WO2021012101A1 - Constant-pressure propulsion system for rock drilling rig - Google Patents
Constant-pressure propulsion system for rock drilling rig Download PDFInfo
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- WO2021012101A1 WO2021012101A1 PCT/CN2019/096840 CN2019096840W WO2021012101A1 WO 2021012101 A1 WO2021012101 A1 WO 2021012101A1 CN 2019096840 W CN2019096840 W CN 2019096840W WO 2021012101 A1 WO2021012101 A1 WO 2021012101A1
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- propulsion
- proportional valve
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- oil circuit
- electro
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/66—Machines for making slits with additional arrangements for drilling
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/68—Machines for making slits combined with equipment for removing, e.g. by loading, material won by other means
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/20—General features of equipment for removal of chippings, e.g. for loading on conveyor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
Abstract
A constant-pressure propulsion system for a rock drill rig, comprising a hydraulic motor, a propulsion hydraulic cylinder, an impactor hydraulic cylinder, a rotation pressure sensor, a propulsion pressure sensor, a rotary oil line electro-hydraulic proportional valve, a propulsion oil line electro-hydraulic proportional valve, an impact oil line electro-hydraulic proportional valve, a microcomputer controller, and a display screen. The rotation pressure sensor and the propulsion pressure sensor are respectively disposed on the oil line of the hydraulic motor and the propulsion hydraulic cylinder; the rotary oil line electro-hydraulic proportional valve, the propulsion oil line electro-hydraulic proportional valve, and the impact oil line electro-hydraulic proportional valve are respectively disposed on the oil line of the hydraulic motor, the propulsion hydraulic cylinder, and the impactor hydraulic cylinder; the rotation pressure sensor, the propulsion pressure sensor, and the display screen are electrically connected to the input end of the microcomputer controller; and the rotary oil line electro-hydraulic proportional valve, the propulsion oil line electro-hydraulic proportional valve, and the impact oil line electro-hydraulic proportional valve are electrically connected to the output end of the microcomputer controller.
Description
本发明涉及岩石开采工程机械技术领域，特别是凿岩钻机恒压推进系统。The invention relates to the technical field of rock mining engineering machinery, in particular to a constant pressure propulsion system of a rock drill.
凿岩钻机是岩石开采时使用的一种工程机械设备，它的工作目的是在岩石中钻出一定直径的孔，从而可在孔内填充炸药将岩石爆破分解，凿岩钻机具有推进、转钎和冲击功能，液压系统驱动转钎机构液压马达旋转，带动钎杆和钻头旋转，同时冲击油缸活塞往复运动作用于转钎机构的钎杆末端，通过钎杆把冲击能传递到钻头，推进油缸推动凿岩钻机前进。凿岩钻机在钻孔过程中由于岩层结构复杂，手动推进有一定的强制性钻孔，很容易出现堵孔或卡钎现象，一旦发生堵孔或卡钎，需要花费时间处理被卡钻头和钎杆，不仅严重影响工作效率，还可能造成钻头和钎杆被迫丢弃，增加凿岩成本。因此，有必要研究一种凿岩钻机恒压推进系统，以解决繁琐的操作和降低人为操作失误，避免各种堵孔、卡杆等现象，能实现自动钻孔以提高工作效率，降低油耗，降低成本。Rock drilling rig is a kind of engineering machinery equipment used in rock mining. Its working purpose is to drill a hole of a certain diameter in the rock, so that explosives can be filled in the hole to blast and decompose the rock. The rock drilling rig has propulsion and transfer drills. And the impact function, the hydraulic system drives the hydraulic motor of the drilling mechanism to rotate, driving the drill rod and the drill bit to rotate, and the reciprocating movement of the impact cylinder piston acts on the end of the drill rod of the drilling mechanism, and the impact energy is transmitted to the drill bit through the drill rod, pushing the cylinder to push The rock drill advances. During the drilling process of the rock drilling rig, due to the complex rock structure, manual advancement has certain mandatory drilling, which is prone to blockage or sticking. Once the blockage or sticking occurs, it takes time to deal with the stuck drill bit and drill. The rod not only seriously affects the work efficiency, but also may cause the drill bit and drill rod to be forced to discard, increasing the cost of rock drilling. Therefore, it is necessary to study a constant pressure propulsion system for rock drilling rigs to solve cumbersome operations and reduce human errors, avoid all kinds of plugging, jamming, etc., and realize automatic drilling to improve work efficiency and reduce fuel consumption. cut costs.
发明内容Summary of the invention
针对上述现有技术存在的问题，本发明提供一种凿岩钻机恒压推进系统。In view of the above-mentioned problems in the prior art, the present invention provides a constant pressure propulsion system for a rock drill.
本发明所采用的技术方案是：The technical scheme adopted by the present invention is:
凿岩钻机恒压推进系统，包括液压马达、推进液压缸、冲击器冲击液压缸，还包括旋转压力传感器、推进压力传感器、旋转油路电液比例阀、推进油路电液比例阀、冲击油路电液比例阀、微电脑控制器和显示屏，所述的旋转压力传感器、推进压力传感器分别设于液压马达和推进液压缸的油路上，所述的旋转 油路电液比例阀、推进油路电液比例阀和冲击油路电液比例阀分别设于液压马达、推进液压缸和冲击器冲击液压缸的油路上，旋转压力传感器、推进压力传感器和显示屏均和微电脑控制器的输入端电连接，旋转油路电液比例阀、推进油路电液比例阀和冲击油路电液比例阀均和微电脑控制器的输出端电连接。The constant pressure propulsion system of rock drilling rigs includes hydraulic motors, propulsion hydraulic cylinders, impact hydraulic cylinders, as well as rotary pressure sensors, propulsion pressure sensors, rotary oil circuit electro-hydraulic proportional valves, propulsion oil circuit electro-hydraulic proportional valves, and impact oil An electro-hydraulic proportional valve, a microcomputer controller, and a display screen. The rotary pressure sensor and the propulsion pressure sensor are respectively arranged on the oil circuits of the hydraulic motor and the propulsion cylinder. Electro-hydraulic proportional valve and impact oil circuit Electro-hydraulic proportional valve are respectively set on the oil circuit of hydraulic motor, propulsion hydraulic cylinder and impactor impact hydraulic cylinder. The rotary pressure sensor, propulsion pressure sensor and display screen are all connected to the input terminal of the microcomputer controller. For connection, the electro-hydraulic proportional valve of the rotary oil circuit, the electro-hydraulic proportional valve of the propulsion oil circuit and the electro-hydraulic proportional valve of the impulse oil circuit are electrically connected to the output end of the microcomputer controller.
所述微电脑控制器为单片机控制器或PLC控制器。The microcomputer controller is a single-chip microcomputer controller or a PLC controller.
所述推进油路电液比例阀具有两档控制阀，分别为快进退控制阀和慢进退控制阀。The propulsion oil circuit electro-hydraulic proportional valve has two-speed control valves, namely a fast forward and backward control valve and a slow forward and backward control valve.
本发明的优点在于：The advantages of the present invention are:
本发明凿岩钻机恒压推进系统，钻孔时推进压力传感器能实时检测凿岩机推进机构的推进压力，并将检测到的推进压力数据输送给微电脑控制器，结合旋转压力传感器的检测数据，微电脑控制器分别对推进油路电液比例阀和旋转油路电液比例阀发出指令，对液压油缸的推速和旋转速度进行控制，同时控制冲击油路电液比例阀以控制冲击力大小。本发明系统不使用繁杂的液压先导反馈系统，能实现实时检测钻孔阻力和自动调整推速速度、旋转速度和冲击力大小，结构简单，反应速度快，能较好的维持一定的压力范围内稳定工作。In the rock drill constant pressure propulsion system of the present invention, the propulsion pressure sensor during drilling can detect the propulsion pressure of the propulsion mechanism of the rock drill in real time, and send the detected propulsion pressure data to the microcomputer controller, combined with the detection data of the rotating pressure sensor, and microcomputer control The controller respectively issues commands to the electro-hydraulic proportional valve of the propulsion oil circuit and the electro-hydraulic proportional valve of the rotary oil circuit to control the thrust and rotation speed of the hydraulic cylinder, and at the same time controls the electro-hydraulic proportional valve of the impulse oil circuit to control the impact force. The system of the present invention does not use a complicated hydraulic pilot feedback system, and can realize real-time detection of drilling resistance and automatic adjustment of pushing speed, rotation speed and impact force, simple structure, fast response speed, and can better maintain a certain pressure range Work stably.
图1为本发明凿岩钻机恒压推进系统的结构框图。Figure 1 is a structural block diagram of the constant pressure propulsion system of the rock drilling rig of the present invention.
图2为本发明凿岩钻机恒压推进系统的逻辑示意图。Figure 2 is a logical schematic diagram of the constant pressure propulsion system of the rock drilling rig of the present invention.
以下结合附图和实施例对本发明做详细的说明。The present invention will be described in detail below with reference to the drawings and embodiments.
本发明凿岩钻机恒压推进系统，包括现有技术的液压马达、推进液压缸、冲击器冲击液压缸，如图1所示，还包括旋转压力传感器、推进压力传感器、 旋转油路电液比例阀、推进油路电液比例阀、冲击油路电液比例阀、微电脑控制器和显示屏，旋转压力传感器、推进压力传感器分别对应设于液压马达和推进液压缸的油路上，并且分别对应靠近液压马达和推进液压缸，旋转油路电液比例阀、推进油路电液比例阀和冲击油路电液比例阀分别一一对应设于液压马达、推进液压缸和冲击器冲击液压缸的油路上，旋转压力传感器、推进压力传感器和显示屏分别和微电脑控制器的输入端电连接，旋转油路电液比例阀、推进油路电液比例阀和冲击油路电液比例阀分别和微电脑控制器的输出端电连接。The constant pressure propulsion system of the rock drilling rig of the present invention includes the prior art hydraulic motor, propulsion hydraulic cylinder, and impactor impact hydraulic cylinder, as shown in Figure 1, and also includes a rotary pressure sensor, a propulsion pressure sensor, and a rotary oil circuit electro-hydraulic ratio Valve, propulsion oil circuit electro-hydraulic proportional valve, impact oil circuit electro-hydraulic proportional valve, microcomputer controller and display screen, rotary pressure sensor, propulsion pressure sensor are respectively arranged on the oil circuit of hydraulic motor and propulsion cylinder, and are correspondingly close to Hydraulic motor and propulsion hydraulic cylinder, rotary oil circuit electro-hydraulic proportional valve, propulsion oil circuit electro-hydraulic proportional valve and impact oil circuit electro-hydraulic proportional valve are respectively corresponding to the oils of hydraulic motor, propulsion hydraulic cylinder and impact hydraulic cylinder On the road, the rotary pressure sensor, the propulsion pressure sensor and the display are electrically connected to the input of the microcomputer controller. The rotary oil circuit electro-hydraulic proportional valve, the propulsion oil circuit electro-hydraulic proportional valve and the impact oil circuit electro-hydraulic proportional valve are respectively controlled by the microcomputer. The output terminal of the device is electrically connected.
所述微电脑控制器为具备编程运算功能的单片机控制器或PLC控制器，在钻孔作业前，通过显示屏确认所钻岩石的类型和参数，控制器会调用现有的该类型岩的计算程序从而输出精确的反应控制动作，计算的程序可以包括推进压力值增加的具体处理程序，推进压力值减少的具体处理程序，还包括推进压力值增加或减少的速度，也就是压力值的变化缓慢或快速，所对应的具体处理程序。The microcomputer controller is a single-chip microcomputer controller or PLC controller with programming calculation function. Before drilling operations, confirm the type and parameters of the drilled rock through the display screen, and the controller will call the existing calculation program for this type of rock In order to output accurate response control actions, the calculation program can include specific processing procedures for increasing the pressure value, specific processing procedures for reducing the pressure value, and the speed at which the pressure value increases or decreases, that is, the pressure value changes slowly or Fast, corresponding specific processing procedures.
本发明系统工作时，通过显示屏输入所钻岩石类型及钻孔孔径等参数。在钻孔过程中，如果所凿岩石较难开凿，凿岩钻机旋转阻力增加时，旋转压力传感器实时检测旋转压力后反馈旋转压力增加的信号给微电脑控制器，微电脑控制器根据旋转压力增加值并分析是急促增加还是缓慢增加，同时结合推进压力传感器的实时检测数值，分别发出指令给推进油路电液比例阀和冲击油路电液比例阀，降低推进速度和冲击器冲击力。When the system of the present invention is working, parameters such as the type of rock to be drilled and the hole diameter are input through the display screen. During the drilling process, if the rock to be drilled is difficult to excavate and the rotation resistance of the rock drilling rig increases, the rotation pressure sensor detects the rotation pressure in real time and feeds the signal of the increase in rotation pressure to the microcomputer controller. The microcomputer controller combines the rotation pressure increase value Analyze whether the increase is rapid or slow, and combined with the real-time detection value of the propulsion pressure sensor, commands are issued to the propulsion oil circuit electro-hydraulic proportional valve and the impact oil circuit electro-hydraulic proportional valve to reduce the propulsion speed and impact force of the impactor.
当凿岩钻机旋转阻力减小时，旋转压力传感器实时检测旋转压力后反馈旋转压力减小的信号给微电脑控制器，微电脑控制器根据旋转压力减小值并分析 是急促减小还是缓慢减小，同时结合推进压力传感器的实时检测数值，分别发出指令给推进油路电液比例阀和冲击油路电液比例阀，提高推进速度和冲击器冲击力。When the rotation resistance of the rock drilling rig decreases, the rotation pressure sensor detects the rotation pressure in real time and feeds back the signal of the reduction of the rotation pressure to the microcomputer controller. The microcomputer controller analyzes whether the rotation pressure decreases rapidly or slowly. Combined with the real-time detection value of the propulsion pressure sensor, commands are issued to the propulsion oil circuit electro-hydraulic proportional valve and the impact oil circuit electro-hydraulic proportional valve to increase the propulsion speed and impact force of the impactor.
如图2所示，当实测推进压力(TY0)大于设定推进压力(Mn_TYKH)时，且推进速度(TS1)大于等于0(没在回退状态)，推进速度(TS1)每隔0.5秒执行一次以10个速度循环减小；反之增大。从而达到自动调整推进速度。As shown in Figure 2, when the measured propulsion pressure (TY0) is greater than the set propulsion pressure (Mn_TYKH), and the propulsion speed (TS1) is greater than or equal to 0 (not in the retreat state), the propulsion speed (TS1) is executed every 0.5 seconds Decrease by 10 speed cycles at a time; vice versa. So as to achieve automatic adjustment of the advancing speed.
通过上述实时检测钻孔阻力和自动调整推速速度、旋转速度和冲击力大小，使凿岩钻机钻头能较好的维持一定的压力范围内稳定工作。Through the above-mentioned real-time detection of drilling resistance and automatic adjustment of thrust speed, rotation speed and impact force, the rock drill bit can better maintain stable operation within a certain pressure range.
Claims (3)
- 凿岩钻机恒压推进系统，包括液压马达、推进液压缸、冲击器冲击液压缸，其特征在于：还包括旋转压力传感器、推进压力传感器、旋转油路电液比例阀、推进油路电液比例阀、冲击油路电液比例阀、微电脑控制器和显示屏，所述的旋转压力传感器、推进压力传感器分别对应设于液压马达和推进液压缸的油路上，所述的旋转油路电液比例阀、推进油路电液比例阀和冲击油路电液比例阀分别一一对应设于液压马达、推进液压缸和冲击器冲击液压缸的油路上，所述旋转压力传感器、推进压力传感器和显示屏分别和微电脑控制器的输入端电连接，所述旋转油路电液比例阀、推进油路电液比例阀和冲击油路电液比例阀分别和微电脑控制器的输出端电连接。The constant pressure propulsion system of the rock drill rig includes a hydraulic motor, a propulsion hydraulic cylinder, and an impact hydraulic cylinder. It is characterized in that it also includes a rotary pressure sensor, a propulsion pressure sensor, a rotary oil circuit electro-hydraulic proportional valve, and a propulsion oil circuit electro-hydraulic proportional valve. Valve, impact oil circuit electro-hydraulic proportional valve, microcomputer controller and display screen. The rotary pressure sensor and the propulsion pressure sensor are respectively arranged on the oil circuit of the hydraulic motor and the propulsion cylinder. The rotary oil circuit electro-hydraulic proportional valve The valve, the propulsion oil circuit electro-hydraulic proportional valve and the impact oil circuit electro-hydraulic proportional valve are respectively arranged on the oil circuit of the hydraulic motor, the propulsion hydraulic cylinder and the impact hydraulic cylinder, the rotation pressure sensor, the propulsion pressure sensor and the display The screen is respectively electrically connected with the input end of the microcomputer controller, and the rotary oil circuit electro-hydraulic proportional valve, the propulsion oil circuit electro-hydraulic proportional valve and the impact oil circuit electro-hydraulic proportional valve are respectively electrically connected with the output end of the microcomputer controller.
- 如权利要求1所述的凿岩钻机恒压推进系统，其特征在于：所述微电脑控制器为单片机控制器或PLC控制器。The constant pressure propulsion system of the rock drilling rig according to claim 1, wherein the microcomputer controller is a single chip microcomputer controller or a PLC controller.
- 如权利要求1所述的凿岩钻机恒压推进系统，其特征在于：所述推进油路电液比例阀具有两档控制阀，分别为快进退控制阀和慢进退控制阀。The constant pressure propulsion system of a rock drill rig according to claim 1, wherein the electro-hydraulic proportional valve of the propulsion oil circuit has two-stage control valves, namely a fast forward and backward control valve and a slow forward and backward control valve.
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| PCT/CN2019/096840 WO2021012101A1 (en) | 2019-07-19 | 2019-07-19 | Constant-pressure propulsion system for rock drilling rig |
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| US6510902B1 (en) * | 1999-05-22 | 2003-01-28 | Krupp Berco Bautechnik Gmbh | Method and device for determining the operating time and the operating condition of a hydraulic percussion unit |
| CN103742471A (en) * | 2013-12-25 | 2014-04-23 | 广西恒日科技有限公司 | Rock drilling machine anti-clamping system |
| CN104453845A (en) * | 2014-12-12 | 2015-03-25 | 中国地质大学（武汉） | CAN (controller area network) bus based fully-hydraulic driving head drill control system |
| CN205715073U (en) * | 2016-04-20 | 2016-11-23 | 威海人合机电股份有限公司 | A kind of intelligence rig electrohydraulic control system |
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2019
- 2019-07-19 WO PCT/CN2019/096840 patent/WO2021012101A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6510902B1 (en) * | 1999-05-22 | 2003-01-28 | Krupp Berco Bautechnik Gmbh | Method and device for determining the operating time and the operating condition of a hydraulic percussion unit |
| CN103742471A (en) * | 2013-12-25 | 2014-04-23 | 广西恒日科技有限公司 | Rock drilling machine anti-clamping system |
| CN104453845A (en) * | 2014-12-12 | 2015-03-25 | 中国地质大学（武汉） | CAN (controller area network) bus based fully-hydraulic driving head drill control system |
| CN205715073U (en) * | 2016-04-20 | 2016-11-23 | 威海人合机电股份有限公司 | A kind of intelligence rig electrohydraulic control system |
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