CN110145297A - A kind of method and device thereof of submersible drilling machine adaptive equalization - Google Patents
A kind of method and device thereof of submersible drilling machine adaptive equalization Download PDFInfo
- Publication number
- CN110145297A CN110145297A CN201910437488.7A CN201910437488A CN110145297A CN 110145297 A CN110145297 A CN 110145297A CN 201910437488 A CN201910437488 A CN 201910437488A CN 110145297 A CN110145297 A CN 110145297A
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- adaptive equalization
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- 238000005553 drilling Methods 0.000 title claims abstract description 62
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000006073 displacement reaction Methods 0.000 claims abstract description 17
- 230000005484 gravity Effects 0.000 claims abstract description 6
- 210000000078 claw Anatomy 0.000 claims description 8
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 238000003466 welding Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 238000004364 calculation method Methods 0.000 description 2
- 239000002828 fuel tank Substances 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000007569 slipcasting Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
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
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
-
- 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
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (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)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a kind of method and device thereof of submersible drilling machine adaptive equalization, obtain the location information in tunnel palisades boring work face in real time using laser range finder and angular displacement sensor, based on the location information, pass through the calculating of drill boom deflection angle and elongated distance, determine the offset of drilling machine center of gravity, balance-adjustable support device at left and right sides of specific aim control drilling machine correspondingly rotates, increase support range, realize the adaptive equalization of drilling machine at work, device includes laser range finder, angular displacement sensor, support cylinder, deflect oil cylinder, support beam, central controller, oil circuit control loop system, deflection oil cylinder does flexible and rotational action, support cylinder is driven to correspondingly rotate, the present invention controls the change of drilling machine supporting way using the working face signal detected, enable support device with the change of working face Change adaptive adjustment supporting way, realizes Real-time Balancing positioning of the submersible drilling machine in long and narrow tunnel, expand the working range of submersible drilling machine.
Description
Technical field
The present invention relates to a kind of method and device thereof of submersible drilling machine adaptive equalization, more particularly to one kind is towards narrow tunnel
The method and device thereof of adaptive equalization are realized in road or mine operation face based on Equipoising support apparatus.
Background technique
Down-the-hole drill is usually operated at narrow tunnel or for the slip casting of mine bear, and bottom work space is narrow
Narrow, poor visibility in addition some punching palisades are not vertical plane, but has the inclined-plane of a fixed inclination, therefore drilling machine is in limit position
It sets operation and is easy for disequilibrium.
The support of general drilling machine is 4 supporting legs being all around arranged symmetrically by drilling machine body come when maintaining operation
Assembled machine balance, but such supporting way can only meet drilling machine center of gravity subpoint and be located at supporting leg subpoint and connects and composes two-by-two
Quadrilateral area in situation.If center of gravity once exceeds the confined range of the quadrangle, drilling machine two sides certainly will be will lead to
Force unbalance causes rollover event.
Usual way is to expand support range plus fixing supporting legs in drilling machine body two sides, improve the stabilization of complete machine
Property.But the above method is not suitable for the submersible drilling machine of the operation in narrow tunnel or mine, it is necessary to according to actual operating condition
Condition designs special device, the adaptive equalization of Lai Shixian drilling machine.
Summary of the invention
The purpose of the present invention is to provide a kind of method of submersible drilling machine adaptive equalization and its corresponding support device, with
Realize the operation in narrow tunnel or mine of submersible drilling machine, the adaptive equalization under different complex working conditions.
In order to realize above-mentioned goal of the invention, the submersible drilling machine adaptive equalization method included the following steps is devised:
(1) location information in tunnel palisades boring work face is obtained in real time using laser range finder and angular displacement sensor；
(2) the inclined of drilling machine center of gravity is determined by the calculating of drill boom deflection angle and elongated distance based on the location information
It moves；
(3) the balance-adjustable support device at left and right sides of specific aim control drilling machine correspondingly rotates, and increases support range,
Realize the adaptive equalization of drilling machine at work.
The above-mentioned preferred phase type of laser range finder, precision are the instrument of ± 1mm, the angular displacement sensor precision of selection is ±
0.5 °, and the maximum support power that the balance-adjustable support device is capable of providing is 15000N.
Realize a kind of support device of above-mentioned submersible drilling machine adaptive equalization, including fuselage (25), vehicle frame (16), Laser Measuring
Distance meter (1), angular displacement sensor (2), crossbeam otic placode (4), crossbeam pin shaft (5), support beam (6), bolt (8), support cylinder
(9), zigzag support claw (10), support cylinder otic placode (11), support cylinder pin shaft (12), deflection oil cylinder (13), deflection pin shaft
(14), oil cylinder otic placode (15), central controller (17) and initial support device are deflected；The laser range finder (1), angular displacement sensor
(2) it is fixed on above fuselage (25), is connect respectively by data line with central controller (17)；There are two the vehicle frames (16), symmetrically
It is respectively at left and right sides of fuselage；The crossbeam otic placode (4) is weldingly fixed on vehicle frame (16)；Described support beam (6) one end is logical
It crosses crossbeam pin shaft (5) to connect with crossbeam otic placode (4), the other end is connect by bolt (8) with support cylinder (9)；The support oil
Cylinder otic placode (11) is weldingly fixed on support cylinder side wall；Deflection oil cylinder (13) piston-rod end passes through support cylinder pin shaft
(12) it is connected on support cylinder otic placode (11)；Support cylinder (9) piston-rod end welds zigzag support claw (10)；Institute
Deflection oil cylinder otic placode (15) is stated to be fixedly welded on vehicle frame (16)；Deflection oil cylinder (13) cylinder barrel side is by deflecting oil cylinder pin shaft
(14) connection deflection oil cylinder otic placode (15), the rotation of support cylinder (9) is driven with this.
The further design of foregoing invention device is that the initial support device is mainly by front support leg (3) and rear branch
Support leg (18) composition, front support leg (3) are located among the two sides crawler belt of drilling machine forefront, and rear support leg (18) is then installed on drilling machine
Rear, with two sides crawler belt aligned in position.
The further design of foregoing invention device is that the support beam (6) is in the spiral shell close to support cylinder (9) one end
It tethers two sides at fishplate bar and is symmetrically welded 4 reinforcing ribs (7).
Foregoing invention device it is further design be, vehicle frame (16) bottom surface at a distance from ground at least 30cm with
On.
The further design of foregoing invention device is that the deflection oil cylinder (13) uses Numeric hydraulic cylinder, piston rod
Maximum extension is 100cm.
For above-mentioned support device, since deflection oil cylinder (13) is by deflection oil cylinder pin shaft (14) connection close to cylinder barrel side
Oil cylinder otic placode (15) are deflected, and deflects oil cylinder otic placode (15) and is fixedly welded on drilling machine crawler belt crossbeam (16), therefore partially
Turning oil cylinder (13), there are rotational freedoms, and support cylinder (9) is also that there are rotational freedoms, therefore can pass through deflection oil cylinder
(13) the overhanging movement of overhanging end determines sawtooth pattern support claw (10) with this driving support cylinder (9) to do rotary motion
Support Position.
The invention has the advantages that:
(1) laser range finder, the angular displacement sensor of the device use of the method for the present invention, can quick and precisely obtain drilling machine
The location information of work surface is realized online acquisition information, is timely feedbacked.
(2) deflection oil cylinder and support cylinder that the device of the method for the present invention uses, reaction in time, may be implemented quickly partially
Turn, high speed support positioning realizes adaptive equalization working condition, increases the job area of drilling machine, improve the working efficiency of drilling machine.
(3) device of the method for the present invention can be according to drilling machine it needs to be determined that whether support device stretches out, and structure is more compact,
Suitable for narrow tunnel.
(4) apparatus structure of the method for the present invention is simple, is easily installed maintenance.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of submersible drilling machine adaptive equalization device of the invention；
Fig. 2 is the oil circuit control figure of submersible drilling machine adaptive equalization device deflection oil cylinder and support cylinder of the invention；
Wherein: 1, laser range finder, 2, angular displacement sensor, 3, front support leg, 4, crossbeam otic placode, 5, crossbeam pin shaft, 6,
Support beam, 7, bolt, 8, reinforcing rib, 9, support cylinder, 10, sawtooth pattern support claw, 11, support otic placode, 12, support pin shaft,
13, oil cylinder, 14, deflection pin shaft, 15, deflection otic placode, 16, bogie frame, 17, central controller, 18, rear support leg, 19, deflection oil are deflected
Cylinder hydraulic pump, 20, support cylinder hydraulic pump, 21, filter screen, 22, fuel tank, 25, fuselage.
Specific embodiment
Apparatus of the present invention are described in further details below in conjunction with attached drawing and specific embodiment.
As shown in Figure 1, laser range finder (1), angular displacement sensor (2) is mutual by Data In-Line with central controller (17)
Connection, and the three-position four-way electromagnetic directional valve at central controller (17) and digital deflection oil cylinder (13) and support cylinder (9) passes through number
It is connected according to output line.The crossbeam otic placode (4) is fixed by welding on drilling machine crawler belt crossbeam (16), the support beam (6)
One end passes through bolt (8) rigid connection support cylinder (9) by crossbeam pin shaft (5) connecting cross beam otic placode (4), the other end.Support
Extension end bottom welding zigzag support claw (10) below oil cylinder (9).Support cylinder otic placode (11) is weldingly fixed on support cylinder
On, it deflects and is connected on support cylinder otic placode (11) at oil cylinder (13) overhanging end by support cylinder pin shaft (12).Deflect oil cylinder
Otic placode (15) is fixedly welded on crawler belt crossbeam (16), and deflecting oil cylinder (13) cylinder barrel side is connected by deflection oil cylinder pin shaft (14)
Deflection oil cylinder otic placode (15) is connect, the rotation of support cylinder (9) is driven with this.
Support beam (6) is symmetrically welded 4 reinforcing ribs in two sides at the bolt plate close to support cylinder (9) one end
(7), to improve its rigidity.Crawler belt crossbeam (28), it should reliably be fixedly welded on the outside of drilling machine crawler belt, and one lateral extent of near-earth
Ground at least 30cm or more.In order to enable support device can reliably stretch out, it is desirable that when device supported on both sides is in initial position
Support beam (6) and deflection oil cylinder (13) are not on same straight line, otherwise can be because of there are dead point, and supporting leg can not reliably be stretched
Out；And when deflection oil cylinder (13) overhanging end reaches maximum out reach, support beam (6) can be turned to and drilling machine is advanced
Direction is at 90 ° of angles, and anti-side rollover resistant capability is most strong at this time.
The design of further for initial support device structure be it is such, the initial support device is mainly by front support leg
(3) it is formed with rear support leg (18), front support leg (3) is located among the two sides crawler belt of drilling machine forefront, and rear support leg (18) is then
It is installed on drilling machine rear, it is concordant at the crawler belt of two sides.
It is such for the further structure design of control oil circulation system, as shown in Fig. 2, oil liquid is from fuel tank (22),
Through filter screen (21), respectively through overshoot oil cylinder hydraulic pump (19) and (20) two branches of support cylinder hydraulic pump, reach respective
Executive component deflection oil cylinder (13) and support cylinder (9).On deflection oil cylinder branch road, since executive component deflects oil cylinder (13)
Numeric hydraulic cylinder is used, so its stroke distances is adjustable, while branch road does not need other Hydraulic Elements and controls to it
System.On support cylinder branch road, oil liquid passes through a three-position four-way electromagnetic directional valve after support cylinder hydraulic pump, using
After the hydraulic lock be made of two hydraulic control one-way valves, the work of support cylinder (9) is driven.
It is such that central controller (17), which is further designed, and the principal element due to influencing center of gravity is drilling palisades work
Make the drift angle of face distance borehole drilling rig ontology, so drilling machine ontology can be used as secondary cause apart from size apart from working face.Therefore,
Distance parameter L can be equivalent to corresponding deflection angle β by data processing, Equivalent Calculation formula is as follows:
β=L/0.2 (1)
Wherein, L is that laser range finder measures distance (unit: m) of the drilling machine ontology apart from working face.
The calculation formula of the actually required deflection angle γ of Equipoising support apparatus is as follows:
γ=| α |+β (2)
Wherein, α is the angle value (unit: °) that angular displacement sensor measures.It then will be in the γ angle value of acquisition and table 1
Data be compared, the holding state of support device is determined with this.When the value of γ is less than 30 °, support device not work
Make, out reach 0；Since deflection oil cylinder uses Numeric hydraulic cylinder, so that with the raising of γ value, oil cylinder (13) outreach is deflected
From also adaptive increase therewith；When the value of γ is greater than 85 °, deflection oil cylinder (13) out reach reaches maximum.
Submersible drilling machine adaptive equalization device deflects cylinder piston rod outreach and deflection angle corresponding data table
| The actually required deflection angle γ (°) of Equipoising support apparatus | It deflects oil cylinder extension end outreach (mm) |
| 0-30 | 0 |
| 30-40 | 200 |
| 40-50 | 400 |
| 50-60 | 550 |
| 60-70 | 700 |
| 70-80 | 850 |
| >80 | 1000 |
Table 1
Following embodiment is that the process of drilling machine adaptive equalization support is carried out using above-described embodiment described device:
Embodiment 1
Drilling machine is advanced to first and needs to punch near palisades, then makes the front support leg (3) of initial support device with after
Supporting leg (18) is first supported and is landed.Then tunnel palisades are obtained in real time using laser range finder (1) and angular displacement sensor (2) to bore
The location information of hole working face, such as measuring distance is 1.5m, angle is 20 °, and can obtain angle value γ by above-mentioned algorithm is
27.5°.The angle known to 3 table look-up less than 30 °, therefore central controller (17) is exported without driving signal.Hydraulic air pump inoperative, therefore support dress
Set holding original state.It is now in the working condition for not needing starting adaptive equalization device.
Embodiment 2
Drilling machine is advanced to first and needs to punch near palisades, then makes the front support leg (3) of initial support device with after
Supporting leg (18) is first supported and is landed.Then tunnel palisades are obtained in real time using laser range finder (1) and angular displacement sensor (2) to bore
The location information of hole working face, such as measuring distance is 2.5m, angle is 40 °, and can obtain angle value γ by above-mentioned algorithm is
52.5 °, angle known to 3 of tabling look-up is in 50 ° of -60 ° of sections, therefore has driving signal output.Specific step is as follows:
(1) hydraulic pump works, first central controller (17) driving deflection oil cylinder (13) overhanging 55cm of overhanging end；
(2) after deflecting cylinder efficient stroke, support cylinder (9) is just started to work, and props up sawtooth pattern support claw (10)
Support lands.
Support device is in overhanging intermediate degree working condition at this time.
Embodiment 3
Drilling machine is advanced to first and needs to punch near palisades, then makes the front support leg (3) of initial support device with after
Supporting leg (18) is first supported and is landed.Then tunnel palisades are obtained in real time using laser range finder (1) and angular displacement sensor (2) to bore
The location information of hole working face, such as measuring distance is 4m, angle is 70 °, and can obtain angle value γ by above-mentioned algorithm is 90 °, is looked into
The angle is in more than 80 ° sections known to table 3, therefore has driving signal output.Steps are as follows for body:
(1) hydraulic pump works, therefore central controller (17) driving deflection oil cylinder (13) overhanging 100cm of overhanging end first (reaches most
At big impulse stroke).
(2) etc. support cylinder (9) is just started to work after deflection cylinder efficient stroke, makes sawtooth pattern support claw (10) branch
Support lands.
Support device is in overhanging extreme degree working condition at this time.
Claims (9)
1. a kind of method of submersible drilling machine adaptive equalization, which comprises the following steps:
Step (1): the location information in tunnel palisades boring work face is obtained in real time using laser range finder and angular displacement sensor；
Step (2): the inclined of drilling machine center of gravity is determined by the calculating of drill boom deflection angle and elongated distance based on the location information
It moves；
Step (3): the balance-adjustable support device at left and right sides of specific aim control drilling machine correspondingly rotates, and increases support model
It encloses, realizes the adaptive equalization of drilling machine at work.
2. a kind of method of submersible drilling machine adaptive equalization according to claim 1, it is characterised in that: described in step (1)
Laser range finder is phase type, and precision is ± 1mm.
3. a kind of method of submersible drilling machine adaptive equalization according to claim 1, it is characterised in that: described in step (1)
Angular displacement sensor precision is ± 0.5 °.
4. a kind of method of submersible drilling machine adaptive equalization according to claim 1, it is characterised in that: described in step (3)
It is 15000N that balance-adjustable support device, which provides maximum support power,.
5. a kind of device of submersible drilling machine adaptive equalization, including fuselage (25), vehicle frame (16), laser range finder (1), angular displacement
Sensor (2), crossbeam otic placode (4), crossbeam pin shaft (5), support beam (6), bolt (8), support cylinder (9), zigzag support
Pawl (10), support cylinder otic placode (11), support cylinder pin shaft (12), deflection oil cylinder (13), deflection pin shaft (14), deflection oil cylinder ear
Plate (15), central controller (17) and initial support device；The laser range finder (1), angular displacement sensor (2) are fixed on fuselage
(25) top is connect by data line with central controller (17) respectively；There are two the vehicle frames (16), is symmetrically respectively in fuselage or so
Two sides；The crossbeam otic placode (4) is weldingly fixed on vehicle frame (16)；Described support beam (6) one end by crossbeam pin shaft (5) with
Crossbeam otic placode (4) connection, the other end are connect by bolt (8) with support cylinder (9)；Support cylinder otic placode (11) welding is solid
It is scheduled on support cylinder side wall；Deflection oil cylinder (13) piston-rod end is connected to support oil by support cylinder pin shaft (12)
On cylinder otic placode (11)；Support cylinder (9) piston-rod end welds zigzag support claw (10)；The deflection oil cylinder otic placode
(15) it is fixedly welded on vehicle frame (16)；Deflection oil cylinder (13) cylinder barrel side is by deflection oil cylinder pin shaft (14) connection deflection oil cylinder
Otic placode (15), the rotation of support cylinder (9) is driven with this.
6. a kind of device of submersible drilling machine adaptive equalization according to claim 5, it is characterised in that: the initial support
Device is mainly made of front support leg (3) and rear support leg (18), and front support leg (3) is located in the two sides crawler belt of drilling machine forefront
Between, rear support leg (18) is then installed on drilling machine rear, with two sides crawler belt aligned in position.
7. a kind of device of submersible drilling machine adaptive equalization according to claim 5, it is characterised in that: the support beam
(6) two sides are symmetrically welded 4 reinforcing ribs (7) at the bolt plate close to support cylinder (9) one end.
8. a kind of device of submersible drilling machine adaptive equalization according to claim 5, it is characterised in that: the vehicle frame (16)
Bottom surface at least 30cm or more at a distance from ground.
9. a kind of device of submersible drilling machine adaptive equalization according to claim 5, it is characterised in that: the deflection oil cylinder
(13) Numeric hydraulic cylinder is used, piston rod maximum extension is 100cm.
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|---|---|---|---|
| CN201910437488.7A CN110145297B (en) | 2019-05-24 | 2019-05-24 | Adaptive balancing method and device for submersible drilling machine |
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| CN201910437488.7A CN110145297B (en) | 2019-05-24 | 2019-05-24 | Adaptive balancing method and device for submersible drilling machine |
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| CN110145297B CN110145297B (en) | 2023-03-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113958261A (en) * | 2021-09-27 | 2022-01-21 | 南通大学 | Self-adaptive centering device and method for crawler of engineering drilling machine |
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| CN110145297B (en) | 2023-03-14 |
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