CN220036582U - Control system of electric drive horizontal directional drilling machine - Google Patents
Control system of electric drive horizontal directional drilling machine Download PDFInfo
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- CN220036582U CN220036582U CN202320383009.XU CN202320383009U CN220036582U CN 220036582 U CN220036582 U CN 220036582U CN 202320383009 U CN202320383009 U CN 202320383009U CN 220036582 U CN220036582 U CN 220036582U
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- 238000005553 drilling Methods 0.000 title claims abstract description 37
- 230000009347 mechanical transmission Effects 0.000 abstract description 8
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 238000010276 construction Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 3
- 238000009412 basement excavation Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009440 infrastructure construction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Control Of Multiple Motors (AREA)
Abstract
The utility model relates to a control system of an electric drive horizontal directional drilling machine, belonging to the technical field of control of the electric drive horizontal directional drilling machine; the device aims to solve the problems that the traditional drilling machine control device cannot effectively control connection of a driving motor and a mechanical transmission device and the speed adjustment precision of the driving motor is poor. The utility model comprises a man-machine interface, a central controller, a motor controller and a motor assembly, wherein the motor controller comprises a main motor controller and a subordinate motor controller; the motor assembly comprises a main motor and a plurality of auxiliary motors, and drives the drill rod to advance and retreat and drive the drill rod to rotate together; the main motor controller is electrically connected with the main motor; the slave motor controllers comprise a plurality of slave motor controllers, and the slave motor controllers are electrically connected with the slave motors in a one-to-one correspondence manner; the man-machine interface is respectively and electrically connected with the master motor controller and the slave motor controller; the central controller is respectively and electrically connected with the master motor controller and the slave motor controller. The speed of the control device is accurately regulated.
Description
Technical Field
The utility model relates to a control system of an electric drive horizontal directional drilling machine, and belongs to the technical field of control of electric drive horizontal directional drilling machines.
Background
The horizontal directional drilling machine is widely applied to pipeline laying in the fields of oil and gas transportation, water supply, pollution discharge, electric power, communication and the like as a non-excavation drilling machine, and can greatly relieve the problems of traffic jam, ground damage, construction noise and the like caused by traditional excavation construction. With the development of economy, trenchless drilling rigs will play an increasingly important role in infrastructure construction.
The working actions of the existing horizontal directional drilling machine mainly comprise push-pull feeding and rotary drilling of a drill rod. The push-pull feeding action of the drill rod is mainly driven by a push-pull motor, and the rotary drilling is driven by a rotary motor. The horizontal directional drilling machine needs driving motors with different powers to drive power according to the construction requirements of construction working conditions, so that in order to improve the application range of the drilling machine, a high-power driving motor is generally configured to achieve the purpose of covering various construction requirements. The large-power driving motor has large volume and complex control system, so that the production cost of the driving motor is high. In order to reduce the production cost of the drilling machine, in the prior art, a plurality of low-power driving motors are arranged to jointly drive the drill rod, so that the production cost is reduced.
In order to realize that a plurality of driving motors jointly drive a drill rod, the existing connection method of the driving motors and an executing element adopts a rigid mechanical transmission device formed by gears or racks to realize synchronous output of the driving motors. In the construction process of the drilling machine, when the load borne by the drill rod changes, the speed of each driving motor can change, so that the speed conflict between the driving motor and the mechanical transmission device can be caused, and abnormal sound or gear tooth striking of the mechanical transmission device can be caused. In the prior art, in order to avoid interference between the connection of the driving motor and the mechanical transmission device, a control device is arranged to control the speed of the driving motor, and the existing control device is mainly used for limiting the set torque of the motor to be matched with the construction load, so that the output speed of the driving motor is limited by the torque, but the control device can only be used for limiting the maximum speed of the driving motor by setting the maximum torque to be matched with the construction load, namely limiting the maximum speed of the driving motor by presetting the output torque of the motor, so that interference between the driving motor and the mechanical transmission device in the construction process is avoided. When the load on the drill rod changes in the construction process, the existing drilling machine control device cannot accurately control the speed of the driving motor, so that the speed change of the driving motor of the drilling machine is matched with the load change, the power of the driving motor cannot be effectively converted into mechanical energy, and the construction requirement of the environment-friendly energy-saving electric drive drilling machine is not met. There is therefore a need for a drill control device that solves the above-mentioned problems.
Disclosure of Invention
Aiming at the problems and the defects in the prior art, the utility model provides a control system of an electric drive horizontal directional drilling machine, which aims to solve the problems.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the control system of the electric drive horizontal directional drilling machine comprises a human-computer interface, a central controller, a motor controller and a motor assembly, wherein the motor controller comprises a master motor controller and a slave motor controller; the motor assembly comprises a main motor and a plurality of auxiliary motors, and the main motor and the auxiliary motors jointly drive the advance and retreat of the drill rod and drive the drill rod to rotate; the main motor controller is electrically connected with the main motor; the slave motor controllers comprise slave motor controllers the same as the slave motors in number, and the slave motor controllers are electrically connected with the slave motors in a one-to-one correspondence manner; the man-machine interface is respectively and electrically connected with the master motor controller and the slave motor controller; the central controller is respectively and electrically connected with the master motor controller and the slave motor controller.
Specifically, the human-computer interface comprises a display and an operation command input device; the display is respectively and electrically connected with the master motor controller and the slave motor controller; the operation command input device is electrically connected with the central controller.
Specifically, the slave motors are divided into a plurality of push-pull slave motors and a plurality of rotary slave motors.
Specifically, the slave motor controllers are divided into a plurality of push-pull slave motor controllers and a plurality of rotation slave motor controllers.
Specifically, the push-pull slave motor controller is electrically connected with the push-pull slave motor in a one-to-one correspondence manner; the rotary slave motor controllers are electrically connected with the rotary slave motors in a one-to-one correspondence manner.
Specifically, the main motor controller comprises a push-pull main motor controller and a rotary main motor controller; the main motor comprises a push-pull main motor and a rotary main motor; the push-pull main motor controller is electrically connected with the push-pull main motor, and the rotating main motor controller is electrically connected with the rotating main motor.
Specifically, the display is electrically connected with the master motor controller and the slave motor controller through the CAN bus.
Specifically, the central controller is electrically connected with the master motor controller and the slave motor controller through the CAN bus.
Compared with the prior art, the utility model has the beneficial effects that:
the display and the central controller of the control device of the electric drive horizontal directional drilling machine are respectively and electrically connected with the main motor controller and the auxiliary motor controllers through the CAN bus, so that the central controller sends a speed running mode and a speed given value instruction to the main motor controller through the CAN bus, after receiving the instruction, the main motor controller controls the main motor to run in the speed running mode, on the one hand, the torque value detected in the speed running mode of the main motor is calculated to generate a slave torque running mode and a torque given value instruction, the slave torque running mode and the torque given value instruction are fed back to the central controller, and the slave torque running mode and the torque given value instruction are sent to the plurality of auxiliary motor controllers through the central controller, so that the auxiliary motor is controlled to run according to the torque running mode to jointly drive push-pull feeding and rotary drilling of a drill rod, and meanwhile, the output torque of the auxiliary motor is controlled to be consistent with the torque of the main motor in the speed mode. Therefore, the speed accurate control requirement of the electric drive horizontal directional drilling machine is guaranteed, the energy-saving and environment-friendly effects are achieved, and the synchronous interference problem between the drive motor and the mechanical transmission device is solved.
Drawings
Fig. 1 is a schematic diagram of the working principle of the control device of the electrically driven horizontal directional drilling machine of the present embodiment.
In the figure: 1. a display screen; 2. a central controller; 3. a running command input device; 4. push-pull main motor controller; 5. a rotary main motor controller; 6. a push-pull main motor; 7. rotating the main motor; 8. a push-pull slave No. 1 motor controller; 9. a No. 1 motor of the push-pull slave machine; 10. a push-pull slave machine N motor controller; 11. a No. N motor of the push-pull slave machine; 12. a motor controller of the rotary slave machine No. 1; 13. a motor number 1 of the rotating slave; 14. a rotary slave machine N motor controller; 15. and rotating the No. N motor of the slave machine.
Description of the embodiments
The utility model will be further elucidated with reference to the drawings in the embodiments of the utility model.
Referring to fig. 1, the embodiment discloses a control system of an electrically driven horizontal directional drilling machine, which comprises a man-machine interface, a central controller 2, a motor controller and a motor assembly, wherein the motor controller comprises a master motor controller and a slave motor controller; the motor assembly comprises a main motor and a plurality of auxiliary motors, and the main motor and the auxiliary motors jointly drive the advance and retreat of the drill rod and drive the drill rod to rotate; the main motor controller is electrically connected with the main motor; the slave motor controllers comprise slave motor controllers the same as the slave motors in number, and the slave motor controllers are electrically connected with the slave motors in a one-to-one correspondence manner; the man-machine interface is respectively and electrically connected with the master motor controller and the slave motor controller; the central controller is respectively and electrically connected with the master motor controller and the slave motor controller.
Further, the human-computer interface comprises a display 1 and an operation command input device 3; the display 1 is respectively and electrically connected with the master motor controller and the slave motor controller; the operation command input device 3 is electrically connected to the central controller 2.
Further, the slave motors are divided into a plurality of push-pull slave motors and a plurality of rotary slave motors. For clarity of description, the push-pull slave motors are divided into a push-pull slave No. 1 motor 9, a push-pull slave No. 2 motor and a push-pull slave No. N motor 11. Similarly, the plurality of rotary slave motors are divided into a rotary slave motor No. 1 13, a rotary slave motor No. 2 and a rotary slave motor No. N15.
Further, the slave motor controller is divided into a plurality of push-pull slave motor controllers and a plurality of rotation slave motor controllers. For clarity of description, the plurality of push-pull slave motor controllers are divided into a push-pull slave No. 1 motor controller 8, a push-pull slave No. 2 motor controller and a push-pull slave No. N motor controller 10. Similarly, the plurality of rotary slave motor controllers are divided into rotary slave motor controller 1 12, rotary slave motor controller 2, and rotary slave motor controller N14.
Further, the push-pull slave motor controller is electrically connected with the push-pull slave motor in a one-to-one correspondence manner; the rotary slave motor controllers are electrically connected with the rotary slave motors in a one-to-one correspondence manner.
Further, the main motor controller comprises a push-pull main motor controller 4 and a rotary main motor controller 5; the main motor comprises a push-pull main motor 6 and a rotary main motor 7; the push-pull main motor controller 4 is electrically connected with the push-pull main motor 6, and the rotating main motor controller 5 is electrically connected with the rotating main motor 7.
Further, the display 1 is electrically connected with the master motor controller and the slave motor controller through a CAN bus.
Further, the central controller 2 is electrically connected with the master motor controller and the slave motor controller through a CAN bus.
Working principle: according to the control device of the electric drive horizontal directional drilling machine, the main motor and the auxiliary motor are in a closed-loop vector control mode, the display is connected with the central controller through the CAN bus, the return data of all devices on the CAN bus are received and displayed, and an operator CAN monitor in real time according to the display data. The operator inputs control instructions through the operation instruction input device, sends instruction signals to the central controller through the signal line for operation processing, and sends the instruction signals to the push-pull main motor controller and the rotating main motor controller.
When in operation, the central controller sends a speed running mode and a speed set value command to the push-pull main motor controller through the CAN bus. The push-pull main motor controller calculates the torque value detected by the push-pull main motor in the speed mode and then uses the calculated torque value as a torque given value of the push-pull auxiliary machine in the torque mode. And the controller is fed back to the central controller through the CAN bus and simultaneously respectively sent to the push-pull No. 1 slave motor controller to the push-pull No. N slave motor controller, so as to control a plurality of push-pull slave motors.
And the central controller sends a speed running mode and a speed set value command to the rotary main motor controller through the CAN bus. The rotating main motor controller calculates a torque value detected by the rotating main motor in a speed mode and then takes the torque value as a torque given value of the rotating auxiliary motor in a torque mode. And the controller is fed back to the central controller through the CAN bus and simultaneously respectively sent to the rotating No. 1 slave motor controller and the rotating No. N slave motor controller, so that a plurality of rotating slave motors are controlled.
The main motor controller of the control device of this embodiment operates in a speed mode and operates at a given speed requirement. The slave motor operates the common force in a torque mode and follows the torque in the speed mode of the master motor. Therefore, the requirement of accurate control of the speed of the driving motor of the electric driving horizontal directional drilling machine is met, and the problem of synchronous interference with the mechanical transmission device is avoided due to the torque running mode of the auxiliary motor.
While the embodiments of the present utility model have been described in detail with reference to the examples, the present utility model is not limited to the above embodiments, and it will be apparent to those skilled in the art that various equivalent changes and substitutions can be made therein without departing from the principles of the present utility model, and such equivalent changes and substitutions should also be considered to be within the scope of the present utility model.
Claims (8)
1. The utility model provides a control system of electric drive horizontal directional drilling machine, includes man-machine interface, central controller, motor controller and motor assembly, its characterized in that: the motor controller comprises a master motor controller and a slave motor controller; the motor assembly comprises a main motor and a plurality of auxiliary motors, and the main motor and the auxiliary motors jointly drive the advance and retreat of the drill rod and drive the drill rod to rotate; the main motor controller is electrically connected with the main motor; the slave motor controllers comprise slave motor controllers the same as the slave motors in number, and the slave motor controllers are electrically connected with the slave motors in a one-to-one correspondence manner; the man-machine interface is respectively and electrically connected with the master motor controller and the slave motor controller; the central controller is respectively and electrically connected with the master motor controller and the slave motor controller.
2. A control system for an electrically driven horizontal directional drilling machine according to claim 1, wherein: the human-computer interface comprises a display and an operation command input device; the display is respectively and electrically connected with the master motor controller and the slave motor controller; the operation command input device is electrically connected with the central controller.
3. A control system for an electrically driven horizontal directional drilling machine according to claim 2, wherein: the slave motors are divided into a plurality of push-pull slave motors and a plurality of rotary slave motors.
4. A control system for an electrically driven horizontal directional drilling machine according to claim 3, wherein: the slave motor controllers are divided into a plurality of push-pull slave motor controllers and a plurality of rotary slave motor controllers.
5. A control system for an electrically driven horizontal directional drilling machine as set forth in claim 4, wherein: the push-pull slave motor controller is electrically connected with the push-pull slave motor in a one-to-one correspondence manner; the rotary slave motor controllers are electrically connected with the rotary slave motors in a one-to-one correspondence manner.
6. A control system for an electrically driven horizontal directional drilling machine as set forth in claim 5, wherein: the main motor controller comprises a push-pull main motor controller and a rotary main motor controller; the main motor comprises a push-pull main motor and a rotary main motor; the push-pull main motor controller is electrically connected with the push-pull main motor, and the rotating main motor controller is electrically connected with the rotating main motor.
7. A control system for an electrically driven horizontal directional drilling machine according to claim 2, wherein: the display is electrically connected with the master motor controller and the slave motor controller through the CAN bus.
8. A control system for an electrically driven horizontal directional drilling machine according to claim 1, wherein: the central controller is electrically connected with the master motor controller and the slave motor controller through the CAN bus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320383009.XU CN220036582U (en) | 2023-03-03 | 2023-03-03 | Control system of electric drive horizontal directional drilling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320383009.XU CN220036582U (en) | 2023-03-03 | 2023-03-03 | Control system of electric drive horizontal directional drilling machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220036582U true CN220036582U (en) | 2023-11-17 |
Family
ID=88739016
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320383009.XU Active CN220036582U (en) | 2023-03-03 | 2023-03-03 | Control system of electric drive horizontal directional drilling machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220036582U (en) |
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2023
- 2023-03-03 CN CN202320383009.XU patent/CN220036582U/en active Active
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