CN210530754U - Control equipment for mast falling of rotary drilling rig - Google Patents
Control equipment for mast falling of rotary drilling rig Download PDFInfo
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- CN210530754U CN210530754U CN201921341309.1U CN201921341309U CN210530754U CN 210530754 U CN210530754 U CN 210530754U CN 201921341309 U CN201921341309 U CN 201921341309U CN 210530754 U CN210530754 U CN 210530754U
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Abstract
The utility model discloses a dig rig down mast controlgear soon, wherein, equipment includes: the first angle acquisition device is used for acquiring the rotation angle X of a mast on the rotary drilling rig by taking a central shaft as an axis; and control means for performing one or more of the following operations: when the X is less than or equal to the first angle threshold value, adjusting the current of the mast right shrinkage proportional valve; and when the X is larger than or equal to a second angle threshold value, adjusting the current of the mast left-shrinkage proportional valve. The device solves the problems that the inclination angle sensor in the prior art cannot accurately acquire the angle value of the mast in the left-right direction, and accidents such as mutual collision of the mast and a vehicle body structural member are easy to happen.
Description
Technical Field
The utility model relates to a dig rig control field soon, specifically, relate to a dig rig down mast controlgear soon.
Background
The rotary drilling rig has the advantages of large structural part, more parts and compact installation space, so that accidents such as mutual collision of the mast and a vehicle body structural part and the like are easily caused in the mast inverting process. At present, a rotary drilling rig adopts a double-large-triangle structure, due to the limitation of installation space, an inclination angle sensor is generally arranged on a mast to respectively acquire the angles of the mast in the front-back direction and the left-right direction, the inclination angle sensor takes the gravity direction as a reference object, and when the rotary drilling rig is in the condition of uneven ground or inclined ground, the inclination angle sensor cannot accurately acquire the angle value of the mast in the left-right direction, so that accidents such as mutual collision of the mast and a vehicle body structural member are easily caused.
Therefore, it is the utility model discloses the problem that needs solve urgently to provide one kind can overcome above technical problem effectively in the use and dig rig mast control equipment soon.
SUMMERY OF THE UTILITY MODEL
To the technical problem, the utility model aims at providing an overcome above technical problem dig rig down mast controlgear soon.
In order to achieve the above object, the utility model provides a dig rig down mast controlgear soon, equipment includes:
the first angle acquisition device is used for acquiring the rotation angle X of a mast on the rotary drilling rig by taking a central shaft as an axis; and
control means for performing one or more of the following operations:
when the X is less than or equal to the first angle threshold value, adjusting the current of the mast right shrinkage proportional valve;
and when the X is larger than or equal to a second angle threshold value, adjusting the current of the mast left-shrinkage proportional valve.
Preferably, the first angle acquisition means includes: a central shaft angle sensor and a bridging mechanism;
the mast rotary table of the rotary drilling rig is fixedly provided with a central shaft, one end part, far away from the mast rotary table, of the central shaft extends into the mast, the central shaft and the mast are in a vertical state, a central shaft angle sensor is fixed on the end face of one end, far away from the mast rotary table, of the central shaft, the central shaft is connected with a detection shaft on the central shaft angle sensor through the bridging mechanism, and the central shaft angle sensor is used for detecting the rotation angle X of the mast by taking the central shaft as a shaft.
Preferably, the bridging mechanism comprises: a connecting rod and a rotating shaft;
the inner side surface of the mast is provided with a fixed sleeve matched with the central shaft; the two ends of the connecting rod are respectively fixed on the end surface of the fixing sleeve, the connecting rod is parallel to the end surface of the central shaft, the middle of the connecting rod is connected with a detection shaft on the central shaft angle sensor through the rotating shaft, and the rotating shaft and the detection shaft are coaxially arranged.
Preferably, the bridging mechanism further comprises: a protective cover;
the bottom of safety cover is fixed on the terminal surface of fixed cover, just still be provided with on the safety cover with connecting rod matched with is protruding, the arch can with connecting rod and pivot cover.
Preferably, the mast inversion control apparatus further comprises:
the second angle acquisition device is used for acquiring an angle Y formed between the mast and the mast in the front-back direction in a vertical state;
the control device is further used for adjusting the maximum current values of the right scaling valve and the left scaling valve when the angle Y is between the third angle threshold and the fourth angle threshold so as to control and slow down the mast lowering speed of the mast.
Preferably, the mast inversion control apparatus further comprises:
the weighing device is used for detecting the total weight of the drill rod and the drilling tool;
and when the weight of the drill rod drilling tool is greater than the weight threshold value, limiting the mast to perform mast inverting movement.
The utility model also provides a control method that falls the mast of rotary drilling rig, the method includes:
obtaining the rotation angle X of the mast by taking the central shaft as an axis;
when the X is less than or equal to the first angle threshold value, adjusting the current of the mast right shrinkage proportional valve;
and when the X is larger than or equal to a second angle threshold value, adjusting the current of the mast left-shrinkage proportional valve.
Preferably, the angle X of the rotation of the acquisition mast about the central axis is detected by a central axis angle sensor between the central axis and the bridging mechanism; wherein the content of the first and second substances,
the central shaft is fixed on a mast turntable of the rotary drilling rig, one end part of the central shaft, far away from the mast turntable, extends into the mast, the central shaft and the mast are in a vertical state, a central shaft angle sensor is fixed on the end face of one end, extending into the mast, of the central shaft, the mast is connected with a detection shaft on the central shaft angle sensor through the bridging mechanism, and the central shaft angle sensor is used for detecting the rotation angle X of the mast by taking the central shaft as a shaft.
Preferably, the bridging mechanism comprises: a connecting rod and a rotating shaft;
the side surface of the mast is provided with a fixed sleeve matched with the central shaft; the two ends of the connecting rod are respectively fixed on the end surface of the fixing sleeve, the connecting rod is parallel to the end surface of the central shaft, the middle of the connecting rod is connected with a detection shaft on the central shaft angle sensor through the rotating shaft, and the rotating shaft and the detection shaft are coaxially arranged.
Preferably, the bridging mechanism further comprises: protective cover
The bottom of safety cover is fixed on the terminal surface of fixed cover, just still be provided with on the safety cover with connecting rod matched with is protruding, the arch can with connecting rod and pivot cover.
Preferably, before the obtaining the angle X that the mast rotates around the central shaft, the method further comprises:
acquiring an angle Y formed between the mast in the front-back direction and the mast in a vertical state; wherein the content of the first and second substances,
when the angle Y is between the third angle threshold and a fourth angle threshold, adjusting the maximum current values of the right-shrinkage proportional valve and the left-shrinkage proportional valve to control and slow down the mast lowering speed of the mast.
Preferably, before the obtaining of the angle Y formed by the mast in the front-rear direction and the mast itself in the vertical state, the method further comprises:
acquiring the weight of a drill rod and a drilling tool on the rotary drilling rig; wherein the content of the first and second substances,
and when the weight of the drill rod drilling tool is greater than the weight threshold value, limiting the mast to perform mast inverting movement.
The utility model also provides a machine readable storage medium, its storage has the procedure, realizes when this procedure is carried out dig rig down mast control method soon.
According to the technical scheme, the utility model provides a dig rig down mast controlgear soon and do when using beneficial effect: the method is not influenced by the flatness of the ground, the angle X of the mast rotating by taking the central shaft as the axis can be accurately obtained, the currents of the mast right scale valve and the mast left scale valve are correspondingly adjusted according to the obtained angle X, the angle X is controlled, accidents such as mutual collision of the mast and a vehicle body structural member and the like caused in the mast inverting process of the rotary drilling rig are prevented, meanwhile, the dependence on the operation experience of a manipulator is reduced, and the mast inverting is safer and more reliable.
Other features and advantages of the present invention will be described in detail in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram of an overall structure of a mast control apparatus of a rotary drilling rig according to a preferred embodiment of the present invention;
fig. 2 is a schematic diagram of an overall structure of a mast control apparatus of a rotary drilling rig according to a preferred embodiment of the present invention;
fig. 3 is a schematic view illustrating an assembly of a mast and a central shaft of a control apparatus for a reverse mast of a rotary drilling rig according to a preferred embodiment of the present invention;
fig. 4 is a schematic view illustrating an assembly of a mast and a central shaft of a control device for a reverse mast of a rotary drilling rig according to a preferred embodiment of the present invention;
FIG. 5 is an enlarged view at A in FIG. 4;
fig. 6 is a flowchart of a mast lowering control method of a rotary drilling rig according to a preferred embodiment of the present invention;
fig. 7 is a flowchart of a mast lowering control method of a rotary drilling rig according to a preferred embodiment of the present invention;
fig. 8 is a flowchart of a mast lowering control method of a rotary drilling rig according to a preferred embodiment of the present invention;
fig. 9 is a hardware control logic diagram of a mast lowering process of the rotary drilling rig according to an embodiment of the present invention;
fig. 10 is a hardware control logic diagram of the rotary drilling rig according to a preferred embodiment of the present invention, which controls the mast in the left-right direction.
Description of the reference numerals
1 protective cover 2 connecting rod
3 fixed cover of pivot 4
5 center shaft angle sensor 6 mast
7 center shaft 8 mast turntable
91 mast Right-shrink proportional valve 92 mast left-shrink proportional valve
10 mast oil cylinder 11 lower frame
12 movable arm 13 drill rod drilling tool
Detailed Description
The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings. It is to be understood that the description of the embodiments herein is for purposes of illustration and explanation only and is not intended to limit the invention.
The utility model discloses in, to the angle of mast: by taking the visual field of a driver in a cab of the rotary drilling rig as a reference, when the mast is in a vertical state, the forward and backward movement is represented as a Y direction, and the leftward and rightward movement is represented as an X direction, wherein when the mast is in the vertical state, the X direction is judged as X: 0 degree; y: 0 degree. The forward Y value is positive, and the backward Y value is negative; the X value is negative when the driver leans to the left side; the value of X is positive when the vehicle is tilted right.
On a rotary drilling rig, generally, the method includes: lower frame 11, mast 6, center shaft 7, boom 12, etc.; the lower frame is a body of the rotary drilling rig, a cockpit is further arranged on the lower frame, and the lower frame 11 is connected with the mast 6 through a movable arm 12, a mast turntable 8, a central shaft 7, a left contraction proportion valve, a right contraction proportion valve, a left extension proportion valve, a right extension proportion valve, a mast oil cylinder 10 and the like, so that the mast 6 is effectively controlled.
It is following right it explains in detail to dig rig mast collapse controlgear soon, as shown in fig. 1-2, the utility model provides a dig rig mast collapse controlgear soon, equipment includes:
the first angle acquisition device is used for acquiring the rotation angle X of the mast 6 on the rotary drilling rig by taking the central shaft 7 as an axis; and
control means for performing one or more of the following operations:
when the X is less than or equal to the first angle threshold value, adjusting the current of the mast right scaling valve 91;
and when the X is larger than or equal to the second angle threshold value, adjusting the current of the mast left-reduction proportional valve 92.
In the above scheme, the first angle obtaining device accurately obtains the angle X, which is the angle of rotation of the mast 6 relative to the central shaft 7, and can also be understood as an angle of left or right deviation of the mast 6 relative to itself when viewed by a driver sitting in the cockpit, and the detection of the angle X is not affected by the uneven ground;
the utility model discloses in specific control process: when the X is detected to be less than or equal to the first angle threshold value, the position of the mast is inclined to the left relative to the cab, at this time, the current of the mast left-contraction proportional valve 92 is kept, the current of the right-contraction proportional valve 91 is adjusted, so that the mast oil cylinder on the right side of the mast 6 is contracted, and the mast 6 is driven to rotate to the right so as to return the mast 6; when the X is larger than or equal to a second angle threshold value, the position of the mast relative to the cab is right-leaning, at this time, the current of the mast right-shrinkage proportion valve 91 is kept, the current of the left-shrinkage proportion valve 92 is adjusted, so that the mast oil cylinder on the left side of the mast 6 is shrunk, and the mast 6 is driven to rotate to the left, so that the mast 6 is straightened. The angle of the mast 6 in the left-right direction is ensured by the above control manner.
Wherein the first angle threshold is generally in the range of 2 ° to 5 °, and the second angle threshold is generally in the range of-5 ° to-2 °; preferably, the first angle threshold is 2 °, the second angle threshold is-2 °, and then the control method of the present invention can control the angle X at [ -2 °, 2], and as long as the angle is not adjusted in this range, the problem of collision and friction between the mast 6 and the body due to too large inclination during mast lowering can be effectively avoided.
In the prior art, an inclination angle sensor is generally directly arranged on a mast for detection, the inclination angle sensor takes the gravity direction as a reference object, and the inclination angle sensor cannot accurately display an angle value with equipment under the condition that the ground is uneven or inclined, so that the measurement of the angle X is influenced, and the risk of collision between the mast and a machine body in the process of mast falling is indirectly increased.
In a preferred embodiment of the present invention, the first angle obtaining device includes: a central shaft angle sensor 5 and a bridging mechanism;
a central shaft 7 is fixed on a mast turntable 8 of the rotary drilling rig, one end part, far away from the mast turntable 8, of the central shaft 7 extends into the mast 6, the central shaft 7 and the mast 6 are in a vertical state, a central shaft angle sensor 5 is fixed on the end face of one end, far away from the mast turntable 8, of the central shaft 7, the end face of one end, extending into the mast, of the central shaft 7, the mast 6 is connected with a detection shaft on the central shaft angle sensor 5 through the bridging mechanism, and the central shaft angle sensor 5 is used for detecting an angle X of the mast 6, which rotates by taking the central shaft 7 as a shaft.
In the above scheme, the utility model discloses set up a bridging mechanism, with will the mast about the orientation for the axis of rotation power transmission extremely on the detection shaft of center pin angle sensor 5, thereby right angle X accurately acquires, the utility model discloses well bridging mechanism that sets up can carry out accurate measurement to mast 6 about ascending rotation of side under the structure prerequisite that the rig originally was dug not changing, to conveniently carry out accurate control to mast 6, realize the work of safe mast down. Of course, in order to ensure the accuracy of the detection of the center shaft angle sensor 5, the center shaft angle sensor 5 is generally disposed at the center of the center shaft 7 at the end surface of the center shaft.
As shown in fig. 3 to 5, in a preferred embodiment of the present invention, the bridging mechanism includes: a connecting rod 2 and a rotating shaft 3; the inner side surface of the mast 6 is provided with a fixed sleeve 4 matched with the central shaft 7; the both ends of connecting rod 2 are fixed respectively the terminal surface of fixed cover 4, connecting rod 2 with the terminal surface of center pin 7 is parallel, just the middle part of connecting rod 2 is passed through pivot 3 with the last detection axle that detects of center pin angle sensor 5 links to each other, pivot 3 with detect the coaxial setting of axle.
In the above solution, the fixing sleeve 4 on the inner side surface of the mast 6 is structured to facilitate fixing the connecting rod 2, so that the connecting rod 2 rotates along with the rotation of the mast 6, and the rotating force is transmitted to the detection shaft on the central shaft angle sensor 5, thereby realizing accurate detection of the rotating angle of the mast 6.
It should be noted that, in order to ensure the accuracy of the detection result of the central shaft angle sensor 5, it is necessary to ensure that the central shaft is perpendicular to the plane of the mast 6, and the detection shaft of the central shaft angle sensor 5 is coaxial with the rotating shaft 3 and the central shaft 7.
The utility model provides a bridging mechanism simple structure, it is small moreover, be convenient for install in the junction of mast and center pin, because two big triangle structures dig the structure reason of rig soon, the installation space between mast and the center pin is limited, can't hold the great detection device of the complicated volume of some structures, has also caused to carry out the accuracy to the turned angle of mast direction about and has detected and have certain difficulty, this also indirectly has expressed the utility model discloses well bridging mechanism's advantage.
In a preferred embodiment of the present invention, the bridging mechanism further includes: protective cover 1
The bottom of safety cover 1 is fixed on the terminal surface of fixed cover 4, just still be provided with on the safety cover 1 with connecting rod 2 matched with is protruding, the arch can with connecting rod 2 covers with pivot 3.
In the above scheme, the fixing sleeve 4 is arranged to protect the connecting rod 2, the rotating shaft 3 and the central shaft angle sensor 5, and the fixing sleeve 4 and the connecting rod 2 are always in a relatively static state, so that the normal transmission function of the bridging mechanism is not influenced, but impurities in the mast can be prevented from entering the connecting part between the rotating shaft 3 and the central shaft angle sensor 5 to influence the detection work of the central shaft angle sensor 5, and the fixing sleeve 4 can indirectly ensure the detection precision of the central shaft angle sensor 5. To the material of fixed cover 4 can be plastics, stainless steel etc. as long as guarantee can not rust, difficult fracture can, here the utility model discloses in do not injecing its concrete material.
In a preferred embodiment of the present invention, the mast collapse control apparatus further includes:
a second angle acquisition means for acquiring an angle Y formed between the mast 6 and itself in a vertical state in the front-rear direction; the control device is further configured to adjust the maximum current values of the mast right-reduction proportional valve 91 and the mast left-reduction proportional valve 92 when the angle Y is between the third angle threshold and the fourth angle threshold, so as to control to slow down the mast lowering speed of the mast 6.
In the scheme, the mast is mainly controlled in the mast inverting process, the angle Y can be understood as the rotation angle in the mast inverting direction, and the mast inverting operation can be ensured to be carried out orderly and safely by effectively detecting the rotation angle Y; in the process of mast inverting, the distance between the front stage and the cockpit is large, the speed of mast inverting can be relatively faster, when the distance between the mast and the cockpit reaches a certain value, the mast is prevented from colliding with the cockpit or other parts of the machine body, the control on the mast in the left-right direction needs to be strengthened, at the moment, the speed of mast inverting can be slowed down so as to control the mast, for example, when the mast inclines left, enough time can be provided for adjusting the mast to enable the mast to return to the right, and if the speed is too fast at the moment, the problem of untimely control can occur, so that the mast collides with the machine body. The second angle acquisition device may be a mast tilt sensor.
For the specific data of the third angle threshold and the fourth angle threshold, the third angle threshold is typically in the range of-65 ° to-75 °, the fourth angle threshold is typically-90 °, which is also the maximum angle of rotation in the normal case, i.e. the mast is in a horizontal state. Preferably, when the angle Y is in the range of-90 ° to-72 °, the mast is around the body such as the cockpit and is likely to collide with the body, and the maximum current values of the right proportional valve 91 and the mast left proportional valve 92 need to be controlled to slow down the mast-lowering speed of the mast 6, so as to ensure the safety of the mast-lowering.
In a preferred embodiment of the present invention, the mast collapse control apparatus further includes:
a weighing device for detecting the total weight of the drill pipe and the drilling tool 13;
when the weight of the drill pipe 13 is greater than the weight threshold, the mast 6 is restricted from performing a mast lowering movement.
In the above scheme, in order to further improve the installation performance of the mast inversion, the total weight of the drill pipe drilling tool 13 needs to be detected before the mast inversion starts, and when the total weight exceeds a weight threshold, it indicates that the mast inversion process is over, the lower frame 11 cannot ensure the stability of the rotary drilling rig, and at this time, the danger of integral rollover is easy to occur, so that the mast inversion is limited under the condition of ensuring the safety.
In the present invention, the weight threshold is generally in the range of 20-30 tons, that is, the total weight of the drill rod 13 generally does not exceed 20-30 tons, and the safety during the mast lowering operation is not guaranteed at this time, however, the present invention does not specifically limit the weight threshold, for example, in some special cases, the lower frame body is particularly stable, and the situation that the drill rod 13 can bear more than 30 tons also exists. Wherein the weighing device may be a weight sensor.
As shown in fig. 6, the utility model also provides a control method for mast lowering of rotary drilling rig, the method includes:
obtaining the rotation angle X of the mast 6 by taking the central shaft 7 as an axis;
when the X is less than or equal to the first angle threshold value, adjusting the current of the mast right scaling valve 91;
and when the X is larger than or equal to the second angle threshold value, adjusting the current of the mast left-reduction proportional valve 92.
In the scheme, the mast 6 is adjusted according to the angle X and is kept in the range of [ -2 degrees and 2] by accurately acquiring the angle X, so that the collision friction between the mast 6 and the machine body caused by overlarge inclination in the mast inverting process is effectively avoided.
The rotary drilling rig of the utility model performs mast inverting operation through the mast handle in the working process, and works with corresponding current output by adjusting the mast left scale valve and the mast right scale valve according to the stroke of the handle; the utility model discloses in specific control process: when the X is detected to be less than or equal to the first angle threshold value, the position of the mast is inclined to the left relative to the cab, at this time, the current of the mast left-contraction proportional valve 92 is kept, the current of the right-contraction proportional valve 91 is adjusted, so that the mast oil cylinder on the right side of the mast 6 is contracted, and the mast 6 is driven to rotate to the right so as to return the mast 6; when the X is larger than or equal to a second angle threshold value, the position of the mast relative to the cab is right-leaning, at this time, the current of the mast right-shrinkage proportion valve 91 is kept, the current of the left-shrinkage proportion valve 92 is adjusted, so that the mast oil cylinder on the left side of the mast 6 is shrunk, and the mast 6 is driven to rotate to the left, so that the mast 6 is straightened. The angle of the mast 6 in the left-right direction is ensured by the above control manner.
In a preferred embodiment of the present invention, the angle X of the rotation of the mast 6 about the central axis 7 is detected by a central axis angle sensor between the central axis 7 and the bridging mechanism; the central shaft 7 is fixed on a mast turntable 8 of the rotary drilling rig, one end part, far away from the mast turntable 8, of the central shaft 7 extends into a mast 6, the central shaft 7 is perpendicular to the mast 6, the central shaft angle sensor 5 is fixed on an end face of one end, far away from the mast turntable 8, of the central shaft 7, the end face of one end, extending into the mast, of the central shaft 7, the mast 6 is connected with a detection shaft on the central shaft angle sensor 5 through the bridging mechanism, and the central shaft angle sensor 5 is used for detecting a rotation angle X of the mast 6 by taking the central shaft 7 as a shaft.
In the above scheme, the utility model discloses set up a bridging mechanism, with will the mast about the orientation for the axis of rotation power transmission extremely on the detection shaft of center pin angle sensor 5, thereby right angle X accurately acquires, the utility model discloses well bridging mechanism that sets up can carry out accurate measurement to mast 6 about ascending rotation of side under the structure prerequisite that the rig originally was dug not changing, to conveniently carry out accurate control to mast 6, realize the work of safe mast down. Of course, in order to ensure the accuracy of the detection of the center shaft angle sensor 5, the center shaft angle sensor 5 is generally disposed at the center of the center shaft 7 at the end surface of the center shaft.
In a preferred embodiment of the present invention, the bridging mechanism includes: a connecting rod 2 and a rotating shaft 3;
the side surface of the mast 6 is provided with a fixed sleeve 4 matched with the central shaft 7; the both ends of connecting rod 2 are fixed respectively the terminal surface of fixed cover 4, connecting rod 2 with the terminal surface of center pin 7 is parallel, just the middle part of connecting rod 2 is passed through pivot 3 with the last detection axle that detects of center pin angle sensor 5 links to each other, pivot 3 with detect the coaxial setting of axle.
In the above solution, the fixing sleeve 4 on the inner side surface of the mast 6 is structured to facilitate fixing the connecting rod 2, so that the connecting rod 2 rotates along with the rotation of the mast 6, and the rotating force is transmitted to the detection shaft on the central shaft angle sensor 5, thereby realizing accurate detection of the rotating angle of the mast 6.
In a preferred embodiment of the present invention, the bridging mechanism further includes: protective cover 1
The bottom of safety cover 1 is fixed on the terminal surface of fixed cover 4, just still be provided with on the safety cover 1 with connecting rod 2 matched with is protruding, the arch can with connecting rod 2 covers with pivot 3.
In the above scheme, the fixing sleeve 4 is arranged to protect the connecting rod 2, the rotating shaft 3 and the central shaft angle sensor 5, and the fixing sleeve 4 and the connecting rod 2 are always in a relatively static state, so that the normal transmission function of the bridging mechanism is not influenced, but impurities in the mast can be prevented from entering the connecting part between the rotating shaft 3 and the central shaft angle sensor 5 to influence the detection work of the central shaft angle sensor 5, and the fixing sleeve 4 can indirectly ensure the detection precision of the central shaft angle sensor 5. To the material of fixed cover 4 can be plastics, stainless steel etc. as long as guarantee can not rust, difficult fracture can, here the utility model discloses in do not injecing its concrete material.
As shown in fig. 7, in a preferred embodiment of the present invention, the method for controlling a mast of a rotary drilling rig comprises:
acquiring an angle Y formed between the mast 6 and the mast itself in a vertical state in the front-rear direction; wherein the content of the first and second substances,
when the angle Y is between the third angle threshold and the fourth angle threshold, adjusting the maximum current values of the right scaling valve 91 and the left scaling valve 92 to control and slow down the mast lowering speed of the mast 6;
obtaining the rotation angle X of the mast 6 by taking the central shaft 7 as an axis;
when the X is less than or equal to the first angle threshold value, adjusting the current of the mast right scaling valve 91;
and when the X is larger than or equal to the second angle threshold value, adjusting the current of the mast left-reduction proportional valve 92.
In the scheme, the mast is mainly controlled in the mast inverting process, the angle Y can be understood as the rotation angle in the mast inverting direction, and the mast inverting operation can be ensured to be carried out orderly and safely by effectively detecting the rotation angle Y; in the process of mast inverting, the distance between the front stage and the cockpit is large, the speed of mast inverting can be relatively faster, when the distance between the mast and the cockpit reaches a certain value, the mast is prevented from colliding with the cockpit or other parts of the machine body, the control on the mast in the left-right direction needs to be strengthened, at the moment, the speed of mast inverting can be slowed down so as to control the mast, for example, when the mast inclines left, enough time can be provided for adjusting the mast to enable the mast to return to the right, and if the speed is too fast at the moment, the problem of untimely control can occur, so that the mast collides with the machine body.
As shown in fig. 8, in a preferred embodiment of the present invention, the method for controlling a mast of a rotary drilling rig comprises:
acquiring the weight of a drill rod drilling tool 13 on the rotary drilling rig; wherein the content of the first and second substances,
when the weight of the drill rod drilling tool 13 is greater than the weight threshold value, the mast 6 is limited to perform mast-lowering movement;
when the weight of the drill rod drilling tool 13 is greater than or equal to the weight threshold value, the following steps are carried out:
acquiring an angle Y formed between the mast 6 and the mast itself in a vertical state in the front-rear direction;
the angle X of rotation of the mast 6 about the central axis 7 is obtained.
In the above scheme, in order to further improve the installation performance of the mast inversion, the total weight of the drill pipe drilling tool 13 needs to be detected before the mast inversion starts, and when the total weight exceeds a weight threshold, it indicates that the mast inversion process is over, the lower frame 11 cannot ensure the stability of the rotary drilling rig, and at this time, the danger of integral rollover is easy to occur, so that the mast inversion is limited under the condition of ensuring the safety.
As shown in fig. 9, which is a hardware control logic diagram of a mast inverting process of a rotary drilling rig, a PLC controller is generally used for logic control, and a worker sends a control command to the PLC controller through a mast handle to change a current of a proportional valve, so as to control the mast inverting motion of the mast, wherein the proportional valve generally comprises a left proportional valve, a right proportional valve, a left proportional valve and a right proportional valve, so as to control the movement of the mast in the front-back direction and the left-right direction.
FIG. 10 shows a hardware control logic diagram for controlling the mast in the left-right direction; the movement of the mast in the left-right direction is controlled by a left scaling valve and a right scaling valve in the left-right direction.
An embodiment of the present invention further provides a machine-readable storage medium, on which a program is stored, and the program implements the above-mentioned method for controlling a mast of a rotary drilling rig when executed.
The above describes in detail optional implementation manners of embodiments of the present invention with reference to the accompanying drawings, however, the embodiments of the present invention are not limited to the details in the above implementation manners, and in the technical concept scope of the embodiments of the present invention, it is possible to perform various simple modifications on the technical solutions of the embodiments of the present invention, and these simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not separately describe various possible combinations.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. 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.
In addition, various different implementation manners of the embodiments of the present invention can be combined arbitrarily, and as long as it does not violate the idea of the embodiments of the present invention, it should be considered as the disclosure of the embodiments of the present invention.
Claims (6)
1. A mast collapse control apparatus of a rotary drilling rig, the apparatus comprising:
the first angle acquisition device is used for acquiring the rotation angle X of a mast (6) on the rotary drilling rig by taking a central shaft (7) as an axis; and
control means for performing one or more of the following operations:
when the X is less than or equal to a first angle threshold value, adjusting the current of a mast right contraction proportional valve (91);
and when the X is larger than or equal to a second angle threshold value, adjusting the current of the mast left-shrinkage proportional valve (92).
2. The mast collapse control apparatus of the rotary drilling rig according to claim 1, wherein the first angle obtaining means comprises: a central shaft angle sensor (5) and a bridging mechanism;
a central shaft (7) is fixed on a mast turntable (8) of the rotary drilling rig, one end part, far away from the mast turntable (8), of the central shaft (7) extends into the mast (6), the central shaft (7) and the mast (6) are in a vertical state, a central shaft angle sensor (5) is fixed on the end face of one end, extending into the mast, of the central shaft (7), the mast (6) is connected with a detection shaft on the central shaft angle sensor (5) through a bridging mechanism, and the central shaft angle sensor (5) is used for detecting an angle X of the mast (6) rotating by taking the central shaft (7) as a shaft.
3. The mast collapse control apparatus of the rotary drilling rig according to claim 2, wherein the bridging mechanism comprises: a connecting rod (2) and a rotating shaft (3);
the inner side surface of the mast (6) is provided with a fixed sleeve (4) matched with the central shaft (7); the both ends of connecting rod (2) are fixed respectively the terminal surface of fixed cover (4), connecting rod (2) with the terminal surface of center pin (7) is parallel, just the middle part of connecting rod (2) is passed through pivot (3) with the detection axle on center pin angle sensor (5) links to each other, pivot (3) with detect the coaxial setting of axle.
4. The mast collapse control apparatus of the rotary drilling rig according to claim 3, wherein the bridging mechanism further comprises: a protective cover (1),
the bottom of safety cover (1) is fixed on the terminal surface of fixed cover (4), just still be provided with on safety cover (1) with connecting rod (2) matched with arch, the arch can with connecting rod (2) and pivot (3) cover.
5. The mast collapse control apparatus of the rotary drilling rig according to claim 1, further comprising:
a second angle acquisition device for acquiring an angle Y formed between the mast (6) and itself in a vertical state in the front-rear direction;
the control device is also used for adjusting the maximum current value of the mast right scale valve (91) and the mast left scale valve (92) when the angle Y is between a third angle threshold and a fourth angle threshold so as to control and slow down the mast lowering speed of the mast (6).
6. The mast collapse control apparatus of the rotary drilling rig according to claim 1, further comprising:
a weighing device for detecting the total weight of the drill rod and the drilling tool (13);
when the weight of the drill rod drilling tool (13) is greater than a weight threshold value, the mast (6) is limited from performing mast-lowering movement.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921341309.1U CN210530754U (en) | 2019-08-16 | 2019-08-16 | Control equipment for mast falling of rotary drilling rig |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921341309.1U CN210530754U (en) | 2019-08-16 | 2019-08-16 | Control equipment for mast falling of rotary drilling rig |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110454092A (en) * | 2019-08-16 | 2019-11-15 | 上海中联重科桩工机械有限公司 | Rotary drilling rig movable mast controls equipment and control method |
| CN116006150A (en) * | 2022-12-14 | 2023-04-25 | 上海中联重科桩工机械有限公司 | Extrusion-prevention monitoring method, controller and engineering machinery |
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2019
- 2019-08-16 CN CN201921341309.1U patent/CN210530754U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110454092A (en) * | 2019-08-16 | 2019-11-15 | 上海中联重科桩工机械有限公司 | Rotary drilling rig movable mast controls equipment and control method |
| CN116006150A (en) * | 2022-12-14 | 2023-04-25 | 上海中联重科桩工机械有限公司 | Extrusion-prevention monitoring method, controller and engineering machinery |
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