EP0863293A2 - Verfahren und Vorrichtung zur Steuerung des Vorschubantriebes einer Erdbohranlage - Google Patents
Verfahren und Vorrichtung zur Steuerung des Vorschubantriebes einer Erdbohranlage Download PDFInfo
- Publication number
- EP0863293A2 EP0863293A2 EP98103945A EP98103945A EP0863293A2 EP 0863293 A2 EP0863293 A2 EP 0863293A2 EP 98103945 A EP98103945 A EP 98103945A EP 98103945 A EP98103945 A EP 98103945A EP 0863293 A2 EP0863293 A2 EP 0863293A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- feed
- torque
- pressure
- drive
- line
- 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.)
- Granted
Links
- 238000005553 drilling Methods 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000001105 regulatory effect Effects 0.000 claims abstract description 7
- 239000002689 soil Substances 0.000 claims description 8
- 230000001276 controlling effect Effects 0.000 claims description 3
- 239000012530 fluid Substances 0.000 description 5
- 230000001419 dependent effect Effects 0.000 description 3
- 239000011435 rock Substances 0.000 description 3
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
Images
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
Definitions
- the invention relates to a method for controlling the feed drive one intended for drilling earth bores Drilling rig with which a drill pipe carrying a drilling tool with simultaneous rotation in the soil becomes.
- the drilling rig is usually operated by an operator controlled by two levers. With one lever controls the Operator the feed rate and with the other Lever the speed of the drill pipe and the one at the end of the drill string arranged drilling tool.
- overload protection by that limit values for the maximum feed force and can specify the maximum torque. Once the limits the feed rate or the driving torque is reduced. Exceeding the the respective limit value is automatically prevented. A such overload protection can thus destroy the Drilling rig, the drill pipe and the drilling tools prevent drilling. But it does not allow the drilling process to optimize, i.e. the drilling rig with the highest possible Speed while avoiding overload drive.
- the invention has for its object a method of Specify the type mentioned at the beginning with which the propulsion of Earth drilling, in particular the creation of pilot holes with subsequent widening of the borehole for pulling in of pipes can be optimized in the manner described above can.
- the invention proposes that in a method of the type mentioned the feed rate of the feed drive depending of the torque occurring on the drill pipe is regulated.
- the invention is based on the knowledge that in earth drilling typically the feed rate and torque depend on each other. During the pilot drilling and during of the expansion, the feed speed must be set in this way that the highest possible constant torque acts, a limit value of the torque is not exceeded. The feed rate during the pilot drilling or while expanding and retracting Pipes enlarged, increased in almost all types of subsoil the torque.
- a target value for the torque is preferably specified and the feed rate controlled so that the difference between the target value and the actual value of the torque is less than a predetermined value.
- the feed speed is increased until the predetermined maximum torque, i.e. the target value is reached again.
- the earth becomes firmer or harder, the torque typically increases.
- the feed speed in this case long reduced until the actual value of the torque again previously set maximum torque, i.e. the target value corresponds at least approximately.
- the feed rate is also in Regulated depending on the feed force.
- This solution carries a possible exceptional situation in which the above torque-dependent feed control is not necessarily sufficient would damage the drill string or the drilling tool to prevent. This could occur if during the pilot hole is worked with a pointed drill head and it hits a massive rock or concrete wall. Thereby, that the drill head first with its tip on the hard obstacle hits, the torque can not increase quickly enough, because the effective lever arm of the rotation resistance is very small. In this case, that of a certain one but not realizable feed rate corresponding feed force large. There is a risk that the drill pipe is compressed.
- a limit value is therefore expedient specified for the feed force and the feed speed reduced when the feed force reaches the limit or exceeds.
- the regulation of the feed rate depending on the Torque and / or the feed force can be different In this way, for example electronically.
- the control is hydraulic executed. This can be done, for example, in such a way that the amount of pressure medium fed to the feed drive depending on that in the pressure line of the rotary actuator and / or the feed drive pressure regulated becomes.
- the hydraulic control has the advantage that the control times are the shortest and that they are also among the rough ones Conditions of working in civil engineering works reliably. Electronic controls on construction machines are against it often prone to failure.
- the invention further relates to a device for control of the hydraulic feed drive one for generating Earth drilling specific drilling rig with which a drilling tool load-bearing drill pipe with simultaneous rotation by means of a hydraulic rotary drive can be advanced in the ground is.
- a device for control of the hydraulic feed drive one for generating Earth drilling specific drilling rig with which a drilling tool load-bearing drill pipe with simultaneous rotation by means of a hydraulic rotary drive can be advanced in the ground is.
- Control valve is a pressure controlled valve
- the control input is connected to the pressure side of the rotary drive.
- An increase in torque leads directly to an increase in pressure on the pressure side of the rotary drive and therefore almost instantaneous to a signal at the control input of the control valve, then the amount of pressure medium flowing to the feed drive reduced.
- the invention proposes that the control input of the control valve via a Shuttle valve also connected to the side of the feed drive which is under pressure in feed operation.
- a Shuttle valve also connected to the side of the feed drive which is under pressure in feed operation.
- the control valve is expediently continuously adjustable and preferably in one of the two pressure medium connections of the feed drive bridging bypass line arranged.
- the only figure shows a hydraulic circuit diagram of the Hydraulic circuit of a drilling rig for producing earth bores with those for the explanation of the regulation according to the invention necessary hydraulic elements.
- pressure medium source with a gear pump 12, which is driven by a motor 14 and hydraulic fluid from a tank 16 via an intake line 18 sucks and feeds into a pressure line 20.
- the pressure line 20 is via a pressure relief valve 22 and a return line 24 again connected to the tank 16.
- the pressure line 20 leads via an adjustable flow control valve 26 to the pressure port P of a 4/3-way valve 28, the Connection A via a line 30 with a connection of a Hydraulic motor 32 is connected. Whose other connection is via a line 33 to connection B of the 4/3-way valve 28 connected.
- the tank connection T of the 4/3-way valve 28 is via line sections 34 and 36 in turn with the tank 16 connected.
- the hydraulic motor 32 is used to rotate a drill pipe a drilling rig for creating earth bores, such as that is described in DE-A-43 05 423. In terms of the details of such a drilling rig will be based on this Scripture referenced.
- the pressure line 20 is also via a line 38 to the Pressure port P connected to a directional valve 40, which acts as a rapid traverse valve is formed and its connection A via line sections 42, 44 with the piston chamber 46 of a hydraulic cylinder 48 communicates.
- the tank connection T of the directional valve 40 is in turn via line 36 to tank 16 connected.
- the piston rod-side space 50 of the hydraulic cylinder 48 is via line sections 52, 54 with the connection B of the directional valve 40 connected.
- the hydraulic cylinder 48 serves the drill pipe with the Push the drilling tool into the soil or out of it Pull out soil.
- the arrangement in the present Case should be chosen so that a corresponding Force deflection pushed the drill pipe into the earth is when the piston 56 of the hydraulic cylinder 48 together is retracted with its piston rod 58 while the Drill pipe is pulled when the piston 56 is together with the piston rod 58 is extended.
- When retracting the piston 56 is the pressure port P with port B and the Tank port T connected to port A of the directional valve 40 (left switching symbol of directional valve 40).
- When extending port T is blocked while both ports A and B are connected to port P (right circuit symbol of the Directional control valve 40).
- connection B of the flow control valve 26 is via a line section 60 connected to a further flow control valve 62, its connection B via a line 64 to the tank line 36 communicates.
- Port A of the flow control valve 62 is connected via lines 66 and 68 to the pressure connection P of a 4/3-way valve 70 in connection.
- the administration 66 also leads to other consumers of the drilling rig.
- the connection T of the directional control valve 70 is via a line 72 in connection with the tank line 36.
- Port A of the directional valve is connected via a line section 74 to the Piston chamber 46 leading line 44 and port B of the directional valve 70 via a line section 76 to the piston rod space 50 leading line 52 connected.
- the hydraulic cylinder 48 can also Directional control valve 70 can be controlled, but in this case the amount of hydraulic medium to the piston chamber 46 or is directed to the piston rod chamber 50, via the flow control valves 26, 62 is adjustable.
- the flow control valve 62 is fixed to a maximum value that is the maximum feed rate limited.
- the line 44 leading to the piston chamber 46 and that to the piston rod chamber 50 leading line 52 are through a bypass line 78 connected to each other in which a steplessly opening Pressure switching valve 80 is arranged. Its control input is via a control line 82 and a shuttle valve 84 on the one hand with the one connected to the hydraulic motor 32 Pressure line 30 and on the other hand via a line 86 with the connected to the piston rod chamber 50 line 52.
- the pressure switching valve 80 can open the pressure switching valve 80 and to determine the amount of hydraulic fluid that passed back past the hydraulic cylinder 48 directly to the tank is so as to be supplied to the hydraulic cylinder 48 Amount of hydraulic fluid and thus the feed rate depending on the torque acting on the drill pipe (represented by the pressure in line 30) or depending on the feed force (represented by the To determine pressure in line 86, 52).
- the a drill head having an asymmetrical control surface continuously rotated by the hydraulic motor 32 and simultaneously pushed over the feed cylinder 48 through the soil.
- the hydraulic control described sets the feed rate so that the predetermined maximum Torque is reached and maintained. It means that the pressure switching valve 80 remains closed as long as this is the maximum set torque is not exceeded. Thereby is drilled at the best possible speed.
- drilling tools, drill rods and the drilling rig spared. Should the boring head during the pilot drilling If you hit a rock or concrete wall, the pressure rises Piston rod chamber 50 and thus the line 52 abruptly. This pressure increase is via line 86, the shuttle valve 84 and the control line 82 to the control input of the Pressure switching valve 80 transmitted and causes this opens.
- the torque dependent Feed control does not work here.
- the feed force is limited by the overload protection described above, by automatically reducing the feed rate, if a maximum set feed force corresponds to a maximum pressure in the piston rod space 50 and the line 52 is exceeded.
- the control described above optimizes the use a controllable drilling rig both during manufacture a pilot hole as well as during the expansion of this Hole and the pipe retraction. Human misconduct the control of the drilling rig can thus be switched off. In order to can not only avoid damage to the drilling rig but they are also better used because they are essential faster response time of the automatic control in the Possibility compared to the response time of the operator there, significantly higher maximum values for the torque and adjust for the feed force than this with a Manual operation would be possible.
Landscapes
- 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)
Abstract
Description
Claims (11)
- Verfahren zur Steuerung des Vorschubantriebes einer zum Erzeugen von Erdbohrungen bestimmten Bohranlage, mit der ein ein Bohrwerkzeug tragendes Bohrgestänge unter gleichzeitiger Drehung in dem Erdreich vorgeschoben wird, dadurch gekennzeichnet, daß die Vorschubgeschwindigkeit des Vorschubantriebes (48) in Abhängigkeit des am Bohrgestänge auftretenden Drehmomentes geregelt wird.
- Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß ein Soll-Wert für das Drehmoment vorgegeben wird und daß die Vorschubgeschwindigkeit so geregelt wird, daß die Differenz zwischen dem Soll-Wert und dem Ist-Wert des Drehmomentes kleiner als ein vorgegebener Wert ist.
- Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die Vorschubgeschwindigkeit zusätzlich in Abhängigkeit der Vorschubkraft geregelt wird.
- Verfahren nach Anspruch 3, dadurch gekennzeichnet, daß ein Grenzwert für die Vorschubkraft vorgegeben und die Vorschubgeschwindigkeit reduziert wird, wenn die Vorschubkraft den Grenzwert erreicht oder überschreitet.
- Verfahren nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, daß das Bohrgestänge mittels hydraulischer Antriebe (32, 48) gedreht bzw. vorgeschoben wird und daß die Vorschubgeschwindigkeit hydraulisch geregelt wird.
- Verfahren nach Anspruch 5, dadurch gekennzeichnet, daß die Menge des dem Vorschubantrieb (48) zugeleiteten Druckmittels in Abhängigkeit des in der Druckleitung (30) des Drehantriebes (32) und/oder des Vorschubantriebes (48) auftretenden Druckes geregelt wird.
- Vorrichtung zur Steuerung des hydraulischen Vorschubantriebes (48) einer zum Erzeugen von Erdbohrungen bestimmten Bohranlage, mit der ein ein Bohrwerkzeug tragendes Bohrgestänge unter gleichzeitiger Drehung mittels eines hydraulischen Drehantriebes (32) in dem Erdreich vorschiebbar ist, dadurch gekennzeichnet, daß die Menge des dem Vorschubantrieb (48) zufließenden Druckmittels durch ein Steuerventil (80) steuerbar ist, dessen Steuereingang mit dem Drehantrieb (32) derart gekoppelt ist, daß an dem Steuereingang eine dem vom Drehantrieb aufzubringenden Drehmoment proportionale Steuergröße anliegt.
- Vorrichtung nach Anspruch 7, dadurch gekennzeichnet, daß das Steuerventil (80) ein druckgesteuertes Ventil ist und daß sein Steuereingang mit der Druckseite (30) des Drehantriebes (32) verbunden ist.
- Vorrichtung nach Anspruch 7 oder 8, dadurch gekennzeichnet, daß der Steuereingang des Steuerventils (80) über ein Wechselventil (84) mit der Seite des Vorschubantriebes (48) verbunden ist, der im Vorschubbetrieb unter Druck steht.
- Vorrichtung nach einem der Ansprüche 7 bis 9, dadurch gekennzeichnet, daß das Steuerventil (80) stufenlos verstellbar ist.
- Vorrichtung nach einem der Ansprüche 7 bis 10, dadurch gekennzeichnet, daß das Steuerventil (80) in einer die beiden Druckmittelanschlüsse des Vorschubantriebes (48) überbrückenden Bypassleitung (78) angeordnet ist.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19708997A DE19708997C2 (de) | 1997-03-05 | 1997-03-05 | Vorrichtung zur Steuerung des Vorschubantriebes einer zum Erzeugen von Erdbohrungen bestimmten Bohranlage |
DE19708997 | 1997-03-05 |
Publications (3)
Publication Number | Publication Date |
---|---|
EP0863293A2 true EP0863293A2 (de) | 1998-09-09 |
EP0863293A3 EP0863293A3 (de) | 1999-05-12 |
EP0863293B1 EP0863293B1 (de) | 2003-09-24 |
Family
ID=7822333
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP98103945A Expired - Lifetime EP0863293B1 (de) | 1997-03-05 | 1998-03-05 | Verfahren und Vorrichtung zur Steuerung des Vorschubantriebes einer Erdbohranlage |
Country Status (3)
Country | Link |
---|---|
US (1) | US5913371A (de) |
EP (1) | EP0863293B1 (de) |
DE (1) | DE19708997C2 (de) |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FI981707A0 (fi) * | 1998-08-06 | 1998-08-06 | Tamrock Oy | Sovitelma kallionporauksen ohjaamiseksi |
US6216800B1 (en) * | 1998-11-24 | 2001-04-17 | J. H. Fletcher & Co., Inc. | In-situ drilling system with dust collection and overload control |
US6637522B2 (en) | 1998-11-24 | 2003-10-28 | J. H. Fletcher & Co., Inc. | Enhanced computer control of in-situ drilling system |
DE19964397B4 (de) * | 1999-05-27 | 2011-06-30 | Wolfgang Schmidt e.K., 57368 | Drehzahl-Vorschubregelung |
FR2802970B1 (fr) * | 1999-12-23 | 2002-03-08 | Montabert Ets | Dispositif d'alimentation hydraulique d'un appareil de forage roto-percutant |
AU2001273549A1 (en) * | 2000-07-18 | 2002-01-30 | Geoff D. Koch | Remote control for a drilling machine |
ATE309565T1 (de) * | 2000-09-01 | 2005-11-15 | Fraunhofer Ges Forschung | Optimierungsverfahren zur regelung des betriebszustandes einer geführten werkzeugmaschine mit einem rotierenden und schlag-beaufschlagten werkzeug während eines bohrvorganges |
DE10149018B4 (de) * | 2001-10-04 | 2007-05-24 | Tracto-Technik Gmbh | Verfahren zum Richtungsbohren |
ES2242141T3 (es) * | 2003-02-10 | 2005-11-01 | Korsch Ag | Metodo y dispositivo para el control de una maquina rotativa para la fabricacion de tabletas. |
DE10320662A1 (de) | 2003-05-08 | 2004-12-02 | Bauer Maschinen Gmbh | Verfahren und Vorrichtung zur Bodenbearbeitung |
WO2010149827A1 (en) | 2009-06-26 | 2010-12-29 | Sandvik Mining And Construction Oy | Method for controlling rock drilling |
US8261855B2 (en) | 2009-11-11 | 2012-09-11 | Flanders Electric, Ltd. | Methods and systems for drilling boreholes |
CN104389579A (zh) * | 2014-10-31 | 2015-03-04 | 山河智能装备股份有限公司 | 凿岩钻机回转推进电液控制方法及其控制回路 |
DE102015107194A1 (de) | 2015-05-08 | 2016-11-10 | TERRA AG für Tiefbautechnik | Bohranlage zum Erzeugen oder Aufweiten einer Erdbohrung im Erdreich und Verfahren zur Steuerung eines Vorschubantriebs einer solchen Bohranlage |
US10582652B2 (en) | 2015-11-02 | 2020-03-10 | The Charles Machines Works, Inc. | Hydraulic control system |
US10114404B2 (en) | 2015-11-02 | 2018-10-30 | The Charles Machine Works, Inc. | Hydraulic control system |
CN105598522B (zh) * | 2016-01-28 | 2018-08-03 | 马鞍山市中亚机床制造有限公司 | 一种双泵剪板机及其控制方法 |
US10350608B2 (en) | 2016-05-03 | 2019-07-16 | Vermeer Manufacturing Company | In-feed systems for chippers or grinders, and chippers and grinders having same |
WO2019036521A1 (en) | 2017-08-15 | 2019-02-21 | Vermeer Manufacturing Company | FEEDING SYSTEM FOR SHREDDERS OR SHREDDERS, AND SHREDDERS AND SHREDDERS HAVING SAME |
US11608613B2 (en) | 2019-08-21 | 2023-03-21 | The Charles Machine Works, Inc. | Throttle control system |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4305423A1 (de) | 1993-02-22 | 1994-08-25 | Terra Ag Tiefbautechnik | Erdbohrgerät |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2503340B2 (de) * | 1975-01-28 | 1978-09-21 | Wirth Co Kg Masch Bohr | Verfahren und Vorrichtung zur Antriebssteuerung von Bohrköpfen, insbesondere für Großlochbohrmaschinen |
US4023626A (en) * | 1975-03-17 | 1977-05-17 | Oy Tampella Ab | Self-adaptive hydraulic rock drill |
DE3025420C2 (de) * | 1980-07-04 | 1984-05-30 | Naučno-issledovatel'skij proektno-konstruktorskij institut po dobyče poleznych iskopaemych otkrytym sposobom, Čeljabinsk | Automatisches Steuersystem für eine Drehbohrmaschine |
FI67604C (fi) * | 1983-06-14 | 1985-04-10 | Tampella Oy Ab | Foerfarande och anordning foer reglering av matningsroerelsen hos en borrstaong vid bergborrning |
US4660656A (en) * | 1985-11-22 | 1987-04-28 | Amoco Corporation | Method and apparatus for controlling the rotational torque of a drill bit |
FI86008C (fi) * | 1989-04-06 | 1992-06-25 | Tampella Oy Ab | Foerfarande och anordning foer reglering av en bergborrningsmaskin. |
US4938109A (en) * | 1989-04-10 | 1990-07-03 | Carlos A. Torres | Torque hold system and method |
JP3506450B2 (ja) * | 1992-12-18 | 2004-03-15 | 松下電器産業株式会社 | ねじ締め装置、およびねじ締め方法 |
DE4302755C2 (de) * | 1993-02-01 | 2003-01-02 | Mannesmann Rexroth Ag | Steuereinrichtung zur Regelung einer von zwei zusammenwirkenden Hydraulik-Verbrauchern abhängigen Arbeitskenngröße |
ZA932779B (en) * | 1993-04-21 | 1994-10-12 | Jarmo Uolevi Leppaenen | Control system for percussion drill |
US5358058A (en) * | 1993-09-27 | 1994-10-25 | Reedrill, Inc. | Drill automation control system |
GB9320181D0 (en) * | 1993-09-30 | 1993-11-17 | Black & Decker Inc | Improvements in and relating to power tools |
US5637968A (en) * | 1993-10-25 | 1997-06-10 | The Stanley Works | Power tool with automatic downshift feature |
-
1997
- 1997-03-05 DE DE19708997A patent/DE19708997C2/de not_active Expired - Fee Related
- 1997-04-21 US US08/844,752 patent/US5913371A/en not_active Expired - Lifetime
-
1998
- 1998-03-05 EP EP98103945A patent/EP0863293B1/de not_active Expired - Lifetime
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4305423A1 (de) | 1993-02-22 | 1994-08-25 | Terra Ag Tiefbautechnik | Erdbohrgerät |
Also Published As
Publication number | Publication date |
---|---|
EP0863293A3 (de) | 1999-05-12 |
DE19708997A1 (de) | 1998-09-17 |
DE19708997C2 (de) | 2002-08-29 |
EP0863293B1 (de) | 2003-09-24 |
US5913371A (en) | 1999-06-22 |
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