CN113153200A - Hydraulic rock drill electrohydraulic control system and method - Google Patents
Hydraulic rock drill electrohydraulic control system and method Download PDFInfo
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- CN113153200A CN113153200A CN202110353794.XA CN202110353794A CN113153200A CN 113153200 A CN113153200 A CN 113153200A CN 202110353794 A CN202110353794 A CN 202110353794A CN 113153200 A CN113153200 A CN 113153200A
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- 239000011435 rock Substances 0.000 title claims abstract description 107
- 238000000034 method Methods 0.000 title claims abstract description 21
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 112
- 239000003921 oil Substances 0.000 claims abstract description 71
- 238000005553 drilling Methods 0.000 claims description 90
- 238000010079 rubber tapping Methods 0.000 claims description 27
- 238000009527 percussion Methods 0.000 claims description 13
- 230000002265 prevention Effects 0.000 claims description 6
- 230000006872 improvement Effects 0.000 abstract description 5
- 239000007788 liquid Substances 0.000 abstract description 5
- 238000012544 monitoring process Methods 0.000 abstract description 5
- 239000012535 impurity Substances 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000002035 prolonged effect Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 244000195895 saibo Species 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
- E21B31/00—Fishing for or freeing objects in boreholes or wells
- E21B31/107—Fishing for or freeing objects in boreholes or wells using impact means for releasing stuck parts, e.g. jars
- E21B31/113—Fishing for or freeing objects in boreholes or wells using impact means for releasing stuck parts, e.g. jars hydraulically-operated
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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
- E21B31/00—Fishing for or freeing objects in boreholes or wells
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Abstract
An electrohydraulic control system and method for a hydraulic rock drill, the electrohydraulic control system for the hydraulic rock drill comprises: a hydraulic drive pump unit; the sensor assembly is used for detecting the impact pressure of the impactor, the propelling pressure of the propelling oil cylinder and the rotating pressure of the rotating motor; the first hydraulic oil control valve is used for adjusting the impact frequency of the impactor and the propelling speed of the propelling oil cylinder; a second hydraulic oil control valve for adjusting a rotation state of the rotation motor; and the controller is electrically connected with the hydraulic drive pump set, the sensor assembly, the first hydraulic oil control valve and the second hydraulic oil control valve respectively. The embodiment of the invention adopts an electro-hydraulic combined control system, simplifies the hydraulic control piping system by adding the sensor group and the controller, reduces the complexity of the whole hydraulic control piping system and improves the reliability. In addition, the control structure of adopting electric liquid to combine control can assist the problem of solving the sticking of the drill bit through monitoring pressure, very big improvement the life of drill bit.
Description
Technical Field
The invention belongs to the field of engineering instruments, and particularly relates to an electro-hydraulic control system and method for a hydraulic rock drill.
Background
Rock drilling equipment is engineering machinery which is often used in engineering, and is often used for tunnel excavation particularly in the aspects of traffic, water conservancy and the like. The rock drilling equipment has more components and structures, the most critical part of the components is the control structure of the hydraulic rock drill, host manufacturers at home and abroad have respective control systems for the hydraulic rock drill, but the control systems basically realize rock drill control in a pure hydraulic valve control mode. The pure hydraulic valve control mode can lead to the very complex principle of a hydraulic system, and further lead the cost of the whole machine to be rapidly increased. And the pure hydraulic valve control mode is difficult to effectively avoid the problem of drill jamming, and can cause great damage to a drill bit and a hydraulic system.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides an electro-hydraulic control system of a hydraulic rock drill, which solves the problems that the control system of the hydraulic rock drill is complex and the drill jamming is difficult to avoid. The invention also provides an electro-hydraulic control method of the hydraulic rock drill.
According to an embodiment of the first aspect of the invention, a hydraulic rock drill electro-hydraulic control system comprises:
the hydraulic drive pump set is used for providing hydraulic power for the movement of the impactor, the propulsion oil cylinder and the rotary motor;
the sensor assembly is used for detecting the impact pressure of the impactor, the propelling pressure of the propelling oil cylinder and the rotating pressure of the rotating motor;
the first hydraulic oil control valve is provided with a first hydraulic input end, a first impact driving end, a first propulsion driving end and a first load feedback end, the first hydraulic input end is connected with the hydraulic drive pump set, the first impact driving end is connected with the impactor, the first propulsion driving end is connected with the propulsion oil cylinder, the first load feedback end is connected with the hydraulic drive pump set, and the first hydraulic oil control valve is used for adjusting the impact frequency of the impactor and the propulsion speed of the propulsion oil cylinder;
the second hydraulic oil control valve is provided with a second hydraulic input end, a second rotary driving end and a second load feedback end, the second hydraulic input end is connected with the hydraulic drive pump set, the second rotary driving end is connected with the rotary motor, the second load feedback end is connected with the hydraulic drive pump set, and the second hydraulic oil control valve is used for adjusting the rotation state of the rotary motor;
and the controller is respectively electrically connected with the hydraulic drive pump set, the sensor assembly, the first hydraulic oil control valve and the second hydraulic oil control valve.
The hydraulic rock drill electrohydraulic control system according to the embodiment of the invention at least has the following technical effects: the hydraulic drive pump set can provide hydraulic drive force to provide power sources for the impactor, the propulsion oil cylinder and the rotary motor; the controller can control the impact frequency of the impactor, the propelling speed of the propelling cylinder and the rotating state of the rotating motor by adjusting the first hydraulic oil control valve and the second hydraulic oil control valve, so that the whole hydraulic rock drill is controlled; the sensor assembly can detect the impact pressure of the impactor, the propelling pressure of the propelling oil cylinder and the rotating pressure of the rotating motor, and the controller can accurately control the impactor, the propelling oil cylinder and the rotating motor. The electro-hydraulic control system of the hydraulic rock drill adopts an electro-hydraulic combined control system, greatly simplifies the hydraulic control piping system by adding the sensor group and the controller, reduces the complexity of the whole hydraulic control piping system, improves the reliability, and synchronously reduces the subsequent maintenance difficulty. In addition, the control structure of adopting electric liquid to combine control can assist the problem of solving the sticking of the drill bit through monitoring pressure, very big improvement the life of drill bit.
According to some embodiments of the invention, the hydraulic rock drill electrohydraulic control system further comprises an electric control proportional overflow valve connected with the first load feedback end, and the electric control proportional overflow valve is electrically connected with the controller and is used for reducing the impact pressure of the impactor and the propelling pressure of the propelling cylinder.
According to some embodiments of the invention, the hydraulic drive pump assembly comprises:
the rock drilling propulsion pump is connected with the first hydraulic oil control valve and the controller and is used for driving the impactor and the propulsion oil cylinder to work;
and the rock drilling rotary pump is connected with the second hydraulic oil control valve and electrically connected with the controller and used for driving the rotary motor to work.
According to some embodiments of the invention, the first hydraulic oil control valve is a first load-sensitive proportional reversing valve bank; the hydraulic oil input port of the first load-sensitive proportional reversing valve group is connected with the output end of the rock drilling propulsion pump, the first linkage valve plate is connected with the impactor, the port A of the second linkage valve plate is connected with the rodless cavity of the propulsion oil cylinder, the port B of the second linkage valve plate is connected with the rod cavity of the propulsion oil cylinder, and the feedback oil ports are respectively connected with the electric control proportional overflow valve and the control port of the rock drilling propulsion pump.
According to some embodiments of the invention, the electro-hydraulic control system of the hydraulic rock drilling machine further comprises an electrically controlled proportional pressure reducing valve connected between the port a of the second coupling plate of the first load-sensitive proportional reversing valve group and the rodless cavity of the propulsion cylinder, and the electrically controlled proportional pressure reducing valve is electrically connected with the controller.
According to some embodiments of the invention, the above-mentioned hydraulic rock drilling machine electro-hydraulic control system further comprises a first high-pressure filter connected between a hydraulic oil input port of the first load-sensitive proportional reversing valve block and an output end of the rock drilling propulsion pump.
According to some embodiments of the invention, the hydraulic rock drill electrohydraulic control system further comprises a check valve block connected between a first linkage plate of the first load-sensitive proportional reversing valve block and the impactor.
According to some embodiments of the invention, the second hydraulic oil control valve is a second load-sensitive proportional reversing valve group, a hydraulic oil input port of the second load-sensitive proportional reversing valve group is connected with an output end of the rock drilling rotary pump, the first linkage plate is connected with the rotary motor, and the feedback oil port is connected with a control port of the rock drilling rotary pump.
According to some embodiments of the invention, the hydraulic rock drilling machine electro-hydraulic control system further comprises a second high-pressure filter connected between a hydraulic oil input port of the second load-sensitive proportional reversing valve bank and an output end of the rock drilling rotary pump.
According to some embodiments of the invention, the hydraulic rock drill electrohydraulic control system further comprises a two-way safety valve connected between the first linkage plate of the second load-sensitive proportional reversing valve block and the rotary motor.
According to some embodiments of the invention, the hydraulic rock drill electrohydraulic control system further comprises a hydraulic oil cooler connected in series in the oil return line.
According to some embodiments of the invention, the hydraulic rock drill electro-hydraulic control system further comprises an oil return filter connected in series in the oil return line.
According to a second aspect of the invention, a method for electro-hydraulic control of a hydraulic rock drill comprises the following steps:
continuously collecting impact pressure of an impactor, propelling pressure of a propelling oil cylinder and rotating pressure of a rotating motor;
and (4) normal work control: enabling first hydraulic oil to control a first impact driving end and a first propulsion driving end of a valve piece, and driving the impactor and the propulsion oil cylinder to work; enabling a second rotary driving end of the second hydraulic oil control valve to drive the rotary motor to work;
anti-sticking control: if the rotating pressure of the rotating motor exceeds a preset drill clamping pressure value, stopping the first hydraulic oil to control the first pushing driving end of the valve piece to work; and if the first pushing driving end of the first hydraulic oil control valve stops working and the rotating pressure of the rotating motor still exceeds the drill jamming pressure value, controlling the pushing oil cylinder to pull out the drill rod.
The hydraulic rock drill electrohydraulic control method provided by the embodiment of the invention at least has the following technical effects: the electro-hydraulic method system for the hydraulic rock drill in the embodiment of the invention adopts an electro-hydraulic combined control mode, realizes the accurate control of the hydraulic rock drill through the sensor group, the controller, the first hydraulic oil control valve and the second hydraulic oil control valve, and greatly simplifies a hydraulic control piping system, reduces the complexity of the whole hydraulic control piping system, improves the reliability and synchronously reduces the subsequent maintenance difficulty because of adopting an electro-hydraulic mixed control mode. In addition, the mode of adopting electric liquid to combine control can assist the problem of solving the sticking of the drill bit through monitoring pressure, very big improvement the life of drill bit.
According to some embodiments of the invention, the above-mentioned method for electrohydraulic control of a hydraulic rock drill further comprises the steps of:
and (3) idle driving prevention control: and when the propelling pressure of the propelling oil cylinder is lower than a preset propelling pressure safety value, reducing the overflow control pressure of the electric control proportional overflow valve until the propelling pressure of the propelling oil cylinder is reduced to a preset idle driving prevention pressure value.
According to some embodiments of the invention, the above-mentioned method for electrohydraulic control of a hydraulic rock drill further comprises the steps of:
and (3) opening control: responding to a tapping control signal, adjusting the impact pressure of the impactor to a preset impact tapping pressure and adjusting the impact frequency to a preset impact tapping frequency through an electric control proportional pressure reducing valve, and adjusting the propelling pressure of the propelling oil cylinder to a preset propelling tapping pressure; driving the rotary motor to rotate at a preset tapping output rotating speed and tapping output torque;
and (3) drilling control: responding to a drilling control signal, adjusting the impact pressure of the impactor to a preset impact drilling pressure and adjusting the impact frequency to a preset impact drilling frequency through an electric control proportional pressure reducing valve, and adjusting the propelling pressure of the propelling oil cylinder to a preset propelling drilling pressure; driving the rotary motor to rotate, and enabling the rotary pressure of the rotary motor to be always greater than a preset drill sticking pressure value; the percussion drilling pressure is greater than the percussion boring pressure, the percussion drilling frequency is greater than the percussion boring frequency, and the propulsion drilling pressure is greater than the drilling boring pressure.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a block diagram of an electro-hydraulic control system of a hydraulic rock drill according to an embodiment of the present invention;
fig. 2 is a flow chart of anti-sticking control according to an embodiment of the present invention.
Reference numerals:
an impactor 110, a thrust cylinder 120, a rotary motor 130,
The first hydraulic oil control valve 200,
A second hydraulic oil control valve 300,
An electric control proportional relief valve 410, an electric control proportional pressure reducing valve 420, a two-way safety valve 430, a first high-pressure filter 440, a check valve group 450, a second high-pressure filter 460, a hydraulic oil cooler 470, an oil return filter 480,
A rock drilling propulsion pump 510, a rock drilling rotary pump 520,
An impact pressure sensor 610, a thrust pressure sensor 620, a rotation pressure sensor 630.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the directional descriptions, such as the directions of upper, lower, front, rear, left, right, etc., are referred to only for convenience of describing the present invention and for simplicity of description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
A hydraulic rock drill electromechanical control system according to an embodiment of the first aspect of the present invention is described below with reference to fig. 1 to 2.
The electro-hydraulic control system for the hydraulic rock drilling machine comprises: the hydraulic control system comprises a hydraulic drive pump set, a sensor assembly, a first hydraulic oil control valve part 200, a second hydraulic oil control valve part 300 and a controller.
A hydraulic drive pump group for providing hydraulic power for the movement of the impactor 110, the thrust cylinder 120 and the rotary motor 130;
a sensor assembly for detecting an impact pressure of the impactor 110, a thrust pressure of the thrust cylinder 120, a rotation pressure of the rotation motor 130;
the first hydraulic oil control valve piece 200 is provided with a first hydraulic input end, a first impact driving end, a first pushing driving end and a first load feedback end, the first hydraulic input end is connected with a hydraulic drive pump set, the first impact driving end is connected with the impactor 110, the first pushing driving end is connected with the pushing oil cylinder 120, the first load feedback end is connected with the hydraulic drive pump set, and the first hydraulic oil control valve piece 200 is used for adjusting the impact frequency of the impactor 110 and the pushing speed of the pushing oil cylinder 120;
a second hydraulic oil control valve 300 having a second hydraulic input end, a second rotary driving end, and a second load feedback end, wherein the second hydraulic input end is connected to the hydraulic drive pump group, the second rotary driving end is connected to the rotary motor 130, the second load feedback end is connected to the hydraulic drive pump group, and the second hydraulic oil control valve 300 is used for adjusting the rotation state of the rotary motor 130;
and the controller is respectively electrically connected with the hydraulic drive pump set, the sensor assembly, the first hydraulic oil control valve 200 and the second hydraulic oil control valve 300.
Referring to fig. 1 and 2, the hydraulic drive pump unit draws hydraulic oil from the oil tank and then transfers the hydraulic oil to the first hydraulic oil control valve element 200 and the second hydraulic oil control valve element 300, and further transfers the hydraulic oil to the impactor 110 and the thrust cylinder 120 by the first impact driving end and the first thrust driving end of the first hydraulic oil control valve element 200, respectively, and transfers the hydraulic oil to the rotation motor 130 by the second hydraulic oil control valve element 300. The controller adjusts the first impact driving end and the first pushing driving end of the first hydraulic oil control valve element 200 to output hydraulic oil, so that the impact frequency of the impactor 110 and the pushing speed of the pushing cylinder 120 can be adjusted, and the controller adjusts the second rotary driving end of the second hydraulic oil control valve element 300 to work, so that the rotation motor 130 can be adjusted in the forward rotation state, the reverse rotation state and the stop state. Here, it is briefly stated that the rotation motor 130 is mainly used for normal drilling work and a rod when rotating forward; when the rod removing work is required, the rotation motor 130 is reversed.
The sensor assembly can collect impact pressure of the impactor 110, propulsion pressure of the propulsion cylinder 120 and rotation pressure of the rotation motor 130, so that an operator can know the current working state, and meanwhile, the pressure data is transmitted to the controller, and the controller can realize stable control.
The working process of the electrohydraulic control system of the hydraulic rock drill according to the embodiment of the invention is briefly described below.
And starting a motor, driving the hydraulic drive pump set to operate through the motor, and transmitting the hydraulic oil in the oil cylinder to the first hydraulic oil control valve element 200 and the second hydraulic oil control valve element 300. The hydraulic oil transmitted to the first hydraulic oil control valve element 200 is divided into two paths, one path is transmitted to the impactor 110 through the first impact driving end, and the impactor 110 is driven to work; the other route is transmitted to the propelling oil cylinder 120 through the first propelling driving end, and the propelling oil cylinder 120 is controlled to push out or retract the drill rod. The hydraulic oil transmitted to the second hydraulic oil control valve element 300 is further transmitted to the rotation motor 130 through the second rotary driving end, thereby controlling the rotation motor 130 to rotate forward and backward and stop. The controller controls the flow rate entering the impactor 110 proportionally through the first hydraulic oil control valve element 200, so that the control of the impact frequency of the impactor 110 is realized. The controller controls the flow rate entering the propulsion cylinder 120 by the first hydraulic oil control valve 200 in proportion, thereby realizing the control of the working condition of the propulsion cylinder 120.
The anti-sticking process: when the sensor assembly detects that the rotation pressure of the rotation motor 130 is too large and exceeds a preset stuck bit pressure value, it can be determined that stuck bits occur; at this time, the controller controls the first driving end of the first hydraulic oil control valve element 200 to stop outputting, and the drill bit will stop driving, but will still continue to work under the driving of the impactor 110 and the rotating motor 130; if the detected pressure of the propulsion oil cylinder 120 is not reduced to be lower than the stuck pressure value after the work of the propulsion oil cylinder 120 is stopped, the stuck state can be determined, and then the drill rod is drawn out through the propulsion oil cylinder 120, so that the drill bit is prevented from running for a long time under the stuck working condition.
According to the hydraulic control system of the hydraulic rock drilling machine, the hydraulic drive pump set can provide hydraulic drive force to provide power sources for the impactor 110, the propulsion cylinder 120 and the rotary motor 130; the controller can control the impact frequency of the impactor 110, the propelling speed of the propelling cylinder 120 and the rotating state of the rotating motor 130 by adjusting the first hydraulic oil control valve element 200 and the second hydraulic oil control valve element 300, so as to control the whole hydraulic rock drill; the impact pressure of the impactor 110, the propelling pressure of the propelling cylinder 120 and the rotating pressure of the rotating motor 130 can be detected through the sensor assembly, and then the impactor 110, the propelling cylinder 120 and the rotating motor 130 can be accurately controlled by the controller. The electro-hydraulic control system of the hydraulic rock drill adopts an electro-hydraulic combined control system, greatly simplifies the hydraulic control piping system by adding the sensor group and the controller, reduces the complexity of the whole hydraulic control piping system, improves the reliability, and synchronously reduces the subsequent maintenance difficulty. In addition, the control structure of adopting electric liquid to combine control can assist the problem of solving the sticking of the drill bit through monitoring pressure, very big improvement the life of drill bit.
In some embodiments of the present invention, the above-mentioned hydraulic rock drilling machine electro-hydraulic control system further includes an electrically controlled proportional relief valve 410 connected to the load feedback end of the first hydraulic oil control valve element 200, and the electrically controlled proportional relief valve 410 is electrically connected to the controller, and is configured to reduce the impact pressure of the impactor 110 and the thrust pressure of the thrust cylinder 120. When the sensor assembly detects that the propelling pressure of the propelling cylinder 120 is low, it can be determined that the idle driving situation occurs; once idle driving occurs, it is necessary to reduce the output power of the impactor 110 and the thrust cylinder 120 to avoid unnecessary wear of the hydraulic rock drill due to high output power under high working conditions for a long time. When idle driving is detected, the controller can reduce the given current output to the electric control proportional overflow valve 410, so as to reduce the overflow control pressure of the electric control proportional overflow valve 410; after the relief control pressure of the electrically controlled proportional relief valve 410 is reduced, the outlet pressures of the first impact driving end and the first pushing driving end of the first hydraulic oil control valve element 200 are reduced, so that the purpose of reducing the output of the impactor 110 and the pushing cylinder 120 is achieved. By the mode, unnecessary high-power output of the hydraulic rock drilling machine can be reduced finally, and the service life of the hydraulic rock drilling machine is prolonged through phase change.
In some embodiments of the invention, a hydraulic drive pump assembly comprises: a drilling propulsion pump 510 and a drilling rotary pump 520. The rock drilling propulsion pump 510 is connected with the first hydraulic oil control valve 200 and electrically connected with the controller, and is used for driving the impactor 110 and the propulsion cylinder 120 to work; and the rock drilling rotary pump 520 is connected with the second hydraulic oil control valve 300 and electrically connected with the controller and is used for driving the rotary motor 130 to work. The rock drilling propulsion pump 510 drives the impactor 110 and the propulsion cylinder 120, and the rock drilling rotary pump 520 drives the rotary motor 130, and both directly extract hydraulic oil from the cylinders for use by the whole hydraulic rock drilling machine electro-hydraulic control system.
In some embodiments of the present invention, the first hydraulic oil control valve 200 is a first load-sensitive proportional reversing valve set; the hydraulic oil input port of the first load-sensitive proportional reversing valve group is connected with the output end of the rock drilling propulsion pump 510, the first linkage plate is connected with the impactor 110, the port A of the second linkage plate is connected with the rodless cavity of the propulsion oil cylinder 120, the port B of the second linkage plate is connected with the rod cavity of the propulsion oil cylinder 120, and the feedback oil ports are respectively connected with the control ports of the electric control proportional overflow valve 410 and the rock drilling propulsion pump 510. The first linkage valve plate and the second linkage valve plate can adjust the output flow of the hydraulic oil according to the current signal proportion input by the controller, and further realize the accurate control of the running states of the impactor 110 and the thrust cylinder 120. The feedback oil port can feed back the oil path state to the control port of the rock drilling propulsion pump 510 so as to adjust the upper limit of the output load of the rock drilling propulsion pump 510, and the electronic control proportional relief valve 410 can shunt part of the feedback hydraulic oil, so that the upper limit of the output load of the rock drilling propulsion pump 510 can be adjusted through the electronic control proportional relief valve 410.
In some embodiments of the present invention, the electrohydraulic control system of the hydraulic rock drilling machine further includes an electrically controlled proportional pressure reducing valve 420 connected between the second coupling plate a of the first load-sensitive proportional reversing valve set and the rodless cavity of the thrust cylinder 120, and the electrically controlled proportional pressure reducing valve 420 is electrically connected to the controller. The propelling pressure of the propelling cylinder 120 can be rapidly adjusted through the electric control proportional pressure reducing valve 420, and then rapid switching of different working modes can be realized, for example: when the hole needs to be opened, the propelling pressure does not need to be too large, and the propelling pressure can be rapidly reduced by adjusting the electric control proportional pressure reducing valve 420; when drilling is needed, the propelling pressure needs to be large enough to quickly open the hole, and the propelling pressure can be quickly increased by adjusting the electric control proportional pressure reducing valve 420.
In some embodiments of the present invention, the above-described electro-hydraulic control system for a hydraulic rock drill further comprises a first high-pressure filter 440 connected between the hydraulic oil input port of the first load-sensitive proportional reversing valve bank and the output of the rock drilling propulsion pump 510. Impurities in hydraulic oil entering the first load-sensitive proportional reversing valve bank can be effectively filtered through the first high-pressure filter 440, the first load-sensitive proportional reversing valve bank is prevented from being damaged by the impurities, and the service life of the first load-sensitive proportional reversing valve bank is prolonged.
In some embodiments of the present invention, the above-mentioned electro-hydraulic control system of the hydraulic rock drilling machine further comprises a second high-pressure filter 460 connected between the hydraulic oil input port of the second load-sensitive proportional reversing valve set and the output of the rock drilling rotary pump 520. Impurities in the hydraulic oil entering the second load-sensitive proportional reversing valve bank can be effectively filtered through the second high-pressure filter 460, the second load-sensitive proportional reversing valve bank is prevented from being damaged by the impurities, and the service life of the second load-sensitive proportional reversing valve bank is prolonged.
In some embodiments of the invention, the above-described hydraulic rock drill electro-hydraulic control system further comprises a check valve block 450 connected between the first linkage plate of the first load-sensitive proportional reversing valve block and the impactor 110. The check valve group 450 can effectively prevent the hydraulic oil from directly flowing back through the first linkage plate of the first load-sensitive proportional reversing valve group, prevent the first load-sensitive proportional reversing valve group from being damaged, and simultaneously ensure the accuracy and stability of hydraulic control.
In some embodiments of the present invention, the second hydraulic control valve 300 is a second load-sensitive proportional reversing valve set, a hydraulic oil input port of the second load-sensitive proportional reversing valve set is connected to an output end of the drilling rotary pump 520, the first linkage plate is connected to the rotary motor 130, and a feedback port is connected to a control port of the drilling rotary pump 520. The first linkage plate can adjust the rotation direction, the rotation speed and the torque of the rotation motor 130 according to the control signal transmitted by the controller. The oil feedback port can feed back the state of an oil path to a control port of the rock drilling rotary pump 520, so that the upper limit of the output load of the rock drilling rotary pump 520 is adjusted, and stable output is realized.
In some embodiments of the invention the hydraulic jack electrohydraulic control system further comprises a two way relief valve 430 connected between the first linkage plate of the second load sensitive proportional reversing valve block and the rotary motor 130. The addition of the two-way relief valve 430 can effectively eliminate hydraulic shock which may be generated under any operating condition, so as to reduce or even eliminate the situation of shock overload of the rotary motor 130.
In some embodiments of the present invention, the above-described hydraulic jack hydraulic control system further comprises a hydraulic oil cooler 470 connected in series in the return line. The hydraulic oil cooler 470 is added to effectively prevent the temperature of the hydraulic oil from being too high.
In some embodiments of the present invention, the above-described hydraulic rock drill electro-hydraulic control system further comprises an oil return filter 480 connected in series in the oil return line. The return oil filter 480 is added, so that impurities of hydraulic oil entering the oil cylinder can be filtered, and the damage to the system is further reduced.
In some embodiments of the present invention, the sensor assembly includes an impact pressure sensor 610, a thrust pressure sensor 620, a rotation pressure sensor 630. The impact pressure sensor 610, the thrust pressure sensor 620, and the rotation pressure sensor 630 respectively collect impact pressure of the impactor 110, thrust pressure of the thrust cylinder 120, and rotation pressure of the rotation motor 130. The impact pressure sensor 610, the propulsion pressure sensor 620 and the rotation pressure sensor 630 can be pressure sensors that are mature in the market.
In some embodiments of the invention, the controller employs a PLC. The PLC can adopt imported products such as imported Yifumen series, Lishile series and the like, and can also select domestic products such as sailing series, saibo series and the like. In some embodiments of the invention, the controller is specifically selected from a Saybolt MIC7001 controller.
According to a second aspect of the invention, a method for electro-hydraulic control of a hydraulic rock drill comprises the following steps:
continuously collecting impact pressure of the impactor 110, propelling pressure of the propelling cylinder 120 and rotating pressure of the rotating motor 130;
and (4) normal work control: enabling the first hydraulic oil to control the first impact driving end and the first pushing driving end of the valve element 200, and driving the impactor 110 and the pushing cylinder 120 to work; enabling the second rotary driving end of the second hydraulic oil control valve member 300 to drive the rotation motor 130 to work;
anti-sticking control: if the rotation pressure of the rotation motor 130 exceeds the preset sticking pressure value, stopping the first hydraulic oil to control the first pushing driving end of the valve element 200; if the first pushing driving end of the first hydraulic oil control valve member 200 stops working and the rotating pressure of the rotating motor 130 still exceeds the sticking pressure value, the pushing oil cylinder 120 is controlled to pull out the drill rod.
Referring to fig. 1 and 2, normal operation control and anti-sticking control will be briefly described.
And (4) normal work control: the starting motor drives the hydraulic drive pump set to operate, and the hydraulic oil in the oil cylinder is transmitted to the first hydraulic oil control valve element 200 and the second hydraulic oil control valve element 300. The hydraulic oil transmitted to the first hydraulic oil control valve element 200 is divided into two paths, one path is transmitted to the impactor 110 through the first impact driving end to drive the impactor 110 to work, and the other path is transmitted to the propulsion oil cylinder 120 through the first propulsion driving end to control the propulsion oil cylinder 120 to push out or retract the drill rod. The hydraulic oil transmitted to the second hydraulic oil control valve element 300 is further transmitted to the rotation motor 130 through the second rotary driving end, thereby controlling the rotation motor 130 to rotate forward and backward and stop. The controller controls the flow rate entering the impactor 110 proportionally through the first hydraulic oil control valve element 200, so that the control of the impact frequency of the impactor 110 is realized. The controller controls the flow rate entering the propulsion cylinder 120 by the first hydraulic oil control valve 200 in proportion, thereby realizing the control of the working condition of the propulsion cylinder 120.
Anti-sticking control: referring to fig. 2, when the sensor assembly detects that the rotation pressure of the rotation motor 130 is too large and exceeds a preset sticking pressure value, it may be determined that sticking occurs; at this time, the controller controls the first driving end of the first hydraulic oil control valve element 200 to stop outputting, and the drill bit will stop driving, but will still continue to work under the driving of the impactor 110 and the rotating motor 130; if the detected pressure of the propulsion oil cylinder 120 is not reduced to be lower than the stuck pressure value after the work of the propulsion oil cylinder 120 is stopped, the stuck state can be determined, and then the drill rod is drawn out through the propulsion oil cylinder 120, so that the drill bit is prevented from running for a long time under the stuck working condition. In actual engineering, when the propulsion pressure of gathering is greater than the sticking pressure value to control first propulsion drive end and stop after exporting, can not carry out the second judgement to propulsion pressure at once, but will be after an anti-shake error time of interval, just judge propulsion pressure the second time, frequent state that can effectually prevent instantaneous state from bringing is adjusted like this.
The hydraulic rock drill electrohydraulic control method provided by the embodiment of the invention at least has the following technical effects: the electro-hydraulic method system for the hydraulic rock drill in the embodiment of the invention adopts an electro-hydraulic combined control mode, realizes the accurate control of the hydraulic rock drill through the sensor group, the controller, the first hydraulic oil control valve 200 and the second hydraulic oil control valve 300, and greatly simplifies a hydraulic control piping system, reduces the complexity of the whole hydraulic control piping system, improves the reliability and synchronously reduces the subsequent maintenance difficulty because of adopting an electro-hydraulic mixed control mode. In addition, the mode of adopting electric liquid to combine control can assist the problem of solving the sticking of the drill bit through monitoring pressure, very big improvement the life of drill bit.
In some embodiments of the present invention, the above-mentioned electrohydraulic control method for a hydraulic rock drill further comprises the steps of:
and (3) idle driving prevention control: when the propelling pressure of the propelling cylinder 120 is lower than the preset propelling pressure safety value, the overflow control pressure of the electronic control proportional overflow valve 410 is reduced until the propelling pressure of the propelling cylinder 120 is reduced to the preset idle driving prevention pressure value.
In actual engineering, the hydraulic rock drilling machine is frequently in a idle driving state, if the hydraulic rock drilling machine is in idle driving for a long time, certain abrasion is caused to the hydraulic rock drilling machine, and the service life of the hydraulic rock drilling machine is shortened. According to the embodiment of the invention, whether the hydraulic rock drill is in the idle driving state can be known by detecting the propelling pressure of the propelling oil cylinder 120, so that the output power of the hydraulic rock drill can be reduced and the abrasion can be reduced during idle driving. The method for judging whether the rock drilling is carried out in the idle mode through the propelling pressure is simple, only the difference of the propelling pressure between the idle mode and the normal rock drilling needs to be known, in the idle mode, the propelling pressure is low due to the fact that no obstacle exists in the front, and the idle mode can be determined as long as the propelling pressure is lower than a propelling pressure safety value.
In some embodiments of the present invention, the above-mentioned electrohydraulic control method for a hydraulic rock drill further comprises the steps of:
and (3) opening control: in response to the tapping control signal, the impact pressure of the impactor 110 is adjusted to a preset impact tapping pressure through the electric control proportional pressure reducing valve 420, the impact frequency is adjusted to a preset impact tapping frequency, and the propelling pressure of the propelling oil cylinder 120 is adjusted to a preset propelling tapping pressure; driving the rotary motor 130 to rotate at a preset tapping output rotation speed and tapping output torque;
and (3) drilling control: in response to the drilling control signal, the impact pressure of the impactor 110 is adjusted to a preset impact drilling pressure through the electric control proportional pressure reducing valve 420, the impact frequency is adjusted to a preset impact drilling frequency, and the propelling pressure of the propelling oil cylinder 120 is adjusted to a preset propelling drilling pressure; driving the rotary motor 130 to rotate, and enabling the rotary pressure of the rotary motor 130 to be always greater than a preset sticking pressure value; the percussion drilling pressure is greater than the percussion tapping pressure, the percussion drilling frequency is greater than the percussion tapping frequency, and the propulsion drilling pressure is greater than the drilling tapping pressure.
In actual engineering, the hydraulic rock drill needs to face different engineering requirements, and for an environment with softer rock texture, the hydraulic rock drill is directly output with certain power. However, in the environment of hard rock texture, if high power is directly used for drilling, damage is easily caused to the hydraulic rock drill, at the moment, drilling needs to be carried out firstly and then, drilling is carried out, and rock drilling is completed in a distributed mode.
When tapping, the impact pressure and the impact frequency of the impactor 110 need to be reduced to the preset impact tapping pressure and impact tapping frequency, the thrust pressure of the thrust cylinder 120 needs to be reduced to the thrust tapping pressure, and the output torque of the rotary motor 130 needs to be increased to the tapping output torque to rotate, so as to achieve the purpose of stable tapping. During drilling, the impact pressure and the impact frequency of the impactor 110 need to be increased to preset impact drilling pressure and impact drilling frequency, and the propelling pressure of the propelling oil cylinder 120 needs to be reduced to propelling drilling pressure; under the drilling mode, no longer with stable output rotational speed and moment of torsion operation, only need guarantee that the rotation pressure can not exceed the sticking pressure value can. And when the rotating pressure exceeds the sticking pressure value, the anti-sticking control is started.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention is not limited to the embodiments, and those skilled in the art will understand that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. An electro-hydraulic control system for a hydraulic rock drill, comprising:
the hydraulic drive pump set is used for providing hydraulic power for the movement of the impactor (110), the propulsion oil cylinder (120) and the rotary motor (130);
a sensor assembly for detecting a percussion pressure of the impactor (110), a thrust pressure of the thrust cylinder (120), a rotation pressure of the rotation motor (130);
the first hydraulic oil control valve (200) is provided with a first hydraulic input end, a first impact driving end, a first propulsion driving end and a first load feedback end, the first hydraulic input end is connected with the hydraulic drive pump set, the first impact driving end is connected with the impactor (110), the first propulsion driving end is connected with the propulsion oil cylinder (120), the first load feedback end is connected with the hydraulic drive pump set, and the first hydraulic oil control valve (200) is used for adjusting the impact frequency of the impactor (110) and the propulsion speed of the propulsion oil cylinder (120);
the second hydraulic oil control valve (300) is provided with a second hydraulic input end, a second rotary driving end and a second load feedback end, the second hydraulic input end is connected with the hydraulic drive pump set, the second rotary driving end is connected with the rotary motor (130), the second load feedback end is connected with the hydraulic drive pump set, and the second hydraulic oil control valve (300) is used for adjusting the rotation state of the rotary motor (130);
and the controller is respectively electrically connected with the hydraulic drive pump set, the sensor assembly, the first hydraulic oil control valve (200) and the second hydraulic oil control valve (300).
2. A hydraulic control system of a hydraulic rock drill electromechanical according to claim 1, characterized by further comprising an electrically controlled proportional relief valve (410) connected to the first load feedback port, the electrically controlled proportional relief valve (410) being electrically connected to the controller for reducing the impact pressure of the impactor (110) and the thrust pressure of the thrust cylinder (120).
3. A hydraulic rock drill electromechanical control system according to claim 1 or 2, characterized in that the hydraulic drive pump package includes:
the rock drilling propulsion pump (510) is connected with the first hydraulic oil control valve (200) and electrically connected with the controller and is used for driving the impactor (110) and the propulsion oil cylinder (120) to work;
and the rock drilling rotary pump (520) is connected with the second hydraulic oil control valve (300) and electrically connected with the controller and used for driving the rotary motor (130) to work.
4. A hydraulic rock drill electrohydraulic control system according to claim 3 wherein said first hydraulic oil control valve member (200) is a first load sensitive proportional reversing valve bank; the hydraulic oil input port of the first load-sensitive proportional reversing valve group is connected with the output end of the rock drilling propulsion pump (510), the first linkage plate is connected with the impactor (110), the second linkage plate A is connected with the rodless cavity of the propulsion oil cylinder (120), the second linkage plate B is connected with the rod cavity of the propulsion oil cylinder (120), and the feedback oil port is respectively connected with the electric control proportional overflow valve (410) and the control port of the rock drilling propulsion pump (510).
5. The electro-hydraulic control system of the hydraulic rock drill according to claim 4, characterized by further comprising an electrically controlled proportional pressure reducing valve (420) connected between the second linkage plate A port of the first load-sensitive proportional reversing valve set and the rodless cavity of the propulsion cylinder (120), wherein the electrically controlled proportional pressure reducing valve (420) is electrically connected with the controller.
6. The electrohydraulic control system of a hydraulic rock drill according to claim 3, wherein the second hydraulic oil control valve (300) is a second load-sensitive proportional reversing valve group, a hydraulic oil inlet of the second load-sensitive proportional reversing valve group is connected with an output end of the rock drilling rotary pump (520), the first linkage plate is connected with the rotary motor (130), and a feedback oil port is connected with a control port of the rock drilling rotary pump (520).
7. A hydraulic rock drill electromechanical control system according to claim 6 further including a two way relief valve (430) connecting between the first link plate of the second load sensitive proportional reversing valve bank and the rotary motor (130).
8. An electro-hydraulic control method of a hydraulic rock drill is characterized by comprising the following steps:
continuously collecting impact pressure of an impactor (110), propelling pressure of a propelling oil cylinder (120) and rotating pressure of a rotating motor (130);
and (4) normal work control: enabling first hydraulic oil to control a first impact driving end and a first pushing driving end of a valve element (200) and driving the impactor (110) and the pushing oil cylinder (120) to work; enabling a second rotary driving end of a second hydraulic oil control valve member (300) to drive the rotary motor (130) to work;
anti-sticking control: if the rotating pressure of the rotating motor (130) exceeds a preset drill clamping pressure value, stopping the first hydraulic oil to control the first pushing driving end of the valve (200) to work; and if the first pushing driving end of the first hydraulic oil control valve member (200) stops working and the rotating pressure of the rotating motor (130) still exceeds the sticking pressure value, controlling the pushing oil cylinder (120) to pull out the drill rod.
9. A hydraulic rock drill electrohydraulic control method according to claim 8 further including the steps of:
and (3) idle driving prevention control: when the propelling pressure of the propelling oil cylinder (120) is lower than a preset propelling pressure safety value, reducing the overflow control pressure of the electric control proportional overflow valve (410) until the propelling pressure of the propelling oil cylinder (120) is reduced to a preset idle driving prevention pressure value.
10. A hydraulic rock drill electrohydraulic control method according to claim 8 further including the steps of:
and (3) opening control: responding to the tapping control signal, adjusting the impact pressure of the impactor (110) to a preset impact tapping pressure and an impact frequency to a preset impact tapping frequency through an electric control proportional pressure reducing valve (420), and adjusting the propelling pressure of the propelling oil cylinder (120) to a preset propelling tapping pressure; driving the rotary motor (130) to rotate at a preset tapping output rotation speed and tapping output torque;
and (3) drilling control: responding to a drilling control signal, adjusting the impact pressure of the impactor (110) to a preset impact drilling pressure and the impact frequency to a preset impact drilling frequency through an electric control proportional pressure reducing valve (420), and adjusting the propelling pressure of the propelling oil cylinder (120) to a preset propelling drilling pressure; driving the rotary motor (130) to rotate, and enabling the rotary pressure of the rotary motor (130) to be always greater than a preset sticking pressure value; the percussion drilling pressure is greater than the percussion boring pressure, the percussion drilling frequency is greater than the percussion boring frequency, and the propulsion drilling pressure is greater than the drilling boring pressure.
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Application publication date: 20210723 |