Shackle hydraulic system for underground drill rig and control method

Abstract

The invention discloses a shackle hydraulic system for an underground drill rig and a control method. The shackle hydraulic system is provided with an oil tank and a main oil pump; the rotary motor oil way and the feeding oil cylinder oil way are communicated with the main oil pump; proportional directional valves for controlling the transmission direction of hydraulic oil are arranged on an oil inlet path and an oil return path of the rotary motor oil path; the oil inlet path and the oil return path are respectively connected between the proportional directional valves and the rotary motor; a high-pressure selection valve is arranged in the oil path; the hydraulic control reversing valves are arranged on an oil inlet way and an oil return way of the oil way of the feeding oil cylinder, and the two-position two-way valves are arranged on the oil inlet way and the oil return way respectively. And the high-pressure selection valve is respectively and hydraulically communicated with the hydraulic control reversing valve and the two-position two-way valve to control the opening and closing of the hydraulic control reversing valve and the two-position two-way valve. The problem that the drill rod is easily damaged due to the fact that the feeding speed and the rotating speed are not matched during screwing on and screwing off of the drill rod is solved through accurate control of the hydraulic system, meanwhile, the automation level of the drilling machine is improved, and the labor intensity of workers is relieved.

Description

Technical Field

[0001] This patent belongs to the field of unscrewing and removing drill rods in the drilling machinery category, and specifically relates to a shackle hydraulic system and control method for tunnel drilling rigs, which is mainly used for unscrewing and removing drill rods from underground drilling rigs in coal mines. Background Art

[0002] During drilling construction, underground drilling rigs in coal mines need to complete long drilling by adding and removing drill rods. The adding and removing of drill rods are mainly divided into two methods: manual and mechanical. However, both working methods are inseparable from the necessary process of unscrewing and removing drill rods. At present, the unscrewing and removing of drill rods by underground drilling rigs in coal mines are basically in manual or semi-automatic state. During work, especially at large angles, the damage to the drill rod threads is relatively large. In addition, the labor intensity of workers is also high, and there are certain risks.

[0003] Therefore, inventing a hydraulic system for unscrewing and removing drill rods of a drilling rig plays an important role in improving the automation level of the drilling rig, reducing the labor intensity of workers, and reducing the occurrence of coal mine accidents. Summary of the invention

[0004] The purpose of the present invention is to provide a shackle hydraulic system and control method for a tunnel drilling rig, which can reduce the damage of threads when shackles are made on the tunnel drilling rig, reduce the labor intensity of workers, and improve safety.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0006] A shackle hydraulic system for a tunnel drilling rig is provided with an oil tank and a main oil pump;

[0007] A rotary motor oil circuit and a feed cylinder oil circuit connected to the main oil pump;

[0008] A proportional reversing valve for controlling the transmission direction of hydraulic oil is arranged on the oil inlet and oil return of the rotary motor oil circuit, and a high-pressure selection valve is arranged between the proportional reversing valve and the rotary motor, and the oil inlet and oil return are respectively connected to each other;

[0009] A hydraulically controlled reversing valve is provided on the oil inlet and oil return lines of the oil feeding cylinder oil circuit, and a two-position two-way valve is provided on the oil inlet and oil return lines respectively;

[0010] The high-pressure selector valve is hydraulically connected to the hydraulically controlled reversing valve and the two-position two-way valve respectively to control the passage reversing of the hydraulically controlled reversing valve and the opening and closing of the two-position two-way valve.

[0011] Optionally, the proportional reversing valve and the hydraulically controlled reversing valve are both four-way valves, and the ports of the four-way valve are port A, port B, port P and port T respectively;

[0012] The high-pressure selector valve is a three-way shuttle valve, which has a P1 inlet, a P2 inlet and an A outlet. The P1 inlet is connected to the B port of the proportional reversing valve and the hydraulically controlled reversing valve; the P2 inlet is connected to the A port of the proportional reversing valve;

[0013] The port A of the high pressure selector valve is communicated with the two-position two-way valve.

[0014] Optionally, a flow regulating valve is also provided on the oil inlet circuit of the oil cylinder.

[0015] Optionally, a pressure regulating valve is provided in communication with the main oil pump.

[0016] Optionally, an auxiliary oil pump is further provided in the oil tank, and a clamper oil circuit is provided in communication with the auxiliary oil pump.

[0017] Optionally, a chuck oil circuit is also provided in communication with the main oil pump.

[0018] Optional, including:

[0019] A feed body, a clamp 13 is fixedly arranged on the feed body, a base is slidably arranged, a rotator is arranged on the base, and the rotator includes a rotary motor, a feed cylinder and a chuck;

[0020] The clamper clamps the first drill rod, and the chuck clamps the second drill rod; the displacement sensor w is arranged on the feed body, and the encoder b is arranged on the chuck.

[0021] In any of the control methods for the hydraulic system of a shackle for a tunnel drilling rig described in the present invention, the relationship between the rotation speed of the rotary motor and the moving speed of the feed cylinder must meet the following requirements:

[0022] V 移 =V 转 ×P;

[0023] The speed of the rotary motor is V 转 , the axis movement speed of the feed cylinder is V 移 , the pitch of the drill pipe joint is P.

[0024] Optionally, the proportional reversing valve and the hydraulically controlled reversing valve are both four-way valves, the ports of the four-way valves are respectively A port, B port, P port and T port, and the high-pressure selection valve is a three-way shuttle valve, which are respectively P1 inlet, P2 inlet and A outlet;

[0025] The two-position two-way valve comprises a first two-position two-way valve arranged on the oil return line of the oil feeding cylinder oil circuit and a second two-position two-way valve arranged on the oil inlet line of the oil feeding cylinder oil circuit;

[0026] Make-up process: manually operate the proportional reversing valve to reverse to the left, and the rotary motor rotates forward. At this time, the A port and P port of the proportional reversing valve are connected to the oil inlet, and the pressure of the A port of the proportional reversing valve is greater than the pressure of the B port of the proportional reversing valve. The P2 inlet of the high-pressure selection valve is connected, and the hydraulic oil flows through the P2 inlet of the high-pressure selection valve to the A port of the high-pressure selection valve and then flows into the two-position two-way valve, so that the first two-position two-way valve and the second two-position two-way valve are connected, so that the high-pressure oil of the main oil pump enters the second two-position two-way valve to the P port to the A port of the hydraulic control reversing valve, enters the rodless chamber of the feed cylinder to the rod chamber and flows out, and then flows to the B port to the T port of the hydraulic control reversing valve, and finally flows back to the oil tank through the first two-position two-way valve;

[0027] Unbuckling process: manually operate the proportional reversing valve to reverse to the right, the pressure of the B port of the proportional reversing valve is greater than that of the A port, the P1 inlet of the high-pressure selection valve is connected, and the hydraulic oil passes through the P1 inlet of the high-pressure selection valve to the A port of the high-pressure selection valve to the two-position two-way valve, so that the first two-position two-way valve and the second two-position two-way valve are connected, and at the same time, the high-pressure oil at the P1 inlet of the high-pressure selection valve flows into the control port of the hydraulic control reversing valve, so that the hydraulic control reversing valve automatically switches direction; the high-pressure oil of the main oil pump enters the second two-position two-way valve to the P port to the B port of the hydraulic control reversing valve, enters the rod chamber of the feed cylinder and flows out to the rodless chamber, and then from the A port to the T port of the hydraulic control reversing valve, and finally is connected by the first two-position two-way valve to flow back to the oil tank.

[0028] Optionally, a flow regulating valve is further provided on the oil inlet of the oil feeding cylinder oil circuit, a pressure regulating valve is provided in communication with the main oil pump, an auxiliary oil pump is further provided in the oil tank, a clamper oil circuit is provided in communication with the auxiliary oil pump, and a chuck oil circuit is further provided in communication with the main oil pump;

[0029] Also includes:

[0030] A feed body, a clamp is fixedly arranged on the feed body, a base is slidably arranged, a rotator is arranged on the base, and the rotator includes a rotary motor, a feed oil cylinder and a chuck; the clamp clamps the first drill rod, and the chuck clamps the second drill rod; a displacement sensor w is arranged on the feed body, and an encoder b is arranged on the chuck;

[0031] The drill pipe unloading process includes:

[0032] Step A1, the clamp is opened, the chuck clamps the second drill rod and moves away from the clamp along the axis of the drill rod to between the clamp and the rotator;

[0033] Step A2: The auxiliary oil pump drives the high-pressure oil to flow to the clamp, so that the clamp clamps the first drill rod. The high-pressure oil of the main oil pump flows into the chuck to clamp the second drill rod. The proportional reversing valve is operated to the right reversing position. At this time, the rotary motor rotates in the reverse direction, and the chuck drives the second drill rod to rotate counterclockwise to shackle.

[0034] Step A3, the reverse pressure oil passes through the high pressure selection valve and enters the hydraulic control reversing valve to reverse the direction. At this time, the inlet and outlet oil passages of the feed cylinder are both connected, and the feed cylinder enters the pull-back state;

[0035] Step A4, adjust the flow control valve. The relationship between the rotation speed of the rotary motor and the moving speed of the feed cylinder must meet the following requirements:

[0036] V 移 =V 转 ×P;

[0037] The speed of the rotary motor is V 转 , the axis movement speed of the feed cylinder is V 移 , the thread pitch of drill pipe joint is P;

[0038] When making and breaking the screw, the oil pressure of the rotary motor oil circuit and the feed cylinder oil circuit should be greater than 5Mpa. If it is less than 5Mpa, it is assumed that the making and breaking of the screw is abnormal. At this time, the automatic making and breaking of the screw should be stopped to check whether the drill rod slips.

[0039] Step A5, the moving speed of the rotator and the rotating speed of the chuck during the whole process of shackle are monitored by the displacement sensor w and the encoder b respectively;

[0040] Step A6, after the first drill rod and the second drill rod are completely disconnected, the chuck stops rotating, the rotator drives the second drill rod to quickly move in the opposite direction of the clamp to a specified position, the chuck is released, and the second drill rod is manually removed;

[0041] Step A7, the chuck is loosened, and the rotator moves toward the clamp until the first drill rod completely enters and passes through the clamp to ensure that the chuck is clamped tightly. When the clamp is loosened, the rotator can drive the drill rod to move away from the clamp, and the two drill rod joints can stay between the clamp and the rotator, thus completing a drill rod unloading process;

[0042] Step A8, repeat the above process until the drill rod in the hole is completely removed;

[0043] The drill pipe installation process includes:

[0044] Step B1, the auxiliary oil pump drives the high-pressure oil to flow to the clamp to clamp the first drill rod, the rotator moves to the rear of the main machine, the chuck opens, and the second drill rod is manually fed into the chuck and passed through to clamp;

[0045] Step B2, operate the proportional reversing valve to the left reversing position, at which time the rotary motor rotates forward, and the chuck drives the second drill rod to rotate clockwise and buckle up;

[0046] Step B3, the forward pressure oil passes through the high-pressure selection valve and enters the hydraulic control reversing valve to make it reverse. At this time, the inlet and outlet oil passages of the feed cylinder are both connected, and the feed cylinder enters the propulsion state;

[0047] Step B4, adjust the flow control valve, the relationship between the rotation speed of the rotary motor and the moving speed of the feed cylinder must meet:

[0048] V 移 =V 转 ×P;

[0049] The speed of the rotary motor is V 转 , the axis movement speed of the feed cylinder is V 移 , the thread pitch of drill pipe joint is P;

[0050] During make-up and make-out, the oil pressure of the rotary motor oil circuit and the feed cylinder oil circuit should be less than 5Mpa. If it is greater than 5Mpa, it is assumed that the make-up and make-out are abnormal. At this time, the automatic make-up and make-out program should be stopped to check whether the drill rod slips.

[0051] Step B5, the moving speed of the rotator and the rotating speed of the chuck during the whole process of making up are monitored by the displacement sensor w and the encoder b respectively;

[0052] Step B6, after the first drill rod and the second drill rod are completely tightened, the chuck stops rotating first, the feed cylinder stops feeding, the clamp cylinder unloads oil, the clamp opens, and then the chuck starts to rotate clockwise, the feed cylinder extends, enters a normal propulsion state, and performs normal drilling;

[0053] Step B7, repeat the above steps to raise the drill rod normally until the drilling is completed.

[0054] The present invention has the following effects:

[0055] Through the coordination of the hydraulic system, the automatic buckle-up and buckle-down can be realized when the drill rod is removed from the tunnel drilling rig without damaging the drill rod joint, thereby improving safety and reducing the labor intensity of workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0057] Figure 1 It is a structural diagram of the tunnel drilling rig shackle hydraulic system of the present invention;

[0058] Figure 2 This is a schematic diagram of the drilling rig structure;

[0059] Attached icons and their meanings:

[0060] 1- oil tank, 2- main oil pump, 3- auxiliary oil pump, 4- rotary motor, 5- feed oil cylinder, 6- proportional reversing valve, 7- high pressure selection valve, 8- first two-position two-way valve, 9- second two-position two-way valve, 10- hydraulic control reversing valve, 11- pressure regulating valve, 12- flow regulating valve, 13- holder, 14- chuck, 15- first drill rod, 16- second drill rod, 17- feed fuselage;

[0061] w-displacement sensor, b-encoder. DETAILED DESCRIPTION

[0062] The present invention will be further described below in conjunction with the accompanying drawings and specific implementation cases. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope limited by the appended claims of the application.

[0063] Combination Figure 1 The hydraulic system of the shackle for a tunnel drilling rig of the present invention is provided with an oil tank 1, in which a main oil pump 2 is arranged; a rotary motor oil circuit and a feed cylinder oil circuit connected to the main oil pump 2; a proportional reversing valve 6 for controlling the transmission direction of the hydraulic oil is arranged on the oil inlet and return oil circuits of the rotary motor oil circuit, and a high-pressure selection valve 7 is arranged between the proportional reversing valve 6 and the rotary motor 4, and the oil inlet and return oil circuits are connected respectively; a hydraulically controlled reversing valve 10 is arranged on the oil inlet and return oil circuits of the feed cylinder oil circuit, and a two-position two-way valve is arranged on the oil inlet and return oil circuits respectively; the high-pressure selection valve 7 is hydraulically connected to the hydraulically controlled reversing valve 10 and the two-position two-way valve respectively, to control the passage reversing of the hydraulically controlled reversing valve 10 and the opening and closing of the two-position two-way valve. The high-pressure selection valve 7 is used to judge the different pressures from the rotary motor oil circuit. For example, the pressures in the oil inlet and oil return circuits of the rotary motor oil circuit are different when the motor rotates forward and reverse. The high-pressure selection valve 7 preferentially selects the circuit with high pressure as the main circuit, thereby controlling the passage reversal of the hydraulic control reversing valve 10 and the opening and closing of the two-position two-way valve through pressure selection. Through the coordination of the hydraulic system, automatic buckling can be achieved when unloading the drill rod on the tunnel drilling rig without damaging the drill rod joint, thereby improving safety and reducing the labor intensity of workers.

[0064] In the embodiment of the present disclosure, the proportional reversing valve 6 and the hydraulic control reversing valve 10 are both four-way valves, and the ports of the four-way valves are port A, port B, port P and port T respectively; the high-pressure selection valve 7 is a three-way shuttle valve, and the ports P1, P2 and A are respectively connected, and the P1 inlet is connected to the port B of the proportional reversing valve 6 and the hydraulic control reversing valve 10; the P2 inlet is connected to the port A of the proportional reversing valve 6; the port A of the high-pressure selection valve 7 is connected to the two-position two-way valve. The proportional reversing valve 6 can be operated as needed to change the direction of the hydraulic oil, so that the rotary motor 4 can be actuated, and the motor speed can be adjusted according to the proportional opening; the high-pressure selection valve 7 extracts the high pressure of the two chambers of the hydraulic motor and transmits it to the two-way hydraulic control reversing valve to make the hydraulic oil perform logical conversion; the two-position two-way valve realizes remote automatic control of the on-off of the hydraulic oil circuit through the pressure port; when the four-way hydraulic control reversing valve 10 operates the proportional reversing valve, the hydraulic control reversing valve will perform corresponding actions, thereby changing the direction of the feed cylinder 5.

[0065] In the embodiment of the present disclosure, a flow regulating valve 12 is also provided on the oil inlet of the oil cylinder, and the flow regulating valve 12 regulates the amount of oil entering the push-pull cylinder so that its speed is adjustable and the adjustment speed is not affected by the load size.

[0066] In the embodiment of the present disclosure, a pressure regulating valve 11 is provided in communication with the main oil pump 2. The pressure regulating valve 11 maintains the system pressure constant and regulates and limits the pressure of the system when the load fluctuates, thereby playing a protective role.

[0067] In the embodiment of the present disclosure, a secondary oil pump 3 is further provided in the oil tank 1 , and a clamper oil circuit is provided in communication with the secondary oil pump 3 .

[0068] In the embodiment of the present disclosure, a chuck oil circuit is also provided in communication with the main oil pump 2. The main oil pump 2 and the auxiliary oil pump 3 can be fixed quantity or variable quantity pumps, and output hydraulic oil of different flow rates according to the rotation speed of the motor used in the drilling rig, and the output flow rate meets the requirements of the rotary motor and the push-pull cylinder.

[0069] In the embodiments of the present disclosure, it includes:

[0070] A feed body 17 is provided, on which a clamp 13 is fixedly arranged, a base is slidably arranged, on which a rotator is arranged, and the rotator comprises a rotary motor 4, a feed cylinder 5 and a chuck 14; the clamp 13 clamps a first drill rod 15, and the chuck 14 clamps a second drill rod 16; a displacement sensor w is arranged on the feed body 17, and an encoder b is arranged on the chuck 14.

[0071] In the control method of the hydraulic system for the tunnel drilling rig of any scheme of the present invention, the relationship between the rotation speed of the rotary motor 4 and the moving speed of the feed cylinder 5 must meet the following conditions:

[0072] V 移 =V 转 ×P;

[0073] The speed of the rotary motor is V 转 , the axis movement speed of the feed cylinder is V 移 , the pitch of the drill pipe joint is P.

[0074] In the embodiment of the present disclosure, the proportional reversing valve 6 and the hydraulically controlled reversing valve 10 are both four-way valves, and the ports of the four-way valves are respectively A port, B port, P port and T port, and the high-pressure selection valve 7 is a three-way shuttle valve, which are respectively P1 inlet, P2 inlet and A outlet; the two-position two-way valve includes a first two-position two-way valve 8 arranged on the oil return line of the oil feed cylinder oil circuit and a second two-position two-way valve 9 arranged on the oil inlet line of the oil feed cylinder oil circuit; the hydraulic system contains a logic control circuit including the proportional reversing valve 6, the hydraulically controlled reversing valve 10 and the high-pressure selection valve 7, when When the proportional reversing valve 6 is in action, the hydraulic control reversing valve 10 will be activated for reversing by the direction of operation, and the hydraulic control reversing valve 10 will be activated by the high pressure selection valve 7 at the same time; the hydraulic system includes a flow regulating valve 12. When the hydraulic rotary motor and the hydraulic push-pull cylinder are in the state of screwing and unscrewing the drill pipe, the opening of the proportional reversing valve 6 determines the speed of the hydraulic motor. The flow regulating valve 12 can be adjusted to match the linear running speed of the feed cylinder 5 with the speed of the rotary motor; within the effective distance of the drill pipe connection, the rotary circuit pressure P 回 and mobile circuit pressure P 移 It should be less than 5Mpa. When it is greater than 5Mpa, it is assumed that the make-up and make-off are abnormal, and the buckle will be damaged. At this time, the automatic make-up and make-off program should be stopped to check whether the buckle is damaged; the pressure should be greater than 5Mpa when the make-up and make-off start and the make-up end. When it is less than 5Mpa, it is assumed that the make-up and make-off are abnormal. At this time, the automatic make-up and make-off program should be stopped to check whether the drill pipe slips; since the device is equipped with an encoder b for monitoring the rotation speed of the rotator and a displacement sensor w for monitoring the movement speed of the rotator along the axis of the drill pipe, when making and making and making and making, you only need to set the rotation speed and moving speed of the rotator according to the above formula to avoid the mismatch between the rotation speed and moving speed of the rotator and the occurrence of buckle damage.

[0075] Make-up process: manually operate the proportional reversing valve 6 to reverse to the left, and the rotary motor 4 rotates forward. At this time, the A port and the P port of the proportional reversing valve 6 are connected to the oil inlet, and the pressure of the A port of the proportional reversing valve 6 is greater than the pressure of the B port of the proportional reversing valve 6. The P2 inlet of the high-pressure selection valve 7 is connected, and the hydraulic oil flows through the P2 inlet of the high-pressure selection valve 7 to the A port of the high-pressure selection valve 7 and then flows into the two-position two-way valve, so that the first two-position two-way valve 8 and the second two-position two-way valve 9 are connected, so that the high-pressure oil of the main oil pump 2 enters the second two-position two-way valve 9 to the P port to the A port of the hydraulic control reversing valve 10, enters the rodless chamber of the feed cylinder 5 to the rod chamber and flows out, and then flows from the B port to the T port of the hydraulic control reversing valve 10, and finally flows back to the oil tank 1 through the first two-position two-way valve 8;

[0076] Unbuckling process: manually operate the proportional reversing valve 6 to reverse to the right, the pressure of the B port of the proportional reversing valve 6 is greater than that of the A port, the P1 inlet of the high-pressure selection valve 7 is connected, and the hydraulic oil passes through the P1 inlet of the high-pressure selection valve 7 to the A port of the high-pressure selection valve 7 to the two-position two-way valve, so that the first two-position two-way valve 8 and the second two-position two-way valve 9 are connected, and at the same time, the high-pressure oil at the P1 inlet of the high-pressure selection valve 7 flows into the control port of the hydraulic control reversing valve 10, so that the hydraulic control reversing valve 10 automatically switches direction; the high-pressure oil of the main oil pump 2 enters the second two-position two-way valve 9 to the P port to the B port of the hydraulic control reversing valve 10, enters the rod chamber of the feed cylinder 5, flows out to the rodless chamber, and then from the A port to the T port of the hydraulic control reversing valve 10, and finally is connected by the first two-position two-way valve 8 to flow back to the oil tank 1.

[0077] Combination Figure 2 In the embodiment of the present disclosure, a flow regulating valve 12 is further provided on the oil inlet of the oil cylinder oil circuit, a pressure regulating valve 11 is provided in communication with the main oil pump 2, an auxiliary oil pump 3 is further provided in the oil tank 1, a clamper oil circuit is provided in communication with the auxiliary oil pump 3, and a chuck oil circuit is further provided in communication with the main oil pump 2;

[0078] Also includes:

[0079] A feed body 17, a clamp 13 is fixedly arranged on the feed body 17, a base is slidably arranged, a rotator is arranged on the base, and the rotator includes a rotary motor 4, a feed cylinder 5 and a chuck 14; the clamp 13 clamps a first drill rod 15, and the chuck 14 clamps a second drill rod 16; a displacement sensor w is arranged on the feed body 17, and an encoder b is arranged on the chuck 14;

[0080] The drill pipe unloading process includes:

[0081] Step A1, the clamp 13 is opened, the chuck 14 clamps the second drill rod 16 and moves away from the clamp 13 along the drill rod axis to between the clamp 13 and the rotator;

[0082] Step A2, the auxiliary oil pump 3 works to drive the high-pressure oil to flow to the clamp 13, so that the clamp 13 clamps the first drill rod 15, and the high-pressure oil of the main oil pump 2 flows into the chuck 14 to clamp the second drill rod 16, and the proportional reversing valve 6 is operated to the right reversing position. At this time, the rotary motor 4 rotates in the reverse direction, and the chuck 14 drives the second drill rod 16 to rotate counterclockwise to shackle;

[0083] Step A3, the reverse pressure oil passes through the high pressure selector valve 7 and enters the hydraulic control reversing valve 10 to reverse the direction. At this time, the inlet and outlet oil paths of the feed cylinder 5 are both connected, and the feed cylinder 5 enters the retracting state;

[0084] Step A4, adjust the flow control valve 12, the relationship between the rotation speed of the rotary motor 4 and the moving speed of the feed cylinder 5 must meet:

[0085] V 移 =V 转×P;

[0086] The speed of the rotary motor is V 转 , the axis movement speed of the feed cylinder is V 移 , the thread pitch of drill pipe joint is P;

[0087] When making and breaking the screw, the oil pressure of the rotary motor oil circuit and the feed cylinder oil circuit should be greater than 5Mpa. If it is less than 5Mpa, it is assumed that the making and breaking of the screw is abnormal. At this time, the automatic making and breaking of the screw should be stopped to check whether the drill rod slips.

[0088] Step A5, the moving speed of the rotator and the rotating speed of the chuck during the whole process of shackle are monitored by the displacement sensor w and the encoder b respectively;

[0089] Step A6, after the first drill rod 15 and the second drill rod 16 are completely disconnected, the chuck 14 stops rotating, and the rotator drives the second drill rod 16 to quickly move in the opposite direction of the clamp 13 to a specified position, the chuck 14 is released, and the second drill rod 16 is manually removed;

[0090] Step A7, the chuck 14 is loosened, and the rotator moves toward the clamp 13 until the first drill rod 15 completely enters and passes through the clamp 13 to ensure that the chuck 14 is clamped tightly. When the clamp 13 is loosened, the rotator can drive the drill rod to move away from the clamp 13, and the two drill rod joints can stay between the clamp 13 and the rotator, thus completing a drill rod unloading process;

[0091] Step A8, repeat the above process until the drill rod in the hole is completely removed;

[0092] The drill pipe installation process includes:

[0093] Step B1, the auxiliary oil pump 3 works to drive the high-pressure oil to flow to the clamp 13 to clamp the first drill rod 15, the rotator moves to the rear of the main machine, the chuck 14 opens, and the second drill rod 16 is manually fed into the chuck 14 and passed through to clamp;

[0094] Step B2, operate the proportional reversing valve 6 to the left reversing position, at which time the rotary motor 4 rotates forward, and the chuck 14 drives the second drill rod 16 to rotate clockwise and buckle up;

[0095] Step B3, the positive pressure oil passes through the high pressure selector valve 7 and enters the hydraulic control reversing valve 10 to make it reverse. At this time, the inlet and outlet oil passages of the feed cylinder 5 are both connected, and the feed cylinder 5 enters the propulsion state;

[0096] Step B4, adjust the flow control valve 12, the relationship between the rotation speed of the rotary motor 4 and the moving speed of the feed cylinder 5 must meet:

[0097] V 移 =V 转 ×P;

[0098] The speed of the rotary motor is V 转 , the axis movement speed of the feed cylinder is V 移 , the thread pitch of drill pipe joint is P;

[0099] During make-up and make-out, the oil pressure of the rotary motor oil circuit and the feed cylinder oil circuit should be less than 5Mpa. If it is greater than 5Mpa, it is assumed that the make-up and make-out are abnormal. At this time, the automatic make-up and make-out program should be stopped to check whether the drill rod slips.

[0100] Step B5, the moving speed of the rotator and the rotation speed of the chuck 14 during the whole process of making up are monitored by the displacement sensor w and the encoder b respectively;

[0101] Step B6, after the first drill rod 15 and the second drill rod 16 are completely tightened, the chuck 14 stops rotating first, the feed cylinder 5 stops feeding, the clamp 13 oil cylinder is unloaded, the clamp 13 is opened, and then the chuck 14 starts to rotate clockwise, the feed cylinder 5 extends, enters the normal propulsion state, and performs normal drilling;

[0102] Step B7, repeat the above steps to raise the drill rod normally until the drilling is completed.

[0103] The above are only specific embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A shackle hydraulic system for a tunnel drilling rig, characterized in that: An oil tank (1) and a main oil pump (2) are provided; A rotary motor oil circuit and a feed cylinder oil circuit connected to the main oil pump (2); A proportional reversing valve (6) for controlling the transmission direction of hydraulic oil is arranged on the oil inlet and oil return of the rotary motor oil circuit, and a high-pressure selection valve (7) is arranged between the proportional reversing valve (6) and the rotary motor (4) to connect the oil inlet and oil return, respectively; A hydraulically controlled reversing valve (10) is provided on the oil inlet and oil return lines of the oil feeding cylinder oil circuit, and a two-position two-way valve is provided on the oil inlet and oil return lines respectively; The high-pressure selector valve (7) is hydraulically connected to the hydraulically controlled reversing valve (10) and the two-position two-way valve respectively to control the passage reversing of the hydraulically controlled reversing valve (10) and the opening and closing of the two-position two-way valve.

2. The shackle hydraulic system for tunnel drilling rig according to claim 1, characterized in that: The proportional reversing valve (6) and the hydraulically controlled reversing valve (10) are both four-way valves, and the ports of the four-way valves are port A, port B, port P and port T respectively; The high-pressure selector valve (7) is a three-way shuttle valve having a P1 inlet, a P2 inlet and an A outlet. The P1 inlet is connected to the B port of the proportional reversing valve (6) and the hydraulically controlled reversing valve (10); the P2 inlet is connected to the A port of the proportional reversing valve (6); The port A of the high pressure selector valve (7) is connected to the two-position two-way valve.

3. The shackle hydraulic system for tunnel drilling rigs according to claim 1 or 2, characterized in that: A flow regulating valve (12) is also arranged on the oil inlet circuit of the oil cylinder.

4. The shackle hydraulic system for tunnel drilling rigs according to claim 1 or 2, characterized in that: A pressure regulating valve (11) is provided in communication with the main oil pump (2).

5. The shackle hydraulic system for tunnel drilling rigs according to claim 1 or 2, characterized in that: An auxiliary oil pump (3) is also provided in the hydraulic system, and a clamper oil circuit is provided in the oil circuit of the auxiliary oil pump (3).

6. The shackle hydraulic system for tunnel drilling rigs according to claim 1 or 2, characterized in that: A chuck oil circuit is also provided in communication with the main oil pump (2).

7. The shackle hydraulic system for tunnel drilling rigs according to claim 1 or 2, characterized in that: include: A feeding body (17), a clamp (13) is fixedly arranged on the feeding body (17), a base is slidably arranged, a rotator is arranged on the base, and the rotator includes a rotary motor (4), a feeding cylinder (5) and a chuck (14); The clamp (13) clamps the first drill rod (15), and the chuck (14) clamps the second drill rod (16); the displacement sensor w is arranged on the feed body (17), and the encoder b is arranged on the chuck (14).

8. The control method of the shackle hydraulic system for a tunnel drilling rig according to any one of claims 1 to 7, characterized in that: The relationship between the rotation speed of the rotary motor (4) and the moving speed of the feed cylinder (5) must meet the following conditions: V 移 =V 转 ×P; The speed of the rotary motor is V 转 , the axis movement speed of the feed cylinder is V 移 , the pitch of the drill pipe joint is P.

9. The control method of the shackle hydraulic system for a tunnel drilling rig according to claim 8, characterized in that: The proportional reversing valve (6) and the hydraulically controlled reversing valve (10) are both four-way valves, the ports of which are port A, port B, port P and port T respectively; the high-pressure selector valve (7) is a three-way shuttle valve, the ports of which are port P1, port P2 and port A respectively; The two-position two-way valve comprises a first two-position two-way valve (8) arranged on the oil return line of the oil feeding cylinder oil circuit and a second two-position two-way valve (9) arranged on the oil inlet line of the oil feeding cylinder oil circuit; Make-up process: manually operate the proportional reversing valve (6) to reverse to the left, and the rotary motor (4) rotates forward. At this time, the A port and the P port of the proportional reversing valve (6) are connected to the oil inlet, and the pressure of the A port of the proportional reversing valve (6) is greater than the pressure of the B port of the proportional reversing valve (6). The P2 inlet of the high-pressure selection valve (7) is connected, and the hydraulic oil flows through the P2 inlet of the high-pressure selection valve (7) to the A port of the high-pressure selection valve (7) and then flows into the two-position two-way valve, so that the first two-position two-way valve (8) and the second two-position two-way valve (9) are connected, so that the high-pressure oil of the main oil pump (2) enters the second two-position two-way valve (9) to the P port to the A port of the hydraulic control reversing valve (10), enters the rodless chamber of the oil feed cylinder (5) to the rod chamber, and then flows out to the B port to the T port of the hydraulic control reversing valve (10), and finally is connected by the first two-position two-way valve (8) to flow back to the oil tank (1); The process of breaking the buckle: the proportional reversing valve (6) is manually operated to reverse to the right, the pressure at the B port of the proportional reversing valve (6) is greater than that at the A port, the P1 inlet of the high-pressure selection valve (7) is connected, and the hydraulic oil flows through the P1 inlet of the high-pressure selection valve (7) to the A port of the high-pressure selection valve (7) to the two-position two-way valve, so that the first two-position two-way valve (8) and the second two-position two-way valve (9) are connected. At the same time, the high-pressure oil at the P1 inlet of the high-pressure selection valve (7) flows into the control port of the hydraulic control reversing valve (10), so that the hydraulic control reversing valve (10) automatically switches direction; the high-pressure oil of the main oil pump (2) enters the second two-position two-way valve (9) to the P port to the B port of the hydraulic control reversing valve (10), enters the rod chamber of the feed oil cylinder (5) and flows out to the rodless chamber, and then flows from the A port to the T port of the hydraulic control reversing valve (10), and finally flows back to the oil tank (1) through the first two-position two-way valve (8).

10. The control method of the shackle hydraulic system for a tunnel drilling rig according to claim 8, characterized in that: A flow regulating valve (12) is also provided on the oil inlet of the oil feeding cylinder oil circuit, a pressure regulating valve (11) is provided in communication with the main oil pump (2), an auxiliary oil pump (3) is also provided in the oil tank (1), a clamper oil circuit is provided in communication with the auxiliary oil pump (3), and a chuck oil circuit is provided in communication with the main oil pump (2); Also includes: A feeding machine body (17), a clamp (13) is fixedly arranged on the feeding machine body (17), a base is slidably arranged, a rotator is arranged on the base, and the rotator comprises a rotatable motor (4), a feeding oil cylinder (5) and a chuck (14); the clamp (13) clamps a first drill rod (15), and the chuck (14) clamps a second drill rod (16); a displacement sensor w is arranged on the feeding machine body (17), and an encoder b is arranged on the chuck (14); The drill pipe unloading process includes: Step A1, the clamp (13) is opened, and the chuck (14) clamps the second drill rod (16) and moves away from the clamp (13) along the axis of the drill rod to between the clamp (13) and the rotator; Step A2, the auxiliary oil pump (3) works to drive the high-pressure oil to flow to the clamp (13), so that the clamp (13) clamps the first drill rod (15), and the high-pressure oil of the main oil pump (2) flows into the chuck (14) to clamp the second drill rod (16), and the proportional reversing valve (6) is operated to the right reversing position. At this time, the rotary motor (4) rotates in the reverse direction, and the chuck (14) drives the second drill rod (16) to rotate counterclockwise to break the buckle; Step A3, the reverse pressure oil passes through the high-pressure selection valve (7) and enters the hydraulic control reversing valve (10) to reverse the direction. At this time, the inlet and outlet oil paths of the feed cylinder (5) are both connected, and the feed cylinder (5) enters the retraction state; Step A4, adjust the flow control valve (12), the relationship between the rotation speed of the rotary motor (4) and the moving speed of the feed cylinder (5) must meet: V 移 =V 转 ×P; The speed of the rotary motor is V 转 , the axis movement speed of the feed cylinder is V 移 , the thread pitch of drill pipe joint is P; When making and breaking the screw, the oil pressure of the rotary motor oil circuit and the feed cylinder oil circuit should be greater than 5Mpa. If it is less than 5Mpa, it is assumed that the making and breaking of the screw is abnormal. At this time, the automatic making and breaking of the screw should be stopped to check whether the drill rod slips. Step A5, the moving speed of the rotator and the rotating speed of the chuck during the whole process of shackle are monitored by the displacement sensor w and the encoder b respectively; Step A6, after the first drill rod (15) and the second drill rod (16) are completely disconnected, the chuck (14) stops rotating, the rotator drives the second drill rod (16) to quickly move in the opposite direction of the clamp (13) to a specified position, the chuck (14) is released, and the second drill rod (16) is manually removed; Step A7, the chuck (14) is loosened, and the rotator moves toward the clamp (13) until the first drill rod (15) completely enters and passes through the clamp (13) to ensure that the chuck (14) is clamped tightly. When the clamp (13) is loosened, the rotator can drive the drill rod to move away from the clamp (13) and the two drill rod joints can stay between the clamp (13) and the rotator, thus completing a drill rod unloading process; Step A8, repeat the above process until the drill rod in the hole is completely removed; The drill pipe installation process includes: Step B1, the auxiliary oil pump (3) works to drive the high-pressure oil to flow to the clamp (13) to clamp the first drill rod (15), the rotator moves to the rear of the main machine, the chuck (14) opens, and the second drill rod (16) is manually fed into the chuck (14) and passed through to clamp; Step B2, operate the proportional reversing valve (6) to the left reversing position, at which time the rotary motor (4) rotates forward, and the chuck (14) drives the second drill rod (16) to rotate clockwise and buckle up; Step B3, the positive pressure oil passes through the high pressure selector valve (7) and enters the hydraulic control reversing valve (10) to change its direction. At this time, the inlet and outlet oil passages of the feed cylinder (5) are both connected, and the feed cylinder (5) enters the propulsion state; Step B4, adjust the flow control valve (12), the relationship between the rotation speed of the rotary motor (4) and the moving speed of the feed cylinder (5) must meet: V 移 =V 转 ×P; The speed of the rotary motor is V 转 , the axis movement speed of the feed cylinder is V 移 , the thread pitch of drill pipe joint is P; During make-up and make-out, the oil pressure of the rotary motor oil circuit and the feed cylinder oil circuit should be less than 5Mpa. If it is greater than 5Mpa, it is assumed that the make-up and make-out are abnormal. At this time, the automatic make-up and make-out program should be stopped to check whether the drill rod slips. Step B5, the moving speed of the rotator and the rotation speed of the chuck (14) during the entire process of buckling are monitored by the displacement sensor w and the encoder b respectively; Step B6, after the first drill rod (15) and the second drill rod (16) are completely tightened, the chuck (14) stops rotating, the feed cylinder (5) stops feeding, the oil cylinder of the clamp (13) is unloaded, the clamp (13) is opened, and then the chuck (14) starts to rotate clockwise, the feed cylinder (5) extends, enters a normal propulsion state, and performs normal drilling; Step B7, repeat the above steps to raise the drill rod normally until the drilling is completed.

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