CN111577260B - Communication system of raise boring machine and control method thereof - Google Patents
Communication system of raise boring machine and control method thereof Download PDFInfo
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- CN111577260B CN111577260B CN202010343540.5A CN202010343540A CN111577260B CN 111577260 B CN111577260 B CN 111577260B CN 202010343540 A CN202010343540 A CN 202010343540A CN 111577260 B CN111577260 B CN 111577260B
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- 230000006854 communication Effects 0.000 title claims abstract description 75
- 238000004891 communication Methods 0.000 title claims abstract description 75
- 238000000034 method Methods 0.000 title claims abstract description 22
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 116
- 239000000498 cooling water Substances 0.000 claims abstract description 54
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 230000008859 change Effects 0.000 claims abstract description 20
- 230000000149 penetrating effect Effects 0.000 claims abstract description 9
- 239000003921 oil Substances 0.000 claims description 37
- 239000010720 hydraulic oil Substances 0.000 claims description 15
- 238000010586 diagram Methods 0.000 description 14
- 230000005540 biological transmission Effects 0.000 description 8
- 239000011435 rock Substances 0.000 description 7
- 239000013307 optical fiber Substances 0.000 description 6
- 238000005553 drilling Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 230000007175 bidirectional communication Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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- 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
- E21B10/00—Drill bits
- E21B10/26—Drill bits with leading portion, i.e. drill bits with a pilot cutter; Drill bits for enlarging the borehole, e.g. reamers
- E21B10/32—Drill bits with leading portion, i.e. drill bits with a pilot cutter; Drill bits for enlarging the borehole, e.g. reamers with expansible cutting tools
- E21B10/322—Drill bits with leading portion, i.e. drill bits with a pilot cutter; Drill bits for enlarging the borehole, e.g. reamers with expansible cutting tools cutter shifted by fluid pressure
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- 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
- E21B12/00—Accessories for drilling tools
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- 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
- E21B47/00—Survey of boreholes or wells
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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
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
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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
- F15B13/027—Check valves
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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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
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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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- Engineering & Computer Science (AREA)
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- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- Fluid Mechanics (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Geochemistry & Mineralogy (AREA)
- General Engineering & Computer Science (AREA)
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- Earth Drilling (AREA)
Abstract
The invention discloses a communication system of a raise boring machine and a control method thereof, wherein the communication system of the raise boring machine comprises: the host control module is arranged in the host; the cutter head control module is arranged in the cutter head, a drill rod is connected in front of the cutter head and the host machine, and a cooling water pipe is arranged in the drill rod in a penetrating manner; the water pressure control module is connected with the cutterhead control module, and when the cutterhead is in different operation states, the cutterhead control module sends different water pressure control signals to the water pressure control module, and the water pressure control module controls the water pressure in the cooling water pipe to change according to the different water pressure control signals; the water pressure detection module is connected with the host control module and is used for detecting the water pressure in the cooling water pipe and sending a water pressure signal to the host control module, and the host control module obtains working state data of the cutterhead according to the water pressure signal.
Description
Technical Field
The invention belongs to the technical field of mining machinery, and particularly relates to a communication system of a raise boring machine and a control method thereof.
Background
The raise boring machine is mainly used in rock stratum of underground mine and other engineering, and can be used for forward boring guide hole and reverse enlarging ventilation shaft or pipeline well, etc. and also can be used for underground driving of large-section raise and drop shaft of mine. The raise boring machine mainly comprises a main machine, a pump station and an operating platform, and is provided with selectable parts such as a reaming cutter head, a drill rod, a drill bit, a water pump and the like, wherein the action principle is that a main pump motor on the pump station drives an axial plunger pump to drive a hydraulic motor, the drill rod is driven to rotate through a reduction gearbox, the motor on the pump station drives the axial plunger pump to feed pressure oil into a propulsion cylinder to push the reduction gearbox to move up and down, the drill rod and the drill bit or the cutter head are driven to move up and down, when the reduction gearbox drives the drill rod and the drill bit to move down, the operation of a guide hole is completed, and when the reduction gearbox drives the drill rod and the cutter head to move up, the reaming operation is completed.
The reaming cutterhead mainly comprises a pull rod, a hob, a cutterhead and a cooling communication system, wherein the cooling communication system is arranged on the cutterhead, cooling water spray heads are arranged in different directions of the pull rod, and cooling water is sprayed out in all directions during reaming so as to cool the hob and eliminate sparks possibly generated during the collision of the hob and rock.
The automatic operation of the raise boring machine reaming cutterhead is controlled through communication interaction between a cutterhead internal control system and a raise boring machine host control module, and the reaming cutterhead rotates during reaming, so that a wired communication mode cannot be used, and a common 4G, wiFi wire communication mode cannot be used stably due to a severe operation environment. Therefore, it is desirable to provide a communication method that can realize stable communication between the cutterhead control module and the host control module.
The existing high-torque type raise boring machine has higher price, and the main difficulty in step-by-step large-aperture reaming by adopting the existing middle-low-torque raise boring machine is the communication problem between a control system of a cutter head internal mechanism and a main machine control module of the raise boring machine.
The patent document with the application number of 201610537409.6 discloses a cutter head driving system of a parallel master-slave shield tunneling machine of a frequency converter and a method for controlling the cutter head, wherein the system comprises a PLC controller, 6 frequency converters, 6 driving motors, a speed reducer, a main bearing, an auxiliary bearing, gears, a cutter head and a cutter head rotating speed sensor, the No. 1 frequency converter is a host, the PLC controller controls the host and the No. 2 frequency converter to work, the No. 2 frequency converter controls a central hob to independently rotate, the host sends a control signal to a slave through an optical fiber serial communication link, the slave is controlled to participate in working, and a construction surface can be excavated by adopting the independent control of the central hob. The scheme is mainly used for solving the problem of speed difference between transmission units of a main driving system driven by a motor of the underground shield machine, and is different from the scheme of the application.
The patent document with application number 201220415535.1 discloses a coiled tubing drilling machine underground communication system, which comprises an optical fiber cable, an optical fiber connector, an underground communication device, at least one front-end sensor and at least one front-end control mechanism, wherein the underground communication device consists of a compression-resistant outer cylinder and an internal circuit encapsulated in the compression-resistant outer cylinder; one end of the optical fiber cable is connected with the ground communication terminal, and the other end of the optical fiber cable is connected with the photoelectric conversion module through the optical fiber connector; each front-end sensor is connected with the acquisition signal input end of the microcontroller MCU respectively, and each front-end control mechanism is connected with the control signal output end of the microcontroller respectively. The communication mode is a wired communication mode and is not suitable for information transmission during reaming operation of a cutter head of a drilling machine.
Disclosure of Invention
The invention mainly aims to provide a communication system of a raise boring machine and a control method thereof, and aims to solve the problem of unstable communication between a reaming cutter head and a host in the existing boring machine.
To achieve the above object, the present invention provides a communication system for a raise boring machine, comprising:
the host control module is arranged in the host;
the cutter head control module is arranged in the cutter head, a drill rod is connected in front of the cutter head and the host machine, and a cooling water pipe is arranged in the drill rod in a penetrating manner;
the water pressure control module is arranged on one side of the cooling water pipe, which is close to the cutterhead, and is connected with the cutterhead control module, when the cutterhead is in different operation states, the cutterhead control module sends different water pressure control signals to the water pressure control module, and the water pressure control module controls the water pressure in the cooling water pipe to change according to the different water pressure control signals;
the water pressure detection module is arranged on one side, close to the host, of the cooling water pipe and is connected with the host control module, and is used for detecting water pressure in the cooling water pipe and sending a water pressure signal to the host control module, and the host control module obtains working state data of the cutterhead according to the water pressure signal.
Preferably, the main machine is provided with a hydraulic system for driving the drill rod, a hydraulic hose of the hydraulic system passing through the drill rod,
the raise boring machine communication system further comprises:
the hydraulic pressure control module is arranged on one side of the hydraulic hose, which is close to the host machine, and is connected with the host machine control module, when the host machine is in different running states, the host machine control module sends different hydraulic pressure control signals to the hydraulic pressure control module, and the hydraulic pressure control module controls the pressure of hydraulic oil in the hydraulic system to change according to the different hydraulic pressure control signals;
the hydraulic pressure detection module is arranged on one side of the hydraulic hose, which is close to the cutterhead, and is connected with the cutterhead control module, and is used for detecting the hydraulic pressure of the hydraulic system and sending a hydraulic pressure signal to the cutterhead control module, and the cutterhead control module obtains the running state data of the host according to the hydraulic pressure signal.
Preferably, the cutterhead comprises an upper cutterhead, a lower cutterhead and a pull rod penetrating through the centers of the upper cutterhead and the lower cutterhead, and a cutterhead oil cylinder is connected between the upper cutterhead and the lower cutterhead;
the hydraulic system comprises a host hydraulic system and a cutterhead hydraulic system, and the host hydraulic system comprises: the pushing oil cylinder and the rotary motor are in driving connection with the drill rod and are used for applying rotary torque and lifting force to the cutterhead through the drill rod; the cutterhead hydraulic system comprises: the cutterhead oil cylinder and the hydraulic oil pipe connected with the cutterhead oil cylinder are used for realizing the movement of an upper cutterhead or a lower cutterhead;
the hydraulic pressure control module includes: a hydraulic valve; the hydraulic pressure detection module includes: the hydraulic pressure sensor is arranged in the cutterhead cylinder.
Preferably, the water pressure control module includes: the water valve, the water pressure detection module includes: a water pressure sensor.
Preferably, the host control module includes: a host controller, a host signal modulator-amplifier, and a host signal demodulator; the cutterhead control module comprises: the cutter head controller, the cutter head signal modulation and amplifier and the cutter head signal demodulator.
Preferably, the host signal modulation and amplifier and the host signal demodulator are separately arranged or integrated with the host controller; the cutterhead signal modulation and amplifier and the cutterhead signal demodulator are arranged separately or integrated with the cutterhead controller.
The invention also provides a control method of the communication system of the raise boring machine, which comprises the following steps:
s1, when a cutterhead is to send job state data to a host, the method comprises the following steps:
s11, when the cutterhead is in different working states, controlling the water pressure in the cooling water pipe to change at one side of the cooling water pipe close to the cutterhead,
s12, detecting the water pressure in the cooling water pipe at one side of the cooling water pipe close to the host,
s13, working state data of the cutterhead are obtained according to the water pressure signals.
Preferably, the main machine is provided with a hydraulic system for driving a drill rod, and a hydraulic hose of the hydraulic system passes through the drill rod; the raise boring machine communication system further comprises: the hydraulic pressure control module is arranged on one side of the hydraulic hose, which is close to the main machine, and is connected with the main machine control module, and the hydraulic pressure detection module is arranged on one side of the hydraulic hose, which is close to the cutterhead, and is connected with the cutterhead control module;
the control method of the communication system of the raise boring machine further comprises the following steps:
s2, when the host computer is to send the running state data to the cutterhead, the method comprises the following steps:
s21, when the main machine is in different running states, controlling the pressure of hydraulic oil in the hydraulic system to change at one side of the hydraulic system close to the main machine,
s22, detecting the hydraulic pressure of the hydraulic system on one side of the hydraulic system, which is close to the cutterhead,
s23, acquiring running state data of the host according to the hydraulic pressure signals.
Preferably, the cutterhead comprises an upper cutterhead, a lower cutterhead and a pull rod penetrating through the centers of the upper cutterhead and the lower cutterhead, and a cutterhead oil cylinder is connected between the upper cutterhead and the lower cutterhead; the hydraulic system comprises a host hydraulic system and a cutterhead hydraulic system, and the host hydraulic system comprises: the pushing oil cylinder and the rotary motor are in driving connection with the drill rod and are used for applying rotary torque and lifting force to the cutterhead through the drill rod; the cutterhead hydraulic system comprises: the cutterhead oil cylinder and the hydraulic oil pipe connected with the cutterhead oil cylinder are used for realizing the movement of an upper cutterhead or a lower cutterhead; the hydraulic pressure control module includes: a hydraulic valve; the hydraulic pressure detection module includes: the hydraulic pressure sensor is arranged in the cutterhead cylinder;
the control method of the communication system of the raise boring machine comprises the following steps:
s3, when the host computer is to send the running state data to the cutterhead, the method comprises the following steps:
s31, when the main machine is in different running states, the rotary motor and the propulsion cylinder act with different running parameters,
s32, the pushing oil cylinder drives the cutterhead to operate under different lifting forces through the drill rod,
s33, when the cutterhead is acted by different lifting forces, the pressure in the cutterhead cylinder is changed,
s34, detecting the hydraulic pressure in the cutterhead cylinder,
s35, acquiring running state data of the host according to a hydraulic pressure signal in the cutterhead cylinder.
Preferably, the host control module includes: a host controller, a host signal modulator-amplifier, and a host signal demodulator; the cutterhead control module comprises: the cutter head controller, the cutter head signal modulation and amplifier and the cutter head signal demodulator;
in S1, when a cutterhead is required to send operation state data to a host, signals sent by a cutterhead controller are subjected to frequency modulation, amplitude modulation and phase modulation through a cutterhead signal modulation and amplifier, and signals sent to the host controller are required to be demodulated through a host signal demodulator;
in S2 or S3, when the host computer is to send the running state data to the cutterhead, the signals sent by the host computer controller are subjected to fm am phase modulation by the host computer signal modulation and amplifier, and the signals sent to the cutterhead controller are demodulated by the cutterhead signal demodulator.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
the invention mainly adopts the existing cooling water and hydraulic system as media to carry out remote communication in the reaming process of the raise boring machine, the hardware used is a host hydraulic system, a cutter head oil cylinder, a water pump, a host control module and a cutter head control module, a water valve, a water pressure sensor, a hydraulic pressure sensor and the like are also arranged on the basis, when the cutter head sends information to the host, a frequency modulation, amplitude modulation or pulse width modulation signal is constructed by the cutter head control module to control the water valve to realize pressure regulation, and the host control module detects the water pressure and demodulates the signal to obtain the data sent by the cutter head control module. Therefore, the communication system provided by the invention has the advantages that the defect that the wired communication mode can be influenced by drilling operation is overcome, the communication system is more stable than the common 4G wireless transmission modes and the like, the communication system can not be influenced by any working condition, and the information transmission is very reliable.
Secondly, for the re-expanding cutterhead, when the host control module sends information to the cutterhead control module through the communication system, the host control module adjusts the back lifting pressure during working through a hydraulic system of the raise boring machine and constructs frequency modulation, amplitude modulation or pulse width modulation signals, and the modulation signals are transmitted to the hydraulic oil pressure in an oil cylinder of the cutterhead through a drill rod, a pull rod and a lower cutterhead; the cutterhead control module detects the pressure change of hydraulic oil in the oil cylinder through the pressure sensor and demodulates signals to obtain data sent by the main machine control system of the raise boring machine; the two module systems are used simultaneously, so that bidirectional communication of data sent by the cutterhead to the host computer by using water pressure and data sent by the host computer to the cutterhead by using the hydraulic system can be realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a communication system of a raise boring machine according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a communication system of a raise boring machine according to a second embodiment of the present invention;
fig. 3 is a schematic diagram of a cutterhead controller sending data to a host controller in a second embodiment of the present invention;
fig. 4 is a schematic diagram of a host controller sending data to a cutterhead controller in a second embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a communication system of a raise boring machine according to a third embodiment of the present invention;
FIG. 6 is a schematic diagram of a communication system of a raise boring machine according to a fourth embodiment of the present invention;
fig. 7 is a block diagram of a cutterhead in accordance with a fourth embodiment of the present invention.
The reference numerals of the invention illustrate:
in fig. 1: 1-a host control module, 2-a cutterhead control module, 3-a cooling water pipe, 4-a water pressure control module and 5-a water pressure detection module;
fig. 2 to 4: 1A-a host control module, 2A-a cutterhead control module, 3A-a cooling water pipe, 4A-a water pressure control module, 5A-a water pressure detection module, 6A-a hydraulic pressure detection module, 7A-a hydraulic system, 8A-a hydraulic pressure control module, 1A-1-a host controller, 1A-2-a host signal demodulator, 1A-3-a host signal modulator and amplifier, 2A-1-a cutterhead controller, 2A-2-a cutterhead signal modulator and amplifier, and 2A-3-a cutterhead signal demodulator;
in fig. 5: 1B-a host control module, 2B-a cutterhead control module, 3B-a cooling water pipe, 4B-a water valve, 5B-a water pressure sensor and 6B-a water pump;
fig. 6 and 7: 1C-host control module, 2C-cutterhead control module, 3C-cooling water pipe, 4C-water valve, 5C-water pressure sensor, 6C-water pump, 7-thrust cylinder, 8-rotary motor, 9-drill rod, 10-cutterhead, 10-1-upper cutterhead, 10-2-lower cutterhead, 10-3-pull rod, 11-cutterhead cylinder and 12-hydraulic pressure sensor.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present invention.
Example 1
Referring to fig. 1, fig. 1 is a schematic structural diagram of a communication system of a raise boring machine according to an embodiment of the invention.
The invention provides a communication system of a raise boring machine, which comprises:
the host control module 1 is arranged in the host;
the cutter head control module 2 is arranged in the cutter head, a drill rod is connected in front of the cutter head and the host machine, and a cooling water pipe 3 is arranged in the drill rod in a penetrating way;
the water pressure control module 4 is arranged on one side, close to the cutterhead, of the cooling water pipe 3 and is connected with the cutterhead control module 2, when the cutterhead is in different operation states, the cutterhead control module 2 sends different water pressure control signals to the water pressure control module, and the water pressure control module 4 controls the water pressure in the cooling water pipe to change according to the different water pressure control signals;
the water pressure detection module 5 is arranged on one side, close to the host, of the cooling water pipe 3 and is connected with the host control module 1, and the water pressure detection module is used for detecting water pressure in the cooling water pipe and sending a water pressure signal to the host control module, and the host control module 1 obtains working state data of the cutterhead according to the water pressure signal.
By adopting the communication system of the raise boring machine, the cutter head can send the operation state data to the host, and the specific steps comprise:
s11, when the cutterhead is in different working states, controlling the water pressure in the cooling water pipe to change at one side of the cooling water pipe 3 close to the cutterhead,
s12, detecting the water pressure in the cooling water pipe on the side, close to the host machine, of the cooling water pipe 3,
s13, working state data of the cutterhead are obtained according to the water pressure signals.
Through this raise boring machine communication system, the operation state information of the cutter head that is located underground and carries out drilling operation can be through transmitting to the host computer control module 2 on ground by cooling water pipe 3, the water pressure change in the cooling water pipe 3 is through sending data to the host computer, no longer need communicate through wired mode such as optic fibre, cable, also no longer need other special signal receiver sending module such as electromagnetic wave communication module, this raise boring machine communication system is the communication that constitutes the structure and realize based on current raise boring machine, the problem that adopts wired transmission can receive cutter head operation influence has been avoided, also avoided adopting general wireless operation mode signal unstable and need set up special communication module's problem.
Example two
Referring to fig. 2 to 4, fig. 2 is a schematic structural diagram of a communication system of a raise boring machine according to a second embodiment of the present invention, fig. 3 is a schematic diagram of a cutterhead controller sending data to a host controller, and fig. 4 is a schematic diagram of a host controller sending data to a cutterhead controller.
The invention provides a communication system of a raise boring machine, which comprises:
the host control module 1A is arranged in the host, the host is provided with a hydraulic system 7A for driving the drill rod, and a hydraulic hose and a cooling water pipe 3A of the hydraulic system 7A penetrate through the drill rod;
the cutter head control module 1A is arranged in the cutter head;
the water pressure control module 4A is arranged on one side, close to the cutterhead, of the cooling water pipe 3A and is connected with the cutterhead control module 2A, when the cutterhead is in different operation states, the cutterhead control module 2A sends different water pressure control signals to the water pressure control module 4A, and the water pressure control module 4A controls the water pressure in the cooling water pipe 3A to change according to the different water pressure control signals;
the water pressure detection module 5A is arranged on one side, close to a host, of the cooling water pipe 3A and is connected with the host control module 1A, the water pressure detection module 5A is used for detecting the water pressure in the cooling water pipe 3A and sending a water pressure signal to the host control module 1A, and the host control module 1A obtains working state data of the cutterhead according to the water pressure signal;
the hydraulic pressure control module 8A is arranged on one side of the hydraulic hose close to the host machine and is connected with the host machine control module 1A, when the host machine is in different running states, the host machine control module 1A sends different hydraulic pressure control signals to the hydraulic pressure control module 8A, and the hydraulic pressure control module 8A controls the pressure of hydraulic oil in the hydraulic system to change according to the different hydraulic pressure control signals;
the hydraulic pressure detection module 6A is arranged on one side of the hydraulic hose, which is close to the cutterhead, and is connected with the cutterhead control module 2A, the hydraulic pressure detection module 6A is used for detecting the hydraulic pressure of the hydraulic system and sending a hydraulic pressure signal to the cutterhead control module 1A, and the cutterhead control module 1A obtains the running state data of the host computer according to the hydraulic pressure signal.
By adopting the communication system of the raise boring machine, not only can the cutter head in the first embodiment send the operation state data to the host machine, but also the host machine can send the operation state data to the cutter head, and the specific steps comprise:
s21, when the main machine is in different running states, controlling the pressure of hydraulic oil in the hydraulic system to change at the side of the hydraulic system close to the main machine,
s22, detecting the hydraulic pressure of the hydraulic system on one side of the hydraulic system, which is close to the cutterhead,
s23, acquiring running state data of the host according to the hydraulic pressure signals.
Therefore, the invention can realize the bidirectional communication between the cutter head control module 2A and the host control module 1A, and realize the automatic autonomous control operation of the cutter head.
Further, the host control module 1A includes: host controller 1A-1, host signal modulation and amplifier 1A-3, host signal demodulator 1A-2; the cutterhead control module 2A includes: the cutterhead controller 2A-1, the cutterhead signal modulation and amplifier 2A-2 and the cutterhead signal demodulator 2A-3.
When the cutterhead is to send the operation state data to the host, the signals sent by the cutterhead controller 2A-1 are modulated by the cutterhead signals and the amplifiers 2A-2 to carry out frequency modulation, amplitude modulation and phase modulation, and the signals sent to the host controller 1A-1 are demodulated by the host signal demodulator 1A-2; when the host computer is to send the running state data to the cutterhead, the signals sent by the host computer controller 1A-1 are modulated by the host computer signal and the amplifier 1A-3 to carry out frequency modulation, amplitude modulation and phase modulation, and the signals sent to the cutterhead controller 2A-1 are demodulated by the cutterhead signal demodulator 2A-3.
Example III
Referring to fig. 3, fig. 5 is a schematic structural diagram of a communication system of a raise boring machine according to a third embodiment of the present invention.
The invention provides a communication system of a raise boring machine, which comprises:
the host control module 1B is arranged in the host;
the cutter head control module 2B is arranged in the cutter head;
one end of the water pump 6B and one end of the cooling water pipe 3B are connected with a water outlet of the water pump 6B, and the other end of the cooling water pipe penetrates through the drill rod and is arranged on the cutterhead;
the water valve 4B is arranged on one side of the cooling water pipe 3B, which is close to the cutterhead, and is connected with the cutterhead control module 2B;
the water pressure sensor 5B is provided on the side of the cooling water pipe 3B close to the water pump 6B, and is connected to the host control module 1B.
Therefore, when the cutterhead is controlled by the cutterhead control module 2B to be in a certain operation state, the cutterhead control module 2B simultaneously controls the water valve 4B to switch according to a preset rule, water pressure fluctuation in the cooling water pipe can be caused, the water pressure sensor 5B detects a water pressure signal and sends the water pressure signal to the host control module 1B, and the host control module 1B can recognize the current operation state of the cutterhead according to the water pressure fluctuation.
Through this raise boring machine communication system, the operation state information of the cutter head that is located underground and carries out drilling operation can be transmitted to the host computer control module on ground through the water system that comprises water pump 6B and condenser tube 3B, the water pressure change through water system is to host computer transmission data, no longer need communicate through wired mode such as optic fibre, cable, also no longer need other special signal receiver sending module such as electromagnetic wave communication module, this raise boring machine communication system is the communication that realizes based on current raise boring machine constitution structure, the problem that adopts wired transmission can receive cutter head operation influence has been avoided, also avoided adopting general wireless operation mode signal unstable and need set up special communication module's problem.
Further, the way of controlling the water valve 4B to switch according to the preset rule may be: when the cutterhead is in different operation states, the water valve 4B is controlled to be opened and closed for different times, namely the fluctuation change of the same times is generated in the water pressure in the cooling water pipe 3B correspondingly, so that the host control module 1B can judge the current operation state of the cutterhead according to the water pressure fluctuation times.
Example IV
Further, referring to fig. four, fig. 6 is a schematic structural diagram of a communication system of a raise boring machine according to a fourth embodiment of the present invention, and fig. 7 is a structural diagram of a cutterhead.
The raise boring machine communication system includes, in addition to all the components in the third embodiment:
the host control module 1C is arranged in the host;
the cutter head control module 2C is arranged in the cutter head;
one end of the water pump 6C and one end of the cooling water pipe 3C are connected with a water outlet of the water pump 6C, and the other end of the cooling water pipe penetrates through the drill rod and is arranged on the cutterhead;
the water valve 4C is arranged on one side of the cooling water pipe 3C, which is close to the cutterhead, and is connected with the cutterhead control module 2B;
the water pressure sensor 5C is provided on the side of the cooling water pipe 3C close to the water pump 6C, and is connected to the host control module 1C.
The host hydraulic system is connected with the host control module 1C, and the host hydraulic system comprises: the propelling oil cylinder 7 and the rotary motor 8 are in driving connection with the drill rod 9 and are used for driving the cutterhead 10 to operate through the drill rod 9;
the cutterhead hydraulic system is connected with the cutterhead control module 2C and comprises: the cutter head oil cylinder 11 and a hydraulic oil pipe, wherein the cutter head 10 comprises an upper cutter head 10-1, a lower cutter head 10-2 and a pull rod 10-3 penetrating through the centers of the upper cutter head 10-1 and the lower cutter head 10-2, and the cutter head oil cylinder 11 is connected between the upper cutter head 10-1 and the lower cutter head 10-2 and is used for realizing the relative position movement of the upper cutter head 10-1 and the lower cutter head 10-2; the hydraulic oil pipe is connected with a rodless cavity of the cutterhead oil cylinder 11, and is provided with a switch electromagnetic valve; a hydraulic pressure sensor 12 is arranged in the cutterhead cylinder 11.
The cutter disc structure in the prior art is only provided with one cutter disc, and when one cutter disc works, the drill rod drives the cutter disc to rotate through the pull rod, but the cutter disc structure can be mainly used for reaming a small-bore hole. In this embodiment, the cutterhead can be two-stage double-expansion cutterhead structure, and big cutterhead and lower cutterhead are all connected with the pull rod through the spline pair, and the cutterhead can carry out primary operation through the upper cutterhead of minor diameter earlier and expand the aperture, and the secondary operation through the lower cutterhead of major diameter enlarges the aperture to realize the reaming operation of large aperture reaming.
The two-stage double-expansion cutterhead structure comprises two types, wherein one type is that the upper cutterhead is relatively fixed with the pull rod, the lower cutterhead is relatively slidable with the pull rod, and the other type is that the upper cutterhead is relatively slidable with the pull rod, and the lower cutterhead is relatively fixed with the pull rod. However, no matter what two-stage double-expansion cutterhead structure is, the distance between two cutterheads is adjusted through a cutterhead oil cylinder, so that after operation cycles of primary reaming and secondary reaming are repeated, one-time upward reaming is realized, in each cycle, the upper cutterhead and/or the lower cutterhead are pressed into a rock surface under the action of lifting force of a drill rod, and the pressure of hydraulic oil in the cutterhead oil cylinder is changed when the cutterhead is in different working states.
Therefore, the hydraulic pressure sensor 12 is arranged in the cutterhead cylinder 11, when the main machine control module 1C is required to control the cutterhead to work in different working states, the main machine control module 1C is used for controlling the pushing oil cylinder 7 and the rotary motor 8 to work, the pushing oil cylinder 7 and the rotary motor 7 drive the drill rod 9 to act, further the pull rod 10-3 drives the upper cutterhead 10-1 and the lower cutterhead 10-2 to act, the pushing oil cylinder 7 applies the lifting force to the upper cutterhead 10-1 and the lower cutterhead 10-2 to cause the pressure in the cutterhead cylinder 11 to change, the hydraulic pressure sensor 12 is used for detecting the pressure, then the pressure signal is sent to the cutterhead control module 2C, the cutterhead control module 2C can correspondingly control the switch of the switch electromagnetic valve to realize the telescopic adjustment of the piston rod of the cutterhead cylinder 11, the cutterhead control module 2C can also be used for analyzing and processing the received pressure signal, and obtaining the operation parameter data of the main machine according to the corresponding relation between the lifting force of the pushing oil cylinder 7 to the cutterhead, the rotary moment of the cutterhead and the hydraulic pressure in the cutterhead cylinder 11.
Therefore, the communication system of the raise boring machine can realize the two-way communication between the cutter head control module 2C and the host machine control module 1C, and realize the automatic and autonomous control operation of the cutter head.
In particular, in this embodiment, the main machine hydraulic system and the cutterhead hydraulic system are separately arranged, and the main machine hydraulic system and the cutterhead hydraulic system implement transmission of control signals of the main machine into the cutterhead through lifting force of the drill pipe to the cutterhead. However, it is obvious that in other embodiments, if the host hydraulic system and the cutterhead hydraulic system share a set of pressure oil source to be designed into an integral hydraulic system, the host control module can also realize feedback of control signals to the cutterhead cylinder in the hydraulic system by controlling the integral hydraulic system through detecting elements such as pipeline pressure in the hydraulic system or valve group control, and then feedback to the cutterhead control module.
Further, referring to fig. 7 again, in the structure of the cutterhead shown in fig. 7, the cylinder of the cutterhead cylinder 11 is fixed on the lower cutterhead 10-2, and the piston rod of the cutterhead cylinder 11 extends upward and contacts the bottom of the upper cutterhead 10-1.
The cutterhead comprises the following operation states:
reaming an upper cutter head: when the host control module 1C is required to control the operation of the upper cutterhead 10-1, the host control module 1C controls a host hydraulic system to work, when the rotary motor 8 drives the upper cutterhead 10-1 to rotate through the drill rod 9, the pushing cylinder 7 applies upward lifting force to the upper cutterhead 10-1, so that the upper cutterhead 10-1 is pressed into a rock surface to perform cutting reaming, the pressure in the cutterhead cylinder 11 is increased, when the hydraulic pressure sensor 12 detects the pressure increase of the cutterhead cylinder, a pressure signal is sent to the cutterhead control module 2C, and the cutterhead control module 2C controls the switch electromagnetic valve to keep a closed state according to the pressure increase, so that the upper cutterhead 10-1 can be pressed against the rock surface all the time to perform reaming operation;
second, reaming the lower cutterhead: when the operation of the upper cutterhead 10-1 is finished, the lower cutterhead 10-2 contacts the rock surface, the cutterhead control module 2C detects the pressure drop in the cutterhead oil cylinder 11 through the hydraulic pressure sensor 12, namely, the switch electromagnetic valve is controlled to be opened, so that the cutterhead oil cylinder 11 discharges oil, the upper cutterhead 10-1 is in a floating state, and the lower cutterhead 10-2 is propped against the rock surface to perform reaming operation;
thirdly, lowering a cutter head: when the stroke sensor detects that the piston rod of the cutterhead cylinder 11 is completely retracted, the host control module 1C enables the pushing cylinder to act, controls the drill rod 9 to be lowered, and keeps the switch electromagnetic valve in an open state in the process of lowering the cutterhead, and the piston rod of the cutterhead cylinder 11 can slowly and re-extend, and after extending in place, next cutterhead reaming can be performed.
Therefore, in the stage of reaming the upper cutterhead and reaming the lower cutterhead, the host control module 1C sequentially drives the lower cutterhead 10-2 to work under the action of a certain lifting force through a drill rod and a pull rod through a host hydraulic system of the raise boring machine, and the hydraulic pressure in the cutterhead oil cylinder 11 is correspondingly changed, so that the cutterhead control module 2C calculates and obtains control data sent by the host control module 1C according to the pressure signal detected by the hydraulic pressure sensor 12.
In the stage of lowering the cutterhead, the host control module 1C needs to know whether the operation of lowering the cutterhead is finished or not, so as to lower the drill pipe 9 by controlling the action of the thrust cylinder 7, wherein the host control module 1C determines whether to enter the operation state of the cutterhead according to the number of times of water pressure change detected by the water pump side water pressure sensor 5C.
Therefore, through the communication system of the raise boring machine, the two-way communication between the host control module 1C and the cutterhead control module 2C can be realized based on the existing raise boring machine composition structure, so that the host control module 1C can timely acquire the working state information of the cutterhead, the cutterhead control module 2C can acquire the cutterhead operation parameter data sent by the host control module 1C, the communication is stable, the interference is avoided, and the danger is avoided.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (8)
1. A raise boring machine communication system, comprising:
the host control module is arranged in the host;
the cutter head control module is arranged in the cutter head, a drill rod is connected in front of the cutter head and the host machine, and a cooling water pipe is arranged in the drill rod in a penetrating manner;
the water pressure control module is arranged on one side of the cooling water pipe, which is close to the cutterhead, and is connected with the cutterhead control module, when the cutterhead is in different operation states, the cutterhead control module sends different water pressure control signals to the water pressure control module, and the water pressure control module controls the water pressure in the cooling water pipe to change according to the different water pressure control signals;
the water pressure detection module is arranged on one side, close to the host, of the cooling water pipe and is connected with the host control module, and is used for detecting the water pressure in the cooling water pipe and sending a water pressure signal to the host control module, and the host control module obtains working state data of the cutterhead according to the water pressure signal;
the main machine is provided with a hydraulic system for driving the drill rod, a hydraulic hose of the hydraulic system penetrates through the drill rod,
the raise boring machine communication system further comprises:
the hydraulic pressure control module is arranged on one side of the hydraulic hose, which is close to the host machine, and is connected with the host machine control module, when the host machine is in different running states, the host machine control module sends different hydraulic pressure control signals to the hydraulic pressure control module, and the hydraulic pressure control module controls the pressure of hydraulic oil in the hydraulic system to change according to the different hydraulic pressure control signals;
the hydraulic pressure detection module is arranged on one side of the hydraulic hose, which is close to the cutterhead, and is connected with the cutterhead control module, and is used for detecting the hydraulic pressure of the hydraulic system and sending a hydraulic pressure signal to the cutterhead control module, and the cutterhead control module obtains the running state data of the host according to the hydraulic pressure signal.
2. The raise boring machine communication system of claim 1, wherein the cutterhead comprises an upper cutterhead, a lower cutterhead and a pull rod penetrating through the centers of the upper cutterhead and the lower cutterhead, and a cutterhead oil cylinder is connected between the upper cutterhead and the lower cutterhead;
the hydraulic system comprises a host hydraulic system and a cutterhead hydraulic system, and the host hydraulic system comprises: the pushing oil cylinder and the rotary motor are in driving connection with the drill rod and are used for applying rotary torque and lifting force to the cutterhead through the drill rod; the cutterhead hydraulic system comprises: the cutterhead oil cylinder and the hydraulic oil pipe connected with the cutterhead oil cylinder are used for realizing the movement of an upper cutterhead or a lower cutterhead;
the hydraulic pressure control module includes: a hydraulic valve; the hydraulic pressure detection module includes: and the hydraulic pressure sensor is used for detecting the pressure in the cutterhead cylinder.
3. The raise boring machine communication system of claim 1, wherein the water pressure control module comprises: the water valve, the water pressure detection module includes: a water pressure sensor.
4. A raise boring machine communication system according to any one of claims 1 to 3, wherein the host control module comprises: a host controller, a host signal modulator-amplifier, and a host signal demodulator; the cutterhead control module comprises: the cutter head controller, the cutter head signal modulation and amplifier and the cutter head signal demodulator.
5. The raise boring machine communication system of claim 4, wherein the host signal modulation and amplifier, host signal demodulator and the host controller are separately provided or integrated; the cutterhead signal modulation and amplifier and the cutterhead signal demodulator are arranged separately or integrated with the cutterhead controller.
6. A control method of a communication system of a raise boring machine according to any one of claims 1 to 5, comprising: the main machine is provided with a hydraulic system for driving the drill rod, and a hydraulic hose of the hydraulic system penetrates through the drill rod;
the raise boring machine communication system further comprises: the hydraulic pressure control module is arranged on one side of the hydraulic hose, which is close to the main machine, and is connected with the main machine control module, and the hydraulic pressure detection module is arranged on one side of the hydraulic hose, which is close to the cutterhead, and is connected with the cutterhead control module;
s1, when a cutterhead is to send job state data to a host, the method comprises the following steps:
s11, when the cutterhead is in different working states, controlling the water pressure in the cooling water pipe to change at one side of the cooling water pipe close to the cutterhead,
s12, detecting the water pressure in the cooling water pipe at one side of the cooling water pipe close to the host,
s13, working state data of the cutterhead is obtained according to the water pressure signals;
s2, when the host computer is to send the running state data to the cutterhead, the method comprises the following steps:
s21, when the main machine is in different running states, controlling the pressure of hydraulic oil in the hydraulic system to change at one side of the hydraulic system close to the main machine,
s22, detecting the hydraulic pressure of the hydraulic system on one side of the hydraulic system, which is close to the cutterhead,
s23, acquiring running state data of the host according to the hydraulic pressure signals.
7. The control method of a communication system of a raise boring machine according to claim 6, wherein the cutterhead comprises an upper cutterhead, a lower cutterhead and a pull rod penetrating through the centers of the upper cutterhead and the lower cutterhead, and a cutterhead oil cylinder is connected between the upper cutterhead and the lower cutterhead;
the hydraulic system comprises a host hydraulic system and a cutterhead hydraulic system, and the host hydraulic system comprises: the pushing oil cylinder and the rotary motor are in driving connection with the drill rod and are used for applying rotary torque and lifting force to the cutterhead through the drill rod; the cutterhead hydraulic system comprises: the cutterhead oil cylinder and the hydraulic oil pipe connected with the cutterhead oil cylinder are used for realizing the movement of an upper cutterhead or a lower cutterhead; the hydraulic pressure control module includes: a hydraulic valve; the hydraulic pressure detection module includes: the hydraulic pressure sensor is used for detecting the pressure in the cutterhead cylinder;
the control method of the communication system of the raise boring machine comprises the following steps:
s3, when the host computer is to send the running state data to the cutterhead, the method comprises the following steps:
s31, when the main machine is in different running states, the rotary motor and the propulsion cylinder act with different running parameters,
s32, the pushing oil cylinder drives the cutterhead to operate under different lifting forces through the drill rod,
s33, when the cutterhead is acted by different lifting forces, the pressure in the cutterhead cylinder is changed,
s34, detecting the hydraulic pressure in the cutterhead cylinder,
s35, acquiring running state data of the host according to a hydraulic pressure signal in the cutterhead cylinder.
8. The control method of a raise boring machine communication system according to claim 6 or 7, wherein the host control module comprises: a host controller, a host signal modulator-amplifier, and a host signal demodulator; the cutterhead control module comprises: the cutter head controller, the cutter head signal modulation and amplifier and the cutter head signal demodulator;
in S1, when a cutterhead is required to send operation state data to a host, signals sent by a cutterhead controller are subjected to frequency modulation, amplitude modulation and phase modulation through a cutterhead signal modulation and amplifier, and signals sent to the host controller are required to be demodulated through a host signal demodulator;
in S2 or S3, when the host computer is to send the running state data to the cutterhead, the signals sent by the host computer controller are subjected to fm am phase modulation by the host computer signal modulation and amplifier, and the signals sent to the cutterhead controller are demodulated by the cutterhead signal demodulator.
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| US4662608A (en) * | 1984-09-24 | 1987-05-05 | Ball John W | Automatic drilling control system |
| GB9503827D0 (en) * | 1995-02-25 | 1995-04-19 | Camco Drilling Group Ltd | "Improvements in or relating to steerable rotary drilling systems |
| WO2001011191A1 (en) * | 1999-08-05 | 2001-02-15 | Vector Magnetics, Inc. | Method and apparatus for drill stem data transmission |
| CN203856470U (en) * | 2014-01-17 | 2014-10-01 | 浙江中科德润科技有限公司 | Submersible underground temperature and pressure measurement device |
| CN206887165U (en) * | 2017-06-16 | 2018-01-16 | 江苏国铝高科铝业有限公司 | A kind of hydraulic pressure automatic adjustment system for quenching apparatus |
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