CN113107352A - Rock-entering control device and method for rotary drilling rig - Google Patents
Rock-entering control device and method for rotary drilling rig Download PDFInfo
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- CN113107352A CN113107352A CN202110537885.9A CN202110537885A CN113107352A CN 113107352 A CN113107352 A CN 113107352A CN 202110537885 A CN202110537885 A CN 202110537885A CN 113107352 A CN113107352 A CN 113107352A
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- 238000005553 drilling Methods 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims abstract description 25
- 239000011435 rock Substances 0.000 claims abstract description 48
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 239000007788 liquid Substances 0.000 claims description 3
- 238000010276 construction Methods 0.000 description 4
- 230000033228 biological regulation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 239000002002 slurry Substances 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
- E21B3/00—Rotary drilling
- E21B3/02—Surface drives for rotary drilling
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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
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
- E21B44/02—Automatic control of the tool feed
- E21B44/06—Automatic control of the tool feed in response to the flow or pressure of the motive fluid of the drive
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Abstract
The invention provides a rock-entering control device and method for a rotary drilling rig. The method comprises the following steps: based on a power head speed control instruction of the controller, the first proportional control valve group controls the opening of a power head direction control valve to be a first real-time opening; the first load sensing control valve is used for feedback-controlling the power head to drive the pump to output a first real-time oil flow on the basis of a first real-time differential pressure value corresponding to the first real-time opening degree so as to control the output rotating speed of a motor of the power head; based on a pressurizing oil cylinder speed control instruction of the controller, the second proportional control valve group controls the opening of the pressurizing oil cylinder direction control valve to be a second real-time opening; and the second load sensing control valve is used for feedback-controlling the pressurizing oil cylinder driving pump to output a second real-time oil flow based on a second real-time differential pressure value corresponding to the second real-time opening degree so as to control the output speed of the pressurizing oil cylinder. The scheme provided by the embodiment of the invention can meet the requirements on cutting speed, pressurizing force and pressurizing speed under different rock stratum conditions, and improves the rock drilling efficiency.
Description
Technical Field
The invention belongs to the technical field of hydraulic control of engineering machinery, and particularly belongs to a rock-entering control device and method of a rotary drilling rig.
Background
The rotary drilling rig is a construction machine suitable for hole forming operation in building foundation engineering, and has the characteristics of high hole forming speed, less pollution, strong maneuverability, no need of slurry circulation slag discharge and the like. In the foundation construction of the rotary drilling rig, the drilling rig often encounters the geological condition of rock entering, the feeding speed is very low, and the labor intensity is also very high.
The rotary drilling rig drives the drill rod through the rotation of the power head to drive the drilling tool to rotate, and when the drilling tool enters a rock, under the action of a pressurizing load and a rotating torque, a cutting tooth of the drilling tool is pressed into the rock, so that shearing force is generated between the cutting tooth and a rock contact surface, and the rock is sheared and broken. Because different rocks have different soft and hard textures, the rock breaking mode is also different. At present, a single rotary drilling rig is difficult to meet the rock breaking requirements of various rocks.
Disclosure of Invention
The invention aims to provide a rock-entering control device and method of a rotary drilling rig, which meet rock breaking requirements of various rocks.
In order to achieve the above object, the present invention provides a rock-entering control device for a rotary drilling rig, which comprises a power head motor and a pressurizing oil cylinder, and further comprises:
a power head speed control group which comprises a first proportional control valve group, a power head driving pump, a first load sensing control valve and a power head direction control valve which is respectively connected with the first proportional control valve group, the power head driving pump, the first load sensing control valve and the power head motor; the first proportional control valve group controls the opening of the power head direction control valve to be a first real-time opening; the first load sensing control valve is used for feedback-controlling the power head driving pump to output a first real-time oil flow based on a first real-time differential pressure value corresponding to the first real-time opening degree so as to control the output rotating speed of the power head motor;
the pressurizing oil cylinder speed control group comprises a second proportional control valve group, a pressurizing oil cylinder driving pump, a second load sensing control valve and a pressurizing oil cylinder direction control valve which is respectively connected with the second proportional control valve group, the pressurizing oil cylinder driving pump, the second load sensing control valve and the pressurizing oil cylinder; the second proportional control valve group controls the opening of the directional control valve of the pressurizing oil cylinder to be a second real-time opening; and the second load sensing control valve is used for feedback-controlling the pressurizing oil cylinder driving pump to output a second real-time oil flow based on a second real-time differential pressure value corresponding to the second real-time opening degree so as to control the output speed of the pressurizing oil cylinder.
In a specific embodiment, the method further comprises the following steps:
the pilot pump is connected with the power head motor;
the power head torque control group comprises an electromagnetic reversing valve connected with the power head motor, and when the electromagnetic reversing valve is powered off, a variable starting point of the power head motor is a preset initial value so as to control the torque of the power head motor to be a preset torque; when the electromagnetic directional valve is electrified, the variable starting point of the power head motor is reduced by the power head motor under the pilot pressure provided by the pilot pump, so that the output torque of the power head motor is improved.
In a specific embodiment, the electromagnetic directional valve is a two-position three-way electromagnetic directional valve.
In a specific embodiment, the method further comprises the following steps:
the pressure control group of the pressurizing oil cylinder comprises a first Ls overflow valve connected with a large cavity of the pressurizing oil cylinder, a second Ls overflow valve connected with a small cavity of the pressurizing oil cylinder and an electric proportional overflow valve connected with the first Ls overflow valve in parallel; the electric proportional overflow valve is used for keeping or reducing a feedback pressure set value of a feedback oil path connected with the first Ls overflow valve so as to control the pressurizing force of the pressurizing oil cylinder.
In a specific embodiment, the method further comprises the following steps:
the pilot handle control valve group comprises a first pilot handle control valve group and a second pilot handle control valve group;
a shuttle valve group comprising a first shuttle valve and a second shuttle valve; two input ends of the first shuttle valve are respectively connected with the first proportional control valve group and the first pilot handle control valve group, and the output end of the first shuttle valve is connected with the power head direction control valve; two input ends of the second shuttle valve are respectively connected with the second proportional control valve group and the second pilot handle control valve group, and the output end of the second shuttle valve is connected with the direction control valve of the pressurizing oil cylinder;
the first proportional control valve group is connected with the power head direction control valve, and the second proportional control valve group is connected with the pressurizing oil cylinder direction control valve; or the first pilot handle control valve group is connected with the power head direction control valve, and the second pilot handle control valve group is connected with the pressurizing oil cylinder direction control valve.
In a specific embodiment, the pressurization cylinder speed control group is a load-sensitive system, the pressurization cylinder driving pump is a load-sensitive pump, and the pressurization cylinder direction control valve is a load-sensitive valve.
In a specific embodiment, the power head direction control valve is a three-position seven-way reversing valve, and the pressurizing oil cylinder direction control valve is a three-position seven-way reversing valve.
The invention also provides a rock-entering control method of the rotary drilling rig, which is applied to the rock-entering control device of the rotary drilling rig; the method comprises the following steps:
based on a power head speed control instruction of a controller, the first proportional control valve group controls the opening of the power head direction control valve to be a first real-time opening; the first load sensing control valve is used for feedback-controlling the power head driving pump to output a first real-time oil flow based on a first real-time differential pressure value corresponding to the first real-time opening degree so as to control the output rotating speed of the power head motor;
based on a pressurizing oil cylinder speed control instruction of the controller, the second proportional control valve group controls the opening of the pressurizing oil cylinder direction control valve to be a second real-time opening; and the second load sensing control valve is used for feedback-controlling the pressurizing oil cylinder driving pump to output a second real-time oil flow based on a second real-time differential pressure value corresponding to the second real-time opening degree so as to control the output speed of the pressurizing oil cylinder.
In a specific embodiment, the method further comprises:
when the electromagnetic directional valve is powered off, the variable starting point of the power head motor is a preset initial value so as to control the torque of the power head motor to be a preset torque; when the electromagnetic directional valve is electrified, the variable starting point of the power head motor is reduced by the power head motor under the pilot pressure provided by the pilot pump, so that the output torque of the power head motor is improved.
In a specific embodiment, the method further comprises:
and the electric proportional overflow valve keeps or reduces a feedback pressure set value of a feedback oil path connected with the first Ls overflow valve to control the pressurizing force of the pressurizing oil cylinder, and when the pressurizing force reaches the feedback pressure set value, the pressurizing oil cylinder driving pump outputs oil liquid at the minimum displacement until the pressure difference between the outlet pressure of the pressurizing oil cylinder driving pump and the set pressure value is the same as the second real-time pressure difference value of the second load sensing control valve.
The beneficial effects of the invention at least comprise:
in the embodiment of the invention, a power head speed control group of a rotary drilling rig rock-entering control device electrically controls the current of a first proportional control valve group so as to control the opening of a power head direction control valve to be a first real-time opening, and the output flow of a power head driving pump is feedback controlled based on the first real-time opening so as to control the output rotating speed of a power head motor to realize the rotating speed regulation of the power head; the pressurizing oil cylinder speed control group of the rotary drilling rig rock-entering control device electrically controls the current of the second proportional control valve group so as to control the opening of the pressurizing oil cylinder control valve to be a second real-time opening, and the output flow of the pressurizing oil cylinder driving pump is controlled based on the second real-time opening feedback so as to control the output speed of the pressurizing oil cylinder driving pump; therefore, the invention can adjust the rotating speed of the power head and the output speed of the pressurizing oil cylinder according to the construction geological conditions, realize the control of the cutting force and the cutting speed during the automatic rock entering drilling, adjust the optimum speed to break rocks when rock breaking is carried out on rocks with different hardness, meet the requirements on the speed under different rock breaking conditions and improve the rock breaking efficiency.
The rotation degree of the power head is adjusted through the power head speed control group, the output speed of the pressurizing oil cylinder is adjusted through the pressurizing oil cylinder speed control group, the output torque of the power head is adjusted through the electromagnetic directional valve, the oiling force of the pressurizing oil cylinder is adjusted through the electric proportional overflow valve, parameters of the power head and the pressurizing oil cylinder can be adjusted according to different working conditions, pressure control and speed control are respectively and independently controlled, system loss is small, and reliability is high.
Drawings
Fig. 1 is a hydraulic schematic diagram of a rotary drilling rig rock-entering control device according to an embodiment of the present invention.
Description of reference numerals:
| power head |
110 | First proportional |
111 | Power |
112 |
| First load |
113 | Power head |
114 | Speed control group of pressurizing |
120 |
| Second proportional |
121 | Pressurizing oil |
122 | Second load |
123 |
| Directional control valve of pressurizing |
124 | |
130 | Power head |
140 |
| |
141 | Pressure control group of pressurizing |
150 | Electric |
151 |
| Pilot handle |
160 | |
170 | |
171 |
| |
172 | |
200 | Pressurizing |
300 |
Detailed Description
As shown in fig. 1, the invention provides a rock-entering control device of a rotary drilling rig, which comprises a power head motor 200 and a pressurizing oil cylinder 300, as shown in fig. 1; further comprising:
a power head speed control group 110 including a first proportional control valve group 111, a power head drive pump 112, a first load sensing control valve 113, and a power head direction control valve 114 respectively connected to the first proportional control valve group 111, the power head drive pump 112, the first load sensing control valve 113, and the power head motor 200; the first proportional control valve group 111 controls the opening degree of the power head direction control valve 114 to be a first real-time opening degree; the first load sensing control valve 113 feedback-controls the power head drive pump 112 to output a first real-time oil flow based on a first real-time differential pressure value corresponding to the first real-time opening degree, so as to control the output rotation speed of the power head motor 200;
a pressurizing cylinder speed control group 120, which comprises a second proportional control valve group 121, a pressurizing cylinder driving pump 122, a second load sensing control valve 123, and a pressurizing cylinder direction control valve 124 respectively connected with the second proportional control valve group 121, the pressurizing cylinder driving pump 122, the second load sensing control valve 123 and the pressurizing cylinder 300; the second proportional control valve group controls the opening of the directional control valve of the pressurizing oil cylinder to be a second real-time opening; and the second load sensing control valve is used for feedback-controlling the pressurizing oil cylinder driving pump to output a second real-time oil flow based on a second real-time differential pressure value corresponding to the second real-time opening degree so as to control the output speed of the pressurizing oil cylinder.
In the embodiment of the invention, a power head speed control group of the rotary drilling rig rock-entering control device electrically controls the current of a first proportional control valve group so as to control the opening of a power head direction control valve to be a first real-time opening, and the output flow of a power head driving pump is controlled based on the first real-time opening feedback so as to control the output rotating speed of a power head motor to realize the rotating speed regulation of the power head; the pressurizing oil cylinder speed control group of the rotary drilling rig rock-entering control device electrically controls the current of the second proportional control valve group so as to control the opening of the pressurizing oil cylinder control valve to be a second real-time opening, and the output flow of the pressurizing oil cylinder driving pump is controlled based on the second real-time opening feedback so as to control the output speed of the pressurizing oil cylinder driving pump; therefore, the invention can adjust the rotating speed of the power head and the output speed of the pressurizing oil cylinder according to the construction geological conditions, realize the control of the cutting force and the cutting speed during the automatic rock entering drilling, adjust the optimum speed to break rocks when rock breaking is carried out on rocks with different hardness, meet the requirements on the speed under different rock breaking conditions and improve the rock breaking efficiency.
As shown in fig. 1, the first proportional control valve group 111 may include 2 electric proportional control valves, and the 2 electric proportional control valves may be supplied by the same oil tank or different oil tanks, which is not limited herein. The power head direction control valve 114 includes two interfaces which are oppositely arranged, the 2 electric proportional control valves are respectively connected with the two interfaces of the power head direction control valve 114 in a one-to-one correspondence manner, wherein one of the 2 electric proportional control valves does not work when working, the power head direction control valve 114 controls the power head motor 200 to rotate forwards when one works, and the power head direction control valve 114 controls the power head motor 200 to rotate backwards when the other works.
The first load sensing control valve 113 is connected to the power head direction control valve 114, and after the opening degree of the power head direction control valve 114 is determined to be the first real-time opening degree, a first real-time differential pressure value corresponding to the first real-time opening degree is determined, so that the output oil flow of the power head drive pump 112 is adjusted based on the first real-time differential pressure value, and the differential pressure between the output pressure of the power head drive pump 112 and the load feedback pressure is equal to the first real-time differential pressure value. When the opening degree of the power head direction control valve 114 is different, the differential pressure value determined by the first load sensing control valve 113 is also different.
The first real-time oil flow is the oil flow corresponding to the adjusted output pressure of the power head drive pump 112.
Similarly, as shown in fig. 1, the second proportional control valve group 121 includes 2 electrical proportional control valves, and the 2 electrical proportional control valves may be supplied by the same oil tank or different oil tanks, which is not limited herein. The pressurizing cylinder direction control valve 124 comprises two oppositely arranged interfaces, the 2 electric proportional control valves are respectively connected with the two interfaces of the pressurizing cylinder direction control valve 124 in a one-to-one correspondence mode, wherein one of the 2 electric proportional control valves does not work when working, the pressurizing cylinder direction control valve 124 controls the pressurizing cylinder 300 to extend when one works, and the pressurizing cylinder direction control valve 124 controls the pressurizing cylinder 300 to retract when the other works.
The second load sensing control valve 123 is connected to the pressurizing cylinder direction control valve 124, and after the opening degree of the pressurizing cylinder direction control valve 124 is determined to be the second real-time opening degree, the second real-time differential pressure value corresponding to the second real-time opening degree is determined, so that the output oil flow of the pressurizing cylinder drive pump 122 is adjusted based on the second real-time differential pressure value, and the pressure difference between the output pressure of the pressurizing cylinder drive pump 122 and the load feedback pressure is equal to the second real-time differential pressure value. When the opening degree of the pressurizing cylinder direction control valve 124 is different, the differential pressure value determined by the second load sensing control valve 123 is also different.
The second real-time oil flow rate is the oil flow rate corresponding to the adjusted output pressure of the pressurization cylinder driven pump 122.
The powerhead drive pump 112 may be a variable displacement plunger pump.
The power head direction control valve 114 may be a three-position seven-way reversing valve, and the pressurizing cylinder direction control valve 124 may be a three-position seven-way reversing valve.
In addition, the rotary drilling rig rock-entering control device can further comprise a pressure compensation valve so as to avoid the situation that the oil supply of the power head driving pump 112 is insufficient and ensure synchronization of executing devices.
Further, dig the rig soon and go into rock controlling means, still include:
a pilot pump 130 connected to the powerhead motor 200;
the power head torque control group 140 comprises an electromagnetic directional valve 141 connected with the power head motor 200, and when the electromagnetic directional valve 141 is powered off, a variable starting point of the power head motor 200 is a preset initial value so as to control the torque of the power head motor 200 to be a preset torque; when the solenoid directional valve 141 is energized, the powerhead motor 200 decreases the variable starting point of the powerhead motor 200 at the pilot pressure provided by the pilot pump 130 to increase the output torque of the powerhead motor 200. The pilot pump 130 is used to provide low pressure oil to the control system components. As shown in fig. 1, a pilot pump 130 may be connected to the first and second proportional control valve groups 111 and 121, respectively, to provide low pressure oil. In this embodiment, the pilot pump 130 is connected to the powerhead motor 200 and also supplies low-pressure oil to the powerhead motor 200.
The powerhead motor 200 is a motor that can control the variable start and variable end points. The powerhead torque control group 140 described above is used to control the output torque of the powerhead motor 200. Specifically, the power head torque control group 140 includes an electromagnetic directional valve 141, when the electromagnetic directional valve 141 is powered off, a variable starting point of the power head motor 200 is not affected, that is, is a preset initial value, and at this time, the torque of the power head motor 200 is a preset torque; when the electromagnetic directional valve 141 is powered on, the powerhead motor 200 reduces the variable starting point of the powerhead motor 200 under the pilot pressure provided by the pilot pump 130, and at this time, the output torque of the powerhead motor 200 is increased; the more the variable start point is lowered, the more the output torque of the head motor 200 is increased.
In this embodiment, the torque control and the speed control of the power head motor 200 are independent of each other, resulting in low system loss and high reliability.
Preferably, the electromagnetic directional valve 141 is a two-position three-way electromagnetic directional valve.
Further, dig the rig soon and go into rock controlling means, still include:
a pressurizing cylinder pressure control group 150 which comprises a first Ls overflow valve connected with the large cavity of the pressurizing cylinder 300, a second Ls overflow valve connected with the small cavity of the pressurizing cylinder, and an electric proportional overflow valve (151) connected with the first Ls overflow valve in parallel; and the electric proportional overflow valve (151) is used for keeping or reducing a feedback pressure set value of a feedback oil path connected with the first Ls overflow valve so as to control the pressurizing force of the pressurizing oil cylinder.
Specifically, the second load sensing control valve 123 controls the pressure difference value between the outlet pressure value of the pressurizing cylinder driving pump 122 and the set pressure value to approach the second real-time pressure difference value, so as to adjust the output pressure of the pressurizing cylinder 300.
In this embodiment, the pressurizing cylinder pressure control group 150 includes a first Ls relief valve connected to the large chamber of the pressurizing cylinder 300, a second Ls relief valve connected to the small chamber of the pressurizing cylinder, and an electric proportional relief valve 151. The feedback pressure set value of the feedback oil path connected with the first Ls relief valve is set by the first Ls relief valve, in the embodiment, the electric proportional relief valve 151 is connected with the first Ls relief valve in parallel, and the electric proportional relief valve (151) is adjusted within the set pressure value of the first Ls relief valve, so the feedback pressure set value is determined by the control pressure of the electric proportional relief valve 151, the adjustment range of the electric proportional relief valve 151 is adjusted from 0 to the set value of the first Ls relief valve, and the larger the current is, the larger the pressure value controlled by the electric proportional relief valve 151 is.
When the pressure reaches the set feedback pressure value, the pressurizing cylinder drives the pump to move to the minimum displacement variable until the pressure difference between the outlet pressure of the pressurizing cylinder driving pump and the set feedback pressure value is the same as the second valve pressure difference value of the second load sensing control valve. Therefore, the second load sensing control valve 123 controls the pressure difference value between the outlet pressure value of the pressurizing cylinder driving pump 122 and the feedback pressure set value to be continuously close to the second real-time pressure difference value until the pressure difference value is the same as the second real-time pressure difference value.
The system comprises a first Ls overflow valve, a second Ls overflow valve, a third Ls overflow valve, a fourth Ls overflow valve and a fourth Ls overflow valve, wherein the first Ls overflow valve is connected with the second Ls overflow valve; and the other secondary overflow valve is connected with a second Ls overflow valve, and the set pressure value of the second Ls overflow valve is smaller than that of the secondary overflow valve.
Further, dig the rig soon and go into rock controlling means, still include:
a pilot handle control valve group 160 comprising a first pilot handle control valve group and a second pilot handle control valve group;
a shuttle valve group 170 including a first shuttle valve 171 and a second shuttle valve 172; two input ends of the first shuttle valve 171 are respectively connected with the first proportional control valve group 111 and the first pilot handle control valve group, and an output end of the first shuttle valve 171 is connected with the power head direction control valve 114; two input ends of the second shuttle valve 172 are respectively connected with the second proportional control valve group 121 and the second pilot handle control valve group, and an output end of the second shuttle valve 172 is connected with the pressurizing cylinder direction control valve 124;
the first proportional control valve group 111 is connected with the power head directional control valve 114, and the second proportional control valve group 121 is connected with the pressurizing cylinder directional control valve 124; alternatively, the first pilot handle control valve group is connected to the power head directional control valve 114, and the second pilot handle control valve group is connected to the pressurization cylinder directional control valve 124.
In this embodiment, the rock entering control device of the rotary drilling rig comprises an automatic rock entering control mode and a manual rock entering control mode, and switching between an automatic control pipeline and a manual control pipeline is performed through the shuttle valve group 170, so that switching between the automatic rock entering control mode and the manual rock entering control mode is realized.
The first proportional control valve group 111 belongs to a device for controlling the speed of the power head motor 200 in the automatic rock entering control mode, and the second proportional control valve group 121 belongs to a device for controlling the speed of the pressurizing cylinder 300 in the automatic rock entering control mode. The specific operation is as described above, and is not described herein again.
The first pilot handle control valve group belongs to a device for controlling the speed of the power head motor 200 in the manual rock entering control mode, and the second pilot handle control valve group belongs to a device for controlling the speed of the pressurizing oil cylinder 300 in the manual rock entering control mode.
As shown in fig. 1, the first pilot handle control valve group may include 2 pilot handle control valves, and the 2 pilot handle control valves may be supplied with oil from the same oil tank or from different oil tanks, which is not limited herein. Correspondingly, the first shuttle valve 171 also includes 2 shuttle valves, and the 2 shuttle valves are respectively connected to the 2 pilot handle control valves of the first pilot handle control valve group and the 2 electric proportional control valves of the first proportional control valve group 111. Specifically, a first input of a shuttle valve is connected to the pilot handle control valve, a second input of the shuttle valve is connected to the electro-proportional control valve, and an output of the shuttle valve is connected to an interface of the power head direction control valve 114. Two shuttle valves simultaneously interface the pilot handle control valve to the powerhead directional control valve 114 or simultaneously interface the electro-proportional control valve to the powerhead directional control valve 114.
Wherein, one of the 2 pilot handle control valves does not work when working, the power head direction control valve 114 controls the power head motor 200 to rotate forwards when one works, and the power head direction control valve 114 controls the power head motor 200 to rotate backwards when the other works.
Correspondingly, the second pilot handle control valve group may include 2 pilot handle control valves, and the 2 pilot handle control valves may be supplied with oil from the same oil tank or from different oil tanks, which is not limited herein. Correspondingly, the second shuttle valve 172 also includes 2 shuttle valves, and the 2 shuttle valves are respectively connected to the 2 pilot handle control valves of the second pilot handle control valve group and the 2 electrical proportional control valves of the second proportional control valve group 121. Specifically, a first input end of a shuttle valve is connected with the pilot handle control valve, a second input end of the shuttle valve is connected with the electric proportional control valve, and an output end of the shuttle valve is connected with an interface of the pressurizing cylinder direction control valve 124. Two shuttle valves simultaneously connect the pilot handle control valve to the interface of the pressurization cylinder directional control valve 124 or simultaneously connect the electro-proportional control valve to the interface of the pressurization cylinder directional control valve 124.
Wherein, when one of the 2 pilot handle control valves works, the other one does not work, when one works, the pressurizing oil cylinder direction control valve 124 controls the pressurizing oil cylinder 300 to extend, and when the other works, the pressurizing oil cylinder direction control valve 124 controls the pressurizing oil cylinder 300 to retract.
Further, the control set of ram speed 120 is a load sensitive system, the ram drive pump 122 is a load sensitive pump, and the ram directional control valve 124 is a load sensitive valve.
The embodiment of the invention also provides a rock entering control method of the rotary drilling rig, which is applied to the rock entering control device of the rotary drilling rig; the method comprises the following steps:
based on a power head speed control instruction of a controller, the first proportional control valve group controls the opening of the power head direction control valve to be a first real-time opening; the first load sensing control valve is used for feedback-controlling the power head driving pump to output a first real-time oil flow based on a first real-time differential pressure value corresponding to the first real-time opening degree so as to control the output rotating speed of the power head motor;
based on a pressurizing oil cylinder speed control instruction of the controller, the second proportional control valve group controls the opening of the pressurizing oil cylinder direction control valve to be a second real-time opening; and the second load sensing control valve is used for feedback-controlling the pressurizing oil cylinder driving pump to output a second real-time oil flow based on a second real-time differential pressure value corresponding to the second real-time opening degree so as to control the output speed of the pressurizing oil cylinder.
In the embodiment of the invention, the rotary drilling rig rock-entering control device respectively controls the speed of the power head and the speed of the pressurizing oil cylinder during rock breaking through the power head speed control group and the pressurizing oil cylinder speed control group, so that the optimum speed can be adjusted to break rock when rock breaking is carried out on rocks with different hardness, the requirements on the speed under different rock breaking conditions are met, and the rock breaking efficiency is improved.
As shown in fig. 1, the first proportional control valve group 111 may include 2 electric proportional control valves, and the 2 electric proportional control valves may be supplied by the same oil tank or different oil tanks, which is not limited herein. The power head direction control valve 114 includes two interfaces which are oppositely arranged, the 2 electric proportional control valves are respectively connected with the two interfaces of the power head direction control valve 114 in a one-to-one correspondence manner, wherein one of the 2 electric proportional control valves does not work when working, the power head direction control valve 114 controls the power head motor 200 to rotate forwards when one works, and the power head direction control valve 114 controls the power head motor 200 to rotate backwards when the other works.
The first load sensing control valve 113 is connected to the power head direction control valve 114, and after the opening degree of the power head direction control valve 114 is determined to be the first real-time opening degree, a first real-time differential pressure value corresponding to the first real-time opening degree is determined, so that the output pressure of the power head drive pump 112 is adjusted based on the first real-time differential pressure value, and the differential pressure between the output pressure of the power head drive pump 112 and the load feedback pressure is equal to the first real-time differential pressure value. When the opening degree of the power head direction control valve 114 is different, the differential pressure value determined by the first load sensing control valve 113 is also different.
The first real-time oil flow is the oil flow corresponding to the adjusted output pressure of the power head drive pump 112.
Similarly, as shown in fig. 1, the second proportional control valve group 121 includes 2 electrical proportional control valves, and the 2 electrical proportional control valves may be supplied by the same oil tank or different oil tanks, which is not limited herein. The pressurizing oil cylinder direction control valve 124 comprises two oppositely arranged interfaces, the 2 electric proportional control valves are respectively connected with the two interfaces of the pressurizing oil cylinder direction control valve 124 in a one-to-one correspondence mode, wherein one of the 2 electric proportional control valves does not work when working, the pressurizing oil cylinder direction control valve 124 controls the pressurizing oil cylinder 300 to extend when one works, and the pressurizing oil cylinder direction control valve 124 controls the pressurizing oil cylinder 300 to contract when the other works.
The second load sensing control valve 123 is connected to the pressurizing cylinder direction control valve 124, and after the opening degree of the pressurizing cylinder direction control valve 124 is determined to be the second real-time opening degree, the second real-time differential pressure value corresponding to the second real-time opening degree is determined, so that the output pressure of the pressurizing cylinder driving pump 122 is adjusted based on the second real-time differential pressure value, and the differential pressure between the output pressure of the pressurizing cylinder driving pump 122 and the load feedback pressure is equal to the second real-time differential pressure value. When the opening degree of the pressurizing cylinder direction control valve 124 is different, the differential pressure value determined by the second load sensing control valve 123 is also different.
The second real-time oil flow rate is the oil flow rate corresponding to the adjusted output pressure of the pressurization cylinder driven pump 122.
The powerhead drive pump 112 may be a variable displacement plunger pump.
The power head direction control valve 114 may be a three-position seven-way reversing valve, and the pressurizing cylinder direction control valve 124 may be a three-position seven-way reversing valve.
In addition, the rotary drilling rig rock-entering control device can further comprise a pressure compensation valve so as to avoid the situation that the oil supply of the power head driving pump 112 is insufficient and ensure synchronization of executing devices.
Further, dig the rig soon and go into rock controlling means, include:
the pilot pump is connected with the power head motor;
the power head torque control group comprises an electromagnetic reversing valve connected with the power head motor, and when the electromagnetic reversing valve is powered off, a variable starting point of the power head motor is a preset initial value so as to control the torque of the power head motor to be a preset torque; when the electromagnetic directional valve is electrified, the variable starting point of the power head motor is reduced by the power head motor under the pilot pressure provided by the pilot pump so as to improve the output torque of the power head motor;
the method further comprises the following steps:
when the electromagnetic directional valve is powered off, the variable starting point of the power head motor is a preset initial value so as to control the torque of the power head motor to be a preset torque; when the electromagnetic directional valve is electrified, the variable starting point of the power head motor is reduced by the power head motor under the pilot pressure provided by the pilot pump, so that the output torque of the power head motor is improved.
The pilot pump 130 is used to provide low pressure oil to the control system components. As shown in fig. 1, a pilot pump 130 may be connected to the first and second proportional control valve groups 111 and 121, respectively, to provide low pressure oil. In this embodiment, the pilot pump 130 is connected to the powerhead motor 200 and also supplies low-pressure oil to the powerhead motor 200.
The powerhead motor 200 is a motor that can control the variable start and variable end points. The powerhead torque control group 140 described above is used to control the output torque of the powerhead motor 200. Specifically, the power head torque control group 140 includes an electromagnetic directional valve 141, when the electromagnetic directional valve 141 is powered off, a variable starting point of the power head motor 200 is not affected, that is, is a preset initial value, and at this time, the torque of the power head motor 200 is a preset torque; when the electromagnetic directional valve 141 is powered on, the powerhead motor 200 reduces the variable starting point of the powerhead motor 200 under the pilot pressure provided by the pilot pump 130, and at this time, the output torque of the powerhead motor 200 is increased; the more the variable start point is lowered, the more the output torque of the head motor 200 is increased.
In this embodiment, the torque control and the speed control of the power head motor 200 are independent of each other, resulting in low system loss and high reliability.
Preferably, the electromagnetic directional valve 141 is a two-position three-way electromagnetic directional valve.
Further, dig the rig soon and go into rock controlling means, include:
the pressure control group of the pressurizing oil cylinder comprises a first Ls overflow valve connected with a large cavity of the pressurizing oil cylinder, a second Ls overflow valve connected with a small cavity of the pressurizing oil cylinder and an electric proportional overflow valve connected with the first Ls overflow valve in parallel; the electric proportional overflow valve is used for keeping or reducing a feedback pressure set value of a feedback oil path connected with the first Ls overflow valve so as to control the pressurizing force of the pressurizing oil cylinder;
the method further comprises the following steps:
and the electric proportional overflow valve keeps or reduces a feedback pressure set value of a feedback oil path connected with the first Ls overflow valve to control the pressurizing force of the pressurizing oil cylinder, and when the pressurizing force reaches the feedback pressure set value, the pressurizing oil cylinder driving pump outputs oil liquid at the minimum displacement until the pressure difference between the outlet pressure of the pressurizing oil cylinder driving pump and the set pressure value is the same as the second real-time pressure difference value of the second load sensing control valve.
The second load sensing control valve 123 controls the pressure difference value between the outlet pressure value of the pressurizing cylinder driving pump 122 and the set pressure value to approach the second real-time pressure difference value, so as to adjust the output pressure of the pressurizing cylinder 300.
In this embodiment, the pressurizing cylinder pressure control group 150 includes a first Ls relief valve connected to the large chamber of the pressurizing cylinder 300, a second Ls relief valve connected to the small chamber of the pressurizing cylinder, and an electric proportional relief valve 151. The feedback pressure set value of the feedback oil circuit connected with the first Ls overflow valve is set by the first Ls overflow valve, the electric proportional overflow valve 151 is connected with the first Ls overflow valve in parallel, and the electric proportional overflow valve (151) is adjusted within the set pressure value of the first Ls overflow valve, so the feedback pressure set value is determined by the control pressure of the electric proportional overflow valve 151, the adjusting range of the electric proportional overflow valve 151 is adjusted from 0 to the set value of the first Ls overflow valve, and the larger the current is, the larger the pressure value controlled by the electric proportional overflow valve 151 is.
When the pressure reaches the set feedback pressure value, the pressurizing cylinder drives the pump to move to the minimum displacement variable until the pressure difference between the outlet pressure of the pressurizing cylinder driving pump and the set feedback pressure value is the same as the second valve pressure difference value of the second load sensing control valve. Therefore, the second load sensing control valve 123 controls the pressure difference value between the outlet pressure value of the pressurizing cylinder driving pump 122 and the feedback pressure set value to be continuously close to the second real-time pressure difference value until the pressure difference value is the same as the second real-time pressure difference value.
The system comprises a first Ls overflow valve, a second Ls overflow valve, a third Ls overflow valve, a fourth Ls overflow valve and a fourth Ls overflow valve, wherein the first Ls overflow valve is connected with the second Ls overflow valve; and the other secondary overflow valve is connected with a second Ls overflow valve, and the set pressure value of the second Ls overflow valve is smaller than that of the secondary overflow valve.
The invention adjusts the rotation degree of the power head through the power head speed control group, adjusts the output speed of the pressurizing oil cylinder through the pressurizing oil cylinder speed control group, adjusts the output torque of the power head through the electromagnetic directional valve, adjusts the oil filling force of the pressurizing oil cylinder through the electric proportional overflow valve, can adjust the parameters of the power head and the pressurizing oil cylinder according to different working conditions, and has the advantages of small system loss and high reliability because the pressure control and the speed control are respectively and independently controlled.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions and substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. The utility model provides a dig rig soon and go into rock controlling means, includes unit head motor (200) and pressurization hydro-cylinder (300), its characterized in that still includes:
a power head speed control group (110) including a first proportional control valve group (111), a power head drive pump (112), a first load sensing control valve (113), and a power head direction control valve (114) respectively connected to the first proportional control valve group (111), the power head drive pump (112), the first load sensing control valve (113), and the power head motor (200); the first proportional control valve group (111) controls the opening degree of the power head direction control valve (114) to be a first real-time opening degree; the first load sensing control valve (113) is used for feedback-controlling the power head driving pump (112) to output a first real-time oil flow based on a first real-time differential pressure value corresponding to the first real-time opening degree so as to control the output rotating speed of the power head motor (200);
a pressurizing cylinder speed control group (120) which comprises a second proportional control valve group (121), a pressurizing cylinder driving pump (122), a second load sensing control valve (123) and a pressurizing cylinder direction control valve (124) which is respectively connected with the second proportional control valve group (121), the pressurizing cylinder driving pump (122), the second load sensing control valve (123) and the pressurizing cylinder (300); the second proportional control valve group (121) controls the opening of the pressurizing oil cylinder direction control valve (124) to be a second real-time opening; and the second load sensing control valve (123) performs feedback control on the pressurizing oil cylinder driving pump (122) to output a second real-time oil flow based on a second real-time differential pressure value corresponding to the second real-time opening degree so as to control the output speed of the pressurizing oil cylinder (300).
2. The rotary drilling rig rock-entering control device according to claim 1, further comprising:
a pilot pump (130) connected to the powerhead motor (200);
the power head torque control group (140) comprises an electromagnetic directional valve (141) connected with the power head motor (200), and when the electromagnetic directional valve (141) is powered off, a variable starting point of the power head motor (200) is a preset initial value so as to control the torque of the power head motor (200) to be a preset torque; when the electromagnetic directional valve (141) is powered on, the power head motor (200) reduces the variable starting point of the power head motor (200) under the pilot pressure provided by the pilot pump (130) so as to improve the output torque of the power head motor (200).
3. The rotary drilling rig rock-entering control device according to claim 2, wherein the electromagnetic directional valve (141) is a two-position three-way electromagnetic directional valve.
4. The rotary drilling rig rock-entering control device according to claim 1, further comprising:
the pressurization oil cylinder pressure control group (150) comprises a first Ls overflow valve connected with a large cavity of the pressurization oil cylinder (300), a second Ls overflow valve connected with a small cavity of the pressurization oil cylinder, and an electric proportional overflow valve (151) connected with the first Ls overflow valve in parallel; and the electric proportional overflow valve (151) is used for keeping or reducing a feedback pressure set value of a feedback oil path connected with the first Ls overflow valve so as to control the pressurizing force of the pressurizing oil cylinder.
5. The rotary drilling rig rock-entering control device according to claim 1, further comprising:
a pilot handle control valve group (160) comprising a first pilot handle control valve group and a second pilot handle control valve group;
a shuttle valve group (170) including a first shuttle valve (171) and a second shuttle valve (172); two input ends of the first shuttle valve (171) are respectively connected with the first proportional control valve group (111) and the first pilot handle control valve group, and the output end of the first shuttle valve (171) is connected with the power head direction control valve (114); two input ends of the second shuttle valve (172) are respectively connected with the second proportional control valve group (121) and the second pilot handle control valve group, and the output end of the second shuttle valve (172) is connected with the pressurizing oil cylinder direction control valve (124);
the first proportional control valve group (111) is connected with the power head direction control valve (114), and the second proportional control valve group (121) is connected with the pressurizing oil cylinder direction control valve (124); or the first pilot handle control valve group is connected with the power head direction control valve (114) and the second pilot handle control valve group is connected with the pressurizing oil cylinder direction control valve (124).
6. The rotary drilling rig rock-entering control device according to claim 1, wherein the pressurizing cylinder speed control group (120) is a load-sensitive system, the pressurizing cylinder driving pump (122) is a load-sensitive pump, and the pressurizing cylinder direction control valve (124) is a load-sensitive valve.
7. The rotary drilling rig rock-entering control device according to claim 1, wherein the power head direction control valve (114) is a three-position seven-way reversing valve, and the pressurizing oil cylinder direction control valve (124) is a three-position seven-way reversing valve.
8. A rock-entering control method of a rotary drilling rig is characterized by being applied to the rock-entering control device of the rotary drilling rig according to any one of claims 1-7; the method comprises the following steps:
based on a power head speed control instruction of a controller, the first proportional control valve group controls the opening of the power head direction control valve to be a first real-time opening; the first load sensing control valve is used for feedback-controlling the power head driving pump to output a first real-time oil flow based on a first real-time differential pressure value corresponding to the first real-time opening degree so as to control the output rotating speed of the power head motor;
based on a pressurizing oil cylinder speed control instruction of the controller, the second proportional control valve group controls the opening of the pressurizing oil cylinder direction control valve to be a second real-time opening; and the second load sensing control valve is used for feedback-controlling the pressurizing oil cylinder driving pump to output a second real-time oil flow based on a second real-time differential pressure value corresponding to the second real-time opening degree so as to control the output speed of the pressurizing oil cylinder.
9. The method according to claim 8, wherein the method is applied to the rotary drilling rig rock-entering control device according to claim 2; the method further comprises the following steps:
when the electromagnetic directional valve is powered off, the variable starting point of the power head motor is a preset initial value so as to control the torque of the power head motor to be a preset torque; when the electromagnetic directional valve is electrified, the variable starting point of the power head motor is reduced by the power head motor under the pilot pressure provided by the pilot pump, so that the output torque of the power head motor is improved.
10. The method according to claim 8, wherein the method is applied to the rotary drilling rig rock-entering control device according to claim 4; the method further comprises the following steps:
and the electric proportional overflow valve keeps or reduces a feedback pressure set value of a feedback oil path connected with the first Ls overflow valve to control the pressurizing force of the pressurizing oil cylinder, and when the pressurizing force reaches the feedback pressure set value, the pressurizing oil cylinder driving pump outputs oil liquid at the minimum displacement until the pressure difference between the outlet pressure of the pressurizing oil cylinder driving pump and the set pressure value is the same as the second real-time pressure difference value of the second load sensing control valve.
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