EP0825329A2 - Appareil de forage avec un dispositif de contrÔle de l'avance - Google Patents

Appareil de forage avec un dispositif de contrÔle de l'avance Download PDF

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Publication number
EP0825329A2
EP0825329A2 EP97113626A EP97113626A EP0825329A2 EP 0825329 A2 EP0825329 A2 EP 0825329A2 EP 97113626 A EP97113626 A EP 97113626A EP 97113626 A EP97113626 A EP 97113626A EP 0825329 A2 EP0825329 A2 EP 0825329A2
Authority
EP
European Patent Office
Prior art keywords
feed
tool
drilling device
speed
control unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP97113626A
Other languages
German (de)
English (en)
Other versions
EP0825329A3 (fr
Inventor
Hinrich Kattentidt
Achim Kehrberger
Winfried Scheid
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Delmag Maschinenfabrik Reinhold Dornfeld GmbH and Co
Original Assignee
Delmag Maschinenfabrik Reinhold Dornfeld GmbH and Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Delmag Maschinenfabrik Reinhold Dornfeld GmbH and Co filed Critical Delmag Maschinenfabrik Reinhold Dornfeld GmbH and Co
Publication of EP0825329A2 publication Critical patent/EP0825329A2/fr
Publication of EP0825329A3 publication Critical patent/EP0825329A3/fr
Withdrawn legal-status Critical Current

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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
    • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
    • E21B44/02—Automatic control of the tool feed
    • E21B44/06—Automatic control of the tool feed in response to the flow or pressure of the motive fluid of the drive
    • 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
    • E21B2200/00—Special features related to earth drilling for obtaining oil, gas or water
    • E21B2200/22—Fuzzy logic, artificial intelligence, neural networks or the like

Definitions

  • the invention relates to a drill according to the preamble of claim 1.
  • a drill which for producing boreholes in very different ways Soil is used.
  • This drill is the Drive motor assigned a load, the output with a control input of a volume limiter or a current limiter and / or a pressure limiter or a voltage limiter connected in a supply line for the feed motor inserted is.
  • the present invention is therefore intended to be a drilling rig further developed according to the preamble of claim 1 be that an automatic adjustment of the tool feed force and the tool speed or the tool torque to those found in the ground Ratios are such that the feed rate of the tool is maximized.
  • An inventive drilling device ensures that the total service available is implemented in this way is that a maximum feed rate of the tool is achieved.
  • About the different Encoder is a reliable detection of the current Soil hardness possible.
  • the training is according to claim 3 particularly advantageous, in which the evaluation and Control unit based on the saved parameters and a characteristic curve of the respective soil hardness. This enables drilling at maximum feed speed even with those not yet found, in addition to stored hardness values quickly lie hardness values brought about.
  • the training according to claim 4 makes it possible for different tools (e.g. twist drills with different Tips, displacement drill, drill pipe string, etc.) and / or different operating modes (drilling, Pulling, screwing, etc.) to save the corresponding characteristic curves, which specify the parameters for which a hardness of the ground maximized in terms of speed Penetration or pulling out is achieved.
  • different tools e.g. twist drills with different Tips, displacement drill, drill pipe string, etc.
  • operating modes e.g. twist drills with different Tips, displacement drill, drill pipe string, etc.
  • the training according to claim 5 allows the Advantages of a tax characteristic based on the principle use the fuzzy logic. This will make for a rapid advance of the tool necessary parameters determined particularly quickly.
  • the training according to claim 6 enables a Pull the tool out of the surface quickly.
  • specified load sensors can be the load of the Drive motor and the tool feed force in particular determine easily and safely.
  • a drilling device In a drilling device according to claim 9 is an off and retractable support leg available, which when pulling out of the tool or e.g. a drill pipe from the borehole to increase the stability of the leader automatically is extended.
  • the development according to claim 14 is particularly advantageous there for switching the gear ratio no reduction in torque is necessary and continuous operation of the drill is possible is.
  • the development according to claim 15 enables a bumpless Shifting the transmission and thereby reduced the load on the tool and parts connected to it.
  • FIG. 1 is a support cross member 10 of a leader 11th shown, to which a load cell 12 is attached is.
  • a load cell 12 On the load cell 12 is a feed hydraulic cylinder 14 attached, the piston rod 16 via a Linear bearing, in which a displacement sensor 18 is integrated, is connected to a torque sensor 20.
  • a torque sensor 20 About the torque sensor 20 is a hydraulic motor 22 in the direction of rotation supported, which via a connecting shaft 23, the cooperates with a speed sensor 24, and over a Manual transmission 26, which with a transmission switching device 28 is provided, a drill 36 with a helix 34 drives.
  • the hydraulic motor 22 is operated by a drive control unit 38 ago supplied with pressure medium, which is a servo control valve 44 and a servo quantity control valve 46 with one Measuring throttle 45 includes, at the input and output of each a control pressure for the quantity control valve 46 is removed becomes.
  • the drive control unit 38 is on the input side a pressure line 58 and a return 60 connected.
  • the feed hydraulic cylinder 14 is with a feed control unit 42 connected, which is a servo control valve 52, a servo quantity control valve 54 with a measuring throttle 55, a control pressure at the inlet and outlet is removed for the servo quantity control valve 54, and a servo pressure control valve 56 with a downstream actual value decrease includes.
  • the feed control unit 42 is on the input side also with the pressure line 58 and the Return 60 connected.
  • the support hydraulic cylinders 30 are operated by a support control unit 40 supplied with pressure medium, which a Servo control valve 48 and a servo pressure control valve 50 with a downstream actual value decrease and on the input side also with the pressure line 58 and the Return 60 is connected.
  • a pressure control valve 67 is attached in the pressure line 58, its relief opening with the return 60 connected is.
  • the pressure in the pressure line 58 is one of one Diesel engine 66 of a carrier vehicle, not shown driven hydraulic pump 64, which consists of a Sump 62 sucks, in which the return 60 opens.
  • FIG. 1 is also an electronic evaluation and Control unit 70, which one hand the hydraulic control units 38, 40 and 42 and the Gearbox switching device 28 controls and on the other hand those of the load cell 12, the displacement sensor 18, the torque sensor 20 and the speed sensor 24 detected values records.
  • the electronic evaluation and control unit 70 contains a computer 71 (see FIG. 4), which among other things. the feed rate from the output signal of the displacement sensor 18 V of the drill 36 determined.
  • the evaluation and control unit 70 Interpolator 77 and a differentiator 79 (see FIG. 4).
  • the components are connected as follows: the load cell 12 with an input 88; the encoder 18 with an entrance 92; the torque sensor 20 with a Entrance 90; the speed sensor 24 with an input 94; the Transmission switching device 28 with an output 86; the Servo control valve 44 for the hydraulic motor 22 with one Exit 72; the servo flow control valve 46 for the Hydraulic motor 22 with an output 74; the servo control valve 48 for the support hydraulic cylinder 30 with an output 76; the servo pressure control valve 50 for the support hydraulic cylinder 30 with an outlet 78; the servo control valve 52 for the feed hydraulic cylinder 14 with an output 80; the servo flow control valve 54 for the feed hydraulic cylinder 14 with an outlet 82; the servo pressure control valve 56 for the feed hydraulic cylinder 14 with an outlet 84.
  • the device works as follows (see also figures 2, 3 and 4):
  • the drill is in Rotation offset by the evaluation and control unit 70 via the output 72, the servo control valve 44 in one Switch position in which the drill seen from above in Clockwise rotates.
  • the Output 74 of the evaluation and control unit 70, the servo quantity control valve 46 and via the exit 86 and the Transmission switching device 28 the manual transmission so controlled that an average speed U and sets an average torque M.
  • the servo control valve 52 becomes such via the output 80 controlled that the upper chamber of the feed hydraulic cylinder 14 is under pressure and thereby the piston 16 with the drilling unit attached to it with a medium one Feed force F and an average feed speed V is pressed down.
  • the force F with which the feed hydraulic cylinder 14 the drill 36 pushes into the ground, is via the exit 84 and that Servo pressure control valve 56 set. It is from the Load cell 12 detected and via the input 88 to the Evaluation and control unit 70 passed on.
  • the feed rate V is via the volume control valve 54 limited and by the encoder 18, the input 92 and determines the computing circuit in the evaluation and control unit.
  • the evaluation and control unit 70 now controls the servo quantity control valve 46 and possibly the transmission switching device 28 via the output 74 in such a way that the drill speed U increases, for example, first and then decreases. In the same way, it controls the servo pressure control valve 54 via the output 84 in such a way that the drill feed force F decreases or increases, for example. This can be done simultaneously with and / or after changing the drill speed.
  • the respective drill feed speed V is determined for each drill speed / drill feed force combination U / F or alternatively for each drill torque / drill feed force combination M / F via the travel sensor 18 and the computer 71.
  • the respective combinations V, U, F and V, M, F are stored in a short-term memory 73 (see FIG. 4).
  • KF KF (V, U, F) respectively.
  • KF KF (V, M, F) developed (see Figure 2). With the aid of this characteristic surface, those value pairs U, F or M, F for which V is maximum can be determined by means of maximum value formation in the differentiator 79.
  • the feed rate V max obtained after maximization is a measure of the hardness H of the soil with constant total output (ie drill output + feed output).
  • the evaluation and control unit 70 can store different characteristic curves KL 1 to KL n (see FIG. 4) for different tools or different operating modes 1 to n.
  • the evaluation and control unit 70 recognizes due to the drill speed U and the drill feed speed V - taking into account the slope the helix 34 - screwing the drill 36, i.e. a Penetrating the ground without transporting an excavation. In this case, if necessary, the drill feed speed V via output 82 and the servo flow control valve 54 can be limited so that a screw no longer occurred.
  • the drill 36 another tool, e.g. a drill pipe or can attach a post that is from the drill in the same way as described above for a drill Soil introduced or pulled out of this can.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Earth Drilling (AREA)
EP97113626A 1996-08-12 1997-08-07 Appareil de forage avec un dispositif de contrôle de l'avance Withdrawn EP0825329A3 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19632401 1996-08-12
DE19632401A DE19632401A1 (de) 1996-08-12 1996-08-12 Bohrgerät

Publications (2)

Publication Number Publication Date
EP0825329A2 true EP0825329A2 (fr) 1998-02-25
EP0825329A3 EP0825329A3 (fr) 2002-10-09

Family

ID=7802377

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97113626A Withdrawn EP0825329A3 (fr) 1996-08-12 1997-08-07 Appareil de forage avec un dispositif de contrôle de l'avance

Country Status (3)

Country Link
US (1) US6029754A (fr)
EP (1) EP0825329A3 (fr)
DE (1) DE19632401A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000017487A1 (fr) * 1998-09-23 2000-03-30 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Commande pour appareil de forage horizontal
CN102996139A (zh) * 2012-11-30 2013-03-27 中煤科工集团重庆研究院 钻装机液压控制系统

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DE19807898A1 (de) * 1998-02-25 1999-09-09 Lonz Industrieautomation Gmbh Kernbohrmaschine mit einer Steuerung bzw. Regelung der Vorschubgeschwindigkeit des Kernbohrers und Verfahren zum Kernbohren
DE19807899A1 (de) * 1998-02-25 1999-09-09 Lonz Industrieautomation Gmbh Kernbohrmaschine mit einer Steuerung bzw. Regelung des Vorschubweges des Kernbohrers und Verfahren zum Kernbohren
US6637522B2 (en) 1998-11-24 2003-10-28 J. H. Fletcher & Co., Inc. Enhanced computer control of in-situ drilling system
US6216800B1 (en) * 1998-11-24 2001-04-17 J. H. Fletcher & Co., Inc. In-situ drilling system with dust collection and overload control
DE19964397B4 (de) * 1999-05-27 2011-06-30 Wolfgang Schmidt e.K., 57368 Drehzahl-Vorschubregelung
DE19924200B4 (de) * 1999-05-27 2004-07-15 Wolfgang Schmidt E.K. Drehzahl-Vorschubregelung
DE10160864A1 (de) * 2001-12-12 2003-06-26 Hilti Ag Axial schlagendes Elektrohandwerkzeuggerät
JP3533650B2 (ja) * 2002-05-31 2004-05-31 ホーコス株式会社 穴開け加工制御方法
DE10304405B4 (de) * 2003-02-01 2012-10-04 Hilti Aktiengesellschaft Verfahren zur Regelung einer Kernbohrmaschine
US7243440B2 (en) * 2004-10-06 2007-07-17 Black & Decker Inc. Gauge for use with power tools
ATE452277T1 (de) * 2005-08-08 2010-01-15 Schlumberger Technology Bv Bohrsystem
DE102007021070B4 (de) 2007-05-04 2013-10-24 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Verfahren zum Betrieb einer Werkzeugmaschine sowie Werkzeugmaschine
US8220564B2 (en) * 2007-08-27 2012-07-17 Vermeer Manufacturing Company Devices and methods for dynamic boring procedure reconfiguration
WO2010149827A1 (fr) * 2009-06-26 2010-12-29 Sandvik Mining And Construction Oy Procédé de commande de forage de roche
EP2536536A1 (fr) * 2010-02-17 2012-12-26 GARDENA Manufacturing GmbH Outils électriques
JP5653843B2 (ja) * 2011-06-02 2015-01-14 株式会社マキタ 動力工具
DE102013205827A1 (de) * 2013-04-03 2014-10-09 Hilti Aktiengesellschaft Vorschubeinrichtung
EP3825067A1 (fr) * 2019-11-21 2021-05-26 Hilti Aktiengesellschaft Procédé de fonctionnement d'une machine-outil et machine-outil
CN112065359B (zh) * 2020-09-21 2023-05-16 北京三一智造科技有限公司 钻进控制方法和旋挖钻机

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US4165789A (en) * 1978-06-29 1979-08-28 United States Steel Corporation Drilling optimization searching and control apparatus
US4195699A (en) * 1978-06-29 1980-04-01 United States Steel Corporation Drilling optimization searching and control method

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US3593807A (en) * 1969-12-11 1971-07-20 Frank J Klima Drilling apparatus
US4354233A (en) * 1972-05-03 1982-10-12 Zhukovsky Alexei A Rotary drill automatic control system
US4793421A (en) * 1986-04-08 1988-12-27 Becor Western Inc. Programmed automatic drill control
FR2667110A1 (fr) * 1990-09-20 1992-03-27 Secoma Sa Dispositif de controle de l'effort de poussee pour glissiere de foration telescopique.
FI88744C (fi) * 1991-04-25 1993-06-28 Tamrock Oy Foerfarande och anordning foer reglering av bergborrning
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US5746278A (en) * 1996-03-13 1998-05-05 Vermeer Manufacturing Company Apparatus and method for controlling an underground boring machine
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US4165789A (en) * 1978-06-29 1979-08-28 United States Steel Corporation Drilling optimization searching and control apparatus
US4195699A (en) * 1978-06-29 1980-04-01 United States Steel Corporation Drilling optimization searching and control method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000017487A1 (fr) * 1998-09-23 2000-03-30 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Commande pour appareil de forage horizontal
CN102996139A (zh) * 2012-11-30 2013-03-27 中煤科工集团重庆研究院 钻装机液压控制系统

Also Published As

Publication number Publication date
EP0825329A3 (fr) 2002-10-09
DE19632401A1 (de) 1998-02-19
US6029754A (en) 2000-02-29

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