 1. an electric proportional rotary pump; 2. a rotary pressure sensor; 3. a rotary motor; 4. a push-pull pressure sensor; 5. push-pull electric proportional reversing valve; 6. a push-pull hydraulic motor; 7. a first electromagnetic directional valve; 8. a slurry pump; 9. a manipulator pressure sensor; 10. a second electromagnetic directional valve; 11. a front clamping cylinder; 12. a third electromagnetic directional valve; 13. a rear clamping cylinder; 14. a fourth electromagnetic directional valve; 15. clamping and overturning oil cylinders; 16. a fifth electromagnetic directional valve; 17. the mechanical arm clamps the oil cylinder; 18. a sixth electromagnetic directional valve; 19. a mechanical arm rod feeding oil cylinder; 20. a seventh electromagnetic directional valve; 21. the manipulator rotates the oil cylinder; 22. a gripper pressure sensor.
Detailed Description
In order that the invention may be more readily understood, a more particular description thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
Fig. 1 is a schematic structural diagram of a small and medium-sized automatic drilling horizontal directional drilling machine according to an embodiment of the present application. The device comprises a rotary motor, a rotary pressure sensor, an electric proportion rotary pump, a push-pull hydraulic motor, a push-pull pressure sensor, a push-pull electric proportion reversing valve, a slurry pump, a first electromagnetic reversing valve, a manipulator clamping cylinder, a manipulator rod feeding cylinder, a manipulator rotary cylinder, a second electromagnetic reversing valve, a third electromagnetic reversing valve, a fourth electromagnetic reversing valve, a front clamping cylinder, a rear clamping cylinder, a clamp overturning cylinder, a fifth electromagnetic reversing valve, a sixth electromagnetic reversing valve, a seventh electromagnetic reversing valve and a controller.
The rotary motor, the rotary pressure sensor, the electric proportion rotary pump, the push-pull hydraulic motor, the push-pull pressure sensor, the push-pull electric proportion reversing valve, the slurry pump, the first electromagnetic reversing valve and the controller are used for realizing electric control of automatic drilling of the drill rod, namely, the controller is used for controlling the drill rod to rotate and push-pull to automatically operate, the first electromagnetic reversing valve is powered, and the slurry pump works to perform grouting.
Specifically, the rotary pressure sensor is used to monitor the rotary load pressure during drilling operations and transmit it to the controller. The push-pull pressure sensor is used for monitoring push-pull load pressure during drilling construction and transmitting the push-pull load pressure to the controller. The electric proportional rotary pump is used to regulate the operating power of the rotary motor. The push-pull electric proportional reversing valve is used for adjusting the operation power of the push-pull hydraulic motor. The controller is used for setting a rotating pressure threshold and a push-pull pressure threshold in drilling construction, comparing the received rotating load pressure with the rotating pressure threshold, comparing the received push-pull load pressure with the push-pull pressure threshold, controlling the running power of the rotating motor through the electric proportional rotating pump, and controlling the running power of the push-pull hydraulic motor through the push-pull electric proportional reversing valve. The control principle is as follows:
when the push-pull load pressure is larger than a set push-pull pressure threshold value, and the rotation load pressure is smaller than the set rotation pressure threshold value, the controller reduces the current of the push-pull electric proportional reversing valve, and reduces the push-pull speed until the push-pull load pressure is smaller than or equal to the push-pull pressure threshold value; when the push-pull load pressure is regulated to be smaller than the push-pull pressure threshold value, the controller increases the current of the push-pull electric proportional reversing valve, and keeps the push-pull load pressure and the rotation load pressure smaller than or equal to the push-pull pressure threshold value and the rotation pressure threshold value respectively.
When the push-pull load pressure is smaller than a set push-pull pressure threshold value and the rotation load pressure is larger than a set rotation pressure threshold value, the controller reduces the current of the push-pull electric proportional reversing valve until the rotation load pressure is smaller than or equal to the rotation pressure threshold value, and when the rotation load pressure is still larger than the rotation pressure threshold value due to the fact that the current of the push-pull electric proportional reversing valve is reduced to a dead zone, the controller reduces the current of the electric proportional rotary pump until the rotation load pressure is smaller than or equal to the rotation pressure threshold value; when the rotation load pressure is regulated to be smaller than the rotation pressure threshold value, the controller increases the current of the electric proportion rotation pump and the current of the push-pull electric proportion reversing valve, and keeps the push-pull load pressure and the rotation load pressure smaller than or equal to the push-pull pressure threshold value and the rotation pressure threshold value respectively.
Referring to fig. 2, in the present embodiment, the operating power of the rotary motor is controlled by rotating the electronically controlled handle. The running power of the hydraulic push-pull motor is controlled by the electric control handle.
The manipulator clamping oil cylinder, the manipulator rod feeding oil cylinder, the manipulator rotating oil cylinder, the second electromagnetic reversing valve, the third electromagnetic reversing valve and the fourth electromagnetic reversing valve are used for realizing the electric control of automatic rod feeding and automatic rod discharging of the drill rod.
Specifically, the second electromagnetic directional valve, the third electromagnetic directional valve and the fourth electromagnetic directional valve are all electrically connected with a controller, and the controller can control the opening and closing of the second electromagnetic directional valve, the third electromagnetic directional valve and the fourth electromagnetic directional valve. The second electromagnetic directional valve is arranged in a control loop of the manipulator clamping oil cylinder, the third electromagnetic directional valve is arranged in a control loop of the manipulator rod feeding oil cylinder, and the fourth electromagnetic directional valve is arranged in a control loop of the manipulator rotating oil cylinder.
Referring to fig. 3, the control principle of the automatic up-lever control system is as follows: the controller controls the second electromagnetic reversing valve to obtain electricity, so that the manipulator clamping oil cylinder drives the manipulator to clamp, the manipulator oil inlet pressure is obtained through the manipulator pressure sensor, when the manipulator oil inlet pressure is equal to a preset manipulator oil inlet pressure threshold value, the second electromagnetic reversing valve is controlled to lose electricity, the fourth electromagnetic reversing valve is controlled to obtain electricity, so that the manipulator rotating oil cylinder drives the manipulator to rotate, when the manipulator oil inlet pressure is equal to the preset manipulator oil inlet pressure threshold value, the fourth electromagnetic reversing valve is controlled to lose electricity, the third electromagnetic reversing valve is controlled to obtain electricity, so that the manipulator rod feeding oil cylinder drives the manipulator rod feeding, the manipulator oil inlet pressure is obtained through the manipulator pressure sensor, and when the manipulator oil inlet pressure is equal to the preset manipulator oil inlet pressure threshold value, the third electromagnetic reversing valve is controlled to lose electricity, and automatic rod feeding control is completed.
Referring to fig. 4, the control principle of the automatic lever unloading control system is as follows: the controller controls the third electromagnetic reversing valve to obtain electricity, so that the manipulator rod feeding oil cylinder drives the manipulator to reset, the manipulator oil inlet pressure is obtained through the manipulator pressure sensor, the third electromagnetic reversing valve is controlled to lose electricity when the manipulator oil inlet pressure is equal to a preset manipulator oil inlet pressure threshold value, the fourth battery reversing valve is controlled to obtain electricity, the manipulator rotating oil cylinder drives the manipulator to reset, the manipulator oil inlet pressure is obtained through the manipulator pressure sensor, the fourth electromagnetic reversing valve is controlled to lose electricity when the manipulator oil inlet pressure is equal to a preset manipulator oil inlet pressure threshold value, the second battery reversing valve is controlled to obtain electricity, the manipulator clamping oil cylinder drives the manipulator to reset, and the second electromagnetic reversing valve is controlled to lose electricity when the manipulator oil inlet pressure is equal to a preset manipulator oil inlet pressure threshold value, and automatic rod unloading control is completed.
The front clamping oil cylinder, the rear clamping oil cylinder, the clamp overturning oil cylinder, the fifth electromagnetic reversing valve, the sixth electromagnetic reversing valve and the seventh electromagnetic reversing valve are used for realizing the electric control of automatic shackle. The fifth electromagnetic reversing valve, the sixth electromagnetic reversing valve and the seventh electromagnetic reversing valve are all electrically connected with the controller. The fifth electromagnetic directional valve is arranged in the control loop of the front clamping cylinder, the sixth electromagnetic directional valve is arranged in the control loop of the rear clamping cylinder, and the seventh electromagnetic directional valve is arranged in the control loop of the clamp overturning cylinder.
Referring to fig. 5, the control principle of the automatic shackle control system is as follows: the controller controls the sixth electromagnetic directional valve to be electrified, the rear clamping cylinder drives the rear clamping device to clamp, the clamp oil inlet pressure is obtained through the clamp pressure sensor, the sixth electromagnetic directional valve is controlled to be electrified when the clamp oil inlet pressure is equal to a preset clamp oil inlet pressure threshold value, the fifth electromagnetic directional valve is controlled to be electrified, the front clamping cylinder drives the front clamping device to clamp, the clamp oil inlet pressure is obtained through the clamp pressure sensor, the fifth electromagnetic directional valve is controlled to be electrified when the clamp oil inlet pressure is equal to the preset clamp oil inlet pressure threshold value, the seventh electromagnetic directional valve is controlled to be electrified, the clamp overturning cylinder controls the clamp to overturn, the clamp oil inlet pressure is obtained through the clamp pressure sensor, and the seventh electromagnetic directional valve is controlled to be electrified when the clamp oil inlet pressure is equal to the preset clamp oil inlet pressure threshold value, so that automatic shackle control is completed.
Therefore, the technical scheme of the application realizes the automatic control of the drilling machine, not only improves the working efficiency, but also reduces the labor intensity of operators, and effectively solves the problems of poor artificial alertness and slow response of the drilling machine caused by emergency conditions such as the phenomenon of stuck drilling in the construction process.
In addition to the above embodiments, the present invention may have other embodiments; all technical schemes formed by equivalent substitution or equivalent transformation fall within the protection scope of the invention.

Claims (4)

1. A small and medium-sized automatic drilling horizontal directional drilling machine, which is characterized in that: the device comprises a rotary motor (3), a rotary pressure sensor (2), an electric proportional rotary pump (1), a push-pull hydraulic motor (6), a push-pull pressure sensor (4), a push-pull electric proportional reversing valve (5) and a controller;
the rotary pressure sensor (2) is used for monitoring rotary load pressure during drilling construction and transmitting the rotary load pressure to the controller, and the push-pull pressure sensor (4) is used for monitoring push-pull load pressure during drilling construction and transmitting the push-pull load pressure to the controller;
the controller is used for setting a rotating pressure threshold and a push-pull pressure threshold during drilling construction, comparing the received rotating load pressure with the rotating pressure threshold, comparing the received push-pull load pressure with the push-pull pressure threshold, controlling the running power of the rotating motor (3) through the electric proportional rotating pump (1), and controlling the running power of the push-pull hydraulic motor (6) through the push-pull electric proportional reversing valve (5);
when the push-pull load pressure is larger than a set push-pull pressure threshold value and the rotation load pressure is smaller than the set rotation pressure threshold value, the controller reduces the current of the push-pull electric proportional reversing valve (5) and reduces the push-pull speed until the push-pull load pressure is smaller than or equal to the push-pull pressure threshold value; when the push-pull load pressure is regulated to be smaller than the push-pull pressure threshold value, the controller increases the current of the push-pull electric proportional reversing valve (5) and keeps the push-pull load pressure and the rotary load pressure smaller than or equal to the push-pull pressure threshold value and the rotary pressure threshold value respectively;
when the push-pull load pressure is smaller than a set push-pull pressure threshold value and the rotation load pressure is larger than a set rotation pressure threshold value, the controller reduces the current of the push-pull proportional reversing valve (5) until the rotation load pressure is smaller than or equal to the rotation pressure threshold value, and when the rotation load pressure is still larger than the rotation pressure threshold value if the current of the push-pull proportional reversing valve (5) is reduced to a dead zone, the controller reduces the current of the electric proportional rotary pump (1) until the rotation load pressure is smaller than or equal to the rotation pressure threshold value; when the rotation load pressure is regulated to be smaller than the rotation pressure threshold value, the controller increases the current of the electric proportional rotation pump (1) and the current of the push-pull electric proportional reversing valve (5), and keeps the push-pull load pressure and the rotation load pressure smaller than or equal to the push-pull pressure threshold value and the rotation pressure threshold value respectively;
the device further comprises a slurry pump (8) and a first electromagnetic directional valve (7), wherein the first electromagnetic directional valve (7) is electrically connected with the controller, and the first electromagnetic directional valve (7) is arranged in a control loop of the slurry pump (8);
the controller is used for controlling the opening and closing of the slurry pump (8) by controlling the opening and closing of the first electromagnetic directional valve (7);
the automatic control device is characterized by further comprising a manipulator clamping oil cylinder (17), a manipulator rod feeding oil cylinder (19), a manipulator rotating oil cylinder (21), a second electromagnetic directional valve (10), a third electromagnetic directional valve (12) and a fourth electromagnetic directional valve (14), wherein the second electromagnetic directional valve (10), the third electromagnetic directional valve (12) and the fourth electromagnetic directional valve (14) are electrically connected with the controller;
the second electromagnetic directional valve (10) is arranged in a control loop of the manipulator clamping oil cylinder (17), the third electromagnetic directional valve (12) is arranged in a control loop of the manipulator rod feeding oil cylinder (19), and the fourth electromagnetic directional valve (14) is arranged in a control loop of the manipulator rotating oil cylinder (21);
the device also comprises a manipulator pressure sensor (9) for detecting the pressure of the oil inlet of the manipulator;
the controller is used for controlling the second electromagnetic directional valve (10) to obtain electricity, enabling the manipulator clamping oil cylinder (17) to drive the manipulator to clamp, obtaining manipulator oil inlet pressure through the manipulator pressure sensor (9), controlling the second electromagnetic directional valve (10) to lose electricity when the manipulator oil inlet pressure is equal to a preset manipulator oil inlet pressure threshold value, controlling the fourth electromagnetic directional valve (14) to obtain electricity, enabling the manipulator rotating oil cylinder (21) to drive the manipulator to rotate, obtaining manipulator oil inlet pressure through the manipulator pressure sensor (9), controlling the fourth electromagnetic directional valve (14) to lose electricity when the manipulator oil inlet pressure is equal to the preset manipulator oil inlet pressure threshold value, controlling the third electromagnetic directional valve (12) to obtain electricity, enabling the manipulator oil feeding rod oil cylinder (19) to drive the manipulator feeding rod, obtaining manipulator oil inlet pressure through the manipulator pressure sensor (9), and controlling the third electromagnetic directional valve (12) to lose electricity when the manipulator oil inlet pressure is equal to the preset manipulator oil inlet pressure threshold value;
the controller is further used for controlling the third electromagnetic directional valve (12) to be powered, enabling the manipulator rod feeding oil cylinder (19) to drive the manipulator to reset, obtaining manipulator oil inlet pressure through the manipulator pressure sensor (9), controlling the third electromagnetic directional valve (12) to be powered off when the manipulator oil inlet pressure is equal to a preset manipulator oil inlet pressure threshold value, controlling the fourth battery directional valve to be powered on, enabling the manipulator rotating oil cylinder (21) to drive the manipulator to reset, obtaining manipulator oil inlet pressure through the manipulator pressure sensor (9), controlling the fourth electromagnetic directional valve (14) to be powered off when the manipulator oil inlet pressure is equal to the preset manipulator oil inlet pressure threshold value, controlling the second battery directional valve to be powered off, enabling the manipulator clamping oil cylinder (17) to drive the manipulator to reset, and controlling the second electromagnetic directional valve (10) to be powered off when the manipulator oil inlet pressure is equal to the preset manipulator oil inlet pressure threshold value.
2. The medium and small automatic drilling horizontal directional drilling machine according to claim 1, wherein: the device further comprises a front clamping oil cylinder (11), a rear clamping oil cylinder (13), a clamp holder overturning oil cylinder, a fifth electromagnetic directional valve (16), a sixth electromagnetic directional valve (18) and a seventh electromagnetic directional valve (20), wherein the fifth electromagnetic directional valve (16), the sixth electromagnetic directional valve (18) and the seventh electromagnetic directional valve (20) are electrically connected with the controller;
the fifth electromagnetic directional valve (16) is arranged in a control loop of the front clamping cylinder (11), the sixth electromagnetic directional valve (18) is arranged in a control loop of the rear clamping cylinder (13), and the seventh electromagnetic directional valve (20) is arranged in a control loop of the clamp overturning cylinder.
3. The small and medium automatic drilling horizontal directional drilling machine according to claim 2, wherein: the device also comprises a clamp pressure sensor (22) for detecting the pressure of the oil inlet of the clamp.
4. A small and medium automatic drilling horizontal directional drilling machine according to claim 3, characterized in that: the controller is used for controlling the sixth electromagnetic directional valve (18) to obtain electricity, enabling the rear clamping cylinder (13) to drive the rear clamping device to clamp, obtaining clamp oil inlet pressure through the clamp pressure sensor (22), controlling the sixth electromagnetic directional valve (18) to lose electricity when the clamp oil inlet pressure is equal to a preset clamp oil inlet pressure threshold value, controlling the fifth electromagnetic directional valve (16) to obtain electricity, enabling the front clamping cylinder (11) to drive the front clamping device to clamp, obtaining clamp oil inlet pressure through the clamp pressure sensor (22), controlling the fifth electromagnetic directional valve (16) to lose electricity when the clamp oil inlet pressure is equal to the preset clamp oil inlet pressure threshold value, controlling the seventh electromagnetic directional valve (20) to obtain electricity, enabling the clamp overturning cylinder to control clamp overturning, obtaining clamp oil inlet pressure through the clamp oil inlet pressure sensor (22), and controlling the seventh electromagnetic directional valve (20) to lose electricity when the clamp oil inlet pressure is equal to the preset clamp oil inlet pressure threshold value.
CN202311294930.8A 2023-10-09 2023-10-09 Small and medium-sized automatic drilling horizontal directional drilling machine Active CN117027650B (en)

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CN104343433A (en) * 2014-10-31 2015-02-11 山河智能装备股份有限公司 Full-hydraulic adaptive coupling control loop for rotation and propelling of rock drilling machine and control method
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CN108643884A (en) * 2018-04-26 2018-10-12 中国矿业大学 A kind of jumbolter propulsion rotary system and its cooperative self-adapted control method
CN111151369A (en) * 2020-03-09 2020-05-15 长沙中金智能装备有限公司 Shredder control system and control method
CN111827961A (en) * 2020-06-19 2020-10-27 徐州徐工基础工程机械有限公司 Automatic drilling and back-dragging control system and control method under constant torque
CN113153200A (en) * 2021-04-01 2021-07-23 湖南创远智能发展有限责任公司 Hydraulic rock drill electrohydraulic control system and method

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104343433A (en) * 2014-10-31 2015-02-11 山河智能装备股份有限公司 Full-hydraulic adaptive coupling control loop for rotation and propelling of rock drilling machine and control method
CN106647837A (en) * 2017-01-20 2017-05-10 中联重科股份有限公司 Method and controller for controlling hydraulic system, and machine
CN108643884A (en) * 2018-04-26 2018-10-12 中国矿业大学 A kind of jumbolter propulsion rotary system and its cooperative self-adapted control method
CN108643825A (en) * 2018-05-21 2018-10-12 中国水利水电第十工程局有限公司 A kind of hydraulic rock drilling machine of tool safety control system
CN111151369A (en) * 2020-03-09 2020-05-15 长沙中金智能装备有限公司 Shredder control system and control method
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