Rotary drilling rig mast inversion control device and control method

Abstract

The present invention discloses a rotary drilling rig mast inversion control device and control method, wherein the device comprises: a first angle acquisition device, used to acquire the angle X of the mast on the rotary drilling rig rotating around the central axis; and a control device, used to perform one or more of the following operations: when X≤the first angle threshold, adjust the current of the mast right retraction proportional valve; when X≥the second angle threshold, adjust the current of the mast left retraction proportional valve. The device overcomes the problem that the inclination sensor in the prior art cannot accurately acquire the angle value of the mast in the left and right directions, which easily causes accidents such as collision between the mast and the vehicle body structure.

Description

Technical Field

[0001] The invention relates to the field of rotary drilling rig control, and in particular to a rotary drilling rig mast inversion control device and a control method. Background Art

[0002] The rotary drilling rig has large structural parts, many components, and compact installation space, which can easily cause accidents such as collisions between the mast and the body structure during the mast inversion process. At present, the rotary drilling rig adopts a double large triangle structure. Due to the limitation of installation space, the mast is generally equipped with an inclination sensor to obtain the angle of the mast in the front and back and left and right directions respectively. The inclination sensor uses the direction of gravity as a reference. When the rotary drilling rig is on an uneven or tilted ground, the inclination sensor cannot accurately obtain the angle value of the mast in the left and right direction, which can easily cause accidents such as collisions between the mast and the body structure.

[0003] Therefore, providing a rotary drilling rig mast inversion control device and control method that can effectively overcome the above technical problems during use is a problem that the present invention urgently needs to solve. Summary of the invention

[0004] In view of the above technical problems, an object of the present invention is to provide a rotary drilling rig mast inversion control device and control method that overcome the above technical problems.

[0005] In order to achieve the above object, the present invention provides a rotary drilling rig mast inversion control device, the device comprising:

[0006] A first angle acquisition device is used to acquire an angle X at which the mast on the rotary drilling rig rotates around the central axis; and

[0007] A control device for performing one or more of the following operations:

[0008] When X≤the first angle threshold, adjusting the current of the mast right retraction proportional valve;

[0009] When X≥the second angle threshold, the current of the mast left retraction proportional valve is adjusted.

[0010] Preferably, the first angle acquisition device comprises: a central axis angle sensor and a bridging mechanism;

[0011] A central axis is fixed on the mast turntable of the rotary drilling rig, and an end portion of the central axis away from the mast turntable extends into the interior of the mast. The central axis and the mast are in a vertical state. The central axis angle sensor is fixed on the end surface of the end of the central axis extending into the interior of the mast. The mast is connected to the detection axis on the central axis angle sensor through the bridging mechanism. The central axis angle sensor is used to detect the angle X at which the mast rotates around the central axis.

[0012] Preferably, the bridging mechanism comprises: a connecting rod and a rotating shaft;

[0013] The inner side surface of the mast is provided with a fixing sleeve that matches the central axis; the two ends of the connecting rod are respectively fixed to the end faces of the fixing sleeve, the connecting rod is parallel to the end faces of the central axis, and the middle part of the connecting rod is connected to the detection axis on the central axis angle sensor through the rotating shaft, and the rotating shaft is coaxially arranged with the detection axis.

[0014] Preferably, the bridging mechanism further comprises: a protective cover;

[0015] The bottom of the protective cover is fixed on the end surface of the fixing sleeve, and the protective cover is also provided with a protrusion matched with the connecting rod, and the protrusion can cover the connecting rod and the rotating shaft.

[0016] Preferably, the mast-falling control device further comprises:

[0017] A second angle acquisition device, used to acquire an angle Y formed between the mast in the front-rear direction and itself in a vertical state;

[0018] The control device is also used to adjust the maximum current values ​​of the right retraction proportional valve and the left retraction proportional valve when the angle Y is between the third angle threshold and the fourth angle threshold, so as to control and slow down the retraction speed of the mast.

[0019] Preferably, the mast-falling control device further comprises:

[0020] Weighing device, used to detect the total weight of drill pipe and drilling tools;

[0021] When the weight of the drill pipe and drilling tools is greater than a weight threshold, the mast is restricted from performing inverted movement.

[0022] The present invention also provides a method for controlling a rotary drilling rig mast inversion, the method comprising:

[0023] Get the angle X at which the mast rotates around the central axis;

[0024] When X≤the first angle threshold, adjusting the current of the mast right retraction proportional valve;

[0025] When X≥the second angle threshold, the current of the mast left retraction proportional valve is adjusted.

[0026] Preferably, the angle X of the mast rotating about the central axis is detected by a central axis angle sensor between the central axis and the bridge mechanism; wherein,

[0027] The central axis is fixed on the mast turntable of the rotary drilling rig, and one end of the central axis away from the mast turntable extends into the interior of the mast. The central axis and the mast are in a vertical state. The central axis angle sensor is fixed on the end surface of the end of the central axis extending into the interior of the mast. The mast is connected to the detection axis on the central axis angle sensor through the bridging mechanism. The central axis angle sensor is used to detect the angle X at which the mast rotates around the central axis.

[0028] Preferably, the bridging mechanism comprises: a connecting rod and a rotating shaft;

[0029] A fixing sleeve matching the central axis is arranged on the side of the mast; the two ends of the connecting rod are respectively fixed on the end faces of the fixing sleeve, the connecting rod is parallel to the end faces of the central axis, and the middle part of the connecting rod is connected to the detection axis on the central axis angle sensor through the rotating shaft, and the rotating shaft is coaxially arranged with the detection axis.

[0030] Preferably, the bridging mechanism further comprises: a protective cover

[0031] The bottom of the protective cover is fixed on the end surface of the fixing sleeve, and the protective cover is also provided with a protrusion matched with the connecting rod, and the protrusion can cover the connecting rod and the rotating shaft.

[0032] Preferably, before obtaining the angle X at which the mast rotates about the central axis, the method further comprises:

[0033] Obtain the angle Y formed by the mast in the front-rear direction and itself in the vertical state; wherein,

[0034] When the angle Y is between the third angle threshold and the fourth angle threshold, the maximum current values ​​of the right retraction proportional valve and the left retraction proportional valve are adjusted to control and slow down the retraction speed of the mast.

[0035] Preferably, before obtaining the angle Y formed by the mast in the front-rear direction and the mast itself in the vertical state, the method further comprises:

[0036] Obtain the weight of the drill rod and drill tool on the rotary drilling rig; wherein,

[0037] When the weight of the drill pipe and drilling tools is greater than a weight threshold, the mast is restricted from performing inverted movement.

[0038] The present invention also provides a machine-readable storage medium on which a program is stored, and when the program is executed, the rotary drilling rig mast inversion control method is implemented.

[0039] According to the above technical scheme, the beneficial effects of the rotary drilling rig mast-tumbling control device provided by the present invention when in use are as follows: it is not affected by the flatness of the ground, and the angle X at which the mast rotates around the central axis can be accurately obtained, and the current of the right and left retraction proportional valves of the mast are adjusted accordingly according to the size of the obtained angle X, so as to achieve control of the angle X, thereby preventing accidents such as collision between the mast and the body structure during the mast-tumbling process of the rotary drilling rig, and at the same time reducing the dependence on the operator's operating experience, making the mast-tumbling safer and more reliable.

[0040] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention but do not constitute a limitation of the present invention. In the accompanying drawings:

[0042] Figure 1 It is a schematic diagram of the overall structure of a rotary drilling rig mast inversion control device provided in a preferred embodiment of the present invention;

[0043] Figure 2 It is a schematic diagram of the overall structure of a rotary drilling rig mast inversion control device provided in a preferred embodiment of the present invention;

[0044] Figure 3 It is a schematic diagram of the assembly of the mast and the central axis of the rotary drilling rig inverted mast control device provided in a preferred embodiment of the present invention;

[0045] Figure 4 It is a schematic diagram of the assembly of the mast and the central axis of the rotary drilling rig inverted mast control device provided in a preferred embodiment of the present invention;

[0046] Figure 5 yes Figure 4 The enlarged view of point A in the middle;

[0047] Figure 6 It is a flow chart of a rotary drilling rig mast inversion control method provided in a preferred embodiment of the present invention;

[0048] Figure 7 It is a flow chart of a rotary drilling rig mast inversion control method provided in a preferred embodiment of the present invention;

[0049] Figure 8 It is a flow chart of a rotary drilling rig mast inversion control method provided in a preferred embodiment of the present invention;

[0050] Fig. 9is a hardware control logic diagram of a rotary drilling rig mast-reversing process provided in a preferred embodiment of the present invention; and

[0051] Fig.10 It is a hardware control logic diagram of a rotary drilling rig controlling a mast in left and right directions provided in a preferred embodiment of the present invention.

[0052] Description of Reference Numerals

[0053] 1Protective cover 2Connecting rod

[0054] 3 rotating shaft 4 fixed sleeve

[0055] 5 Center axis angle sensor 6 Mast

[0056] 7 center axis 8 mast turntable

[0057] 91 Mast right retraction proportional valve 92 Mast left retraction proportional valve

[0058] 10 mast cylinder 11 lower frame

[0059] 12 booms 13 drill rods and drilling tools DETAILED DESCRIPTION

[0060] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0061] In the present invention, for the angle of the mast: with the view of the driver in the cab of the rotary drilling rig as a reference, when the mast is in a vertical state, the forward and backward movement is represented as the Y direction, and the left and right movement is represented as the X direction, wherein when the mast is in a vertical state, it is judged as X: 0 degrees; Y: 0 degrees. When leaning forward, the Y value is positive, and when leaning backward, the Y value is negative; when leaning to the left side of the cab, the X value is negative; when leaning to the right, the X value is positive.

[0062] A rotary drilling rig generally includes: a lower frame 11, a mast 6, a central axis 7 and a boom 12, etc. The lower frame is the body of the rotary drilling rig, and a cockpit is also arranged on it. The lower frame 11 is connected to the mast 6 through the boom 12, the mast turntable 8, the central axis 7, the left retraction proportional valve, the right retraction proportional valve, the left extension proportional valve, the right extension proportional valve and the mast cylinder 10, etc., to achieve effective control of the mast 6.

[0063] The following is a detailed description of the rotary drilling rig mast control device. Figure 1-2 As shown, the present invention provides a rotary drilling rig mast inversion control device, the device comprising:

[0064] A first angle acquisition device is used to acquire an angle X at which the mast 6 on the rotary drilling rig rotates around the central axis 7; and

[0065] A control device for performing one or more of the following operations:

[0066] When X≤the first angle threshold, the current of the mast right retraction proportional valve 91 is adjusted;

[0067] When X≥the second angle threshold, the current of the mast left retraction proportional valve 92 is adjusted.

[0068] In the above scheme, the first angle acquisition device accurately acquires the angle X, which is the angle at which the mast 6 rotates relative to the central axis 7, and can also be understood as the angle at which the pilot in the cockpit observes the mast 6 deviating to the left or right relative to himself, and the uneven ground conditions will not affect the detection of the angle X;

[0069] In the specific control process of the present invention: when it is detected that X ≤ the first angle threshold, it means that the mast is tilted to the left relative to the cockpit position. At this time, the current of the mast left retraction proportional valve 92 is maintained, and the current of the right retraction proportional valve 91 is adjusted to make the mast cylinder on the right side of the mast 6 contract, drive the mast 6 to rotate to the right, and return the mast 6; when X ≥ the second angle threshold, it means that the mast is tilted to the right relative to the cockpit position. At this time, the current of the mast right retraction proportional valve 91 is maintained, and the current of the left retraction proportional valve 92 is adjusted to make the mast cylinder on the left side of the mast 6 contract, drive the mast 6 to rotate to the left, and return the mast 6. The angle of the mast 6 in the left and right directions is guaranteed by the above control method.

[0070] Among them, the range of the first angle threshold is generally 2° to 5°, and the range of the second angle threshold is generally -5° to -2°; preferably, the first angle threshold is 2°, and the second angle threshold is -2°, then the control method of the present invention can control the angle X within [-2°, 2], and adjust the angle as long as it is not within this range, so as to effectively avoid the problem of the mast 6 tilting too much and colliding with the fuselage during the mast-falling process.

[0071] In the prior art, a tilt sensor is generally installed directly on the mast for detection. The tilt sensor uses the direction of gravity as a reference. When the ground is uneven or tilted, the tilt sensor cannot accurately display the angle value with the equipment, which affects the measurement of the angle X and indirectly increases the risk of collision between the mast and the fuselage during the mast-falling process.

[0072] In a preferred embodiment of the present invention, the first angle acquisition device comprises: a central axis angle sensor 5 and a bridging mechanism;

[0073] A central axis 7 is fixed on the mast turntable 8 of the rotary drilling rig, and one end of the central axis 7 away from the mast turntable 8 extends into the interior of the mast 6. The central axis 7 is vertical to the mast 6. The central axis angle sensor 5 is fixed on the end surface of the end of the central axis 7 extending into the interior of the mast. The mast 6 is connected to the detection axis on the central axis angle sensor 5 through the bridging mechanism. The central axis angle sensor 5 is used to detect the angle X at which the mast 6 rotates around the central axis 7.

[0074] In the above scheme, the present invention sets a bridge mechanism to transmit the rotational force of the mast in the left-right direction relative to the central axis to the detection shaft on the central axis angle sensor 5, so as to accurately obtain the angle X. The bridge mechanism set in the present invention can accurately measure the rotation of the mast 6 in the left-right direction without changing the original structure of the rotary drilling rig, so as to facilitate the precise control of the mast 6 and realize the safe mast inversion. Of course, in order to ensure the accuracy of the detection of the central axis angle sensor 5, the central axis angle sensor 5 is generally arranged on the end surface of the central axis 7 and located at its center.

[0075] like Figure 3-5 As shown, in a preferred embodiment of the present invention, the bridging mechanism includes: a connecting rod 2 and a rotating shaft 3; the inner side surface of the mast 6 is provided with a fixing sleeve 4 that matches the central axis 7; the two ends of the connecting rod 2 are respectively fixed to the end faces of the fixing sleeve 4, the connecting rod 2 is parallel to the end faces of the central axis 7, and the middle part of the connecting rod 2 is connected to the detection axis on the central axis angle sensor 5 through the rotating shaft 3, and the rotating shaft 3 is coaxially arranged with the detection axis.

[0076] In the above scheme, the fixing sleeve 4 structure on the inner side of the mast 6 facilitates the fixing of the connecting rod 2, so that the connecting rod 2 rotates with the rotation of the mast 6, thereby transmitting the rotational force to the detection shaft on the central axis angle sensor 5, so as to realize accurate detection of the rotation angle of the mast 6.

[0077] It should be noted that in order to ensure the accuracy of the detection results of the central axis angle sensor 5, it is necessary to ensure that the central axis is perpendicular to the plane where the mast 6 is located, and the detection axis on the central axis angle sensor 5 is coaxial with the rotating shaft 3 and the central axis 7.

[0078] The bridging mechanism provided by the present invention has a simple structure and a small size, and is easy to be installed at the connection between the mast and the central axis. Due to the structural reasons of the double-large triangle structure rotary drilling rig, the installation space between the mast and the central axis is limited, and some detection devices with complex structures and large volumes cannot be accommodated, which also causes certain difficulties in accurately detecting the rotation angle of the mast in the left and right directions. This also indirectly demonstrates the advantages of the bridging mechanism in the present invention.

[0079] In a preferred embodiment of the present invention, the bridging mechanism further comprises: a protective cover 1

[0080] The bottom of the protective cover 1 is fixed on the end surface of the fixing sleeve 4 , and the protective cover 1 is also provided with a protrusion matched with the connecting rod 2 , and the protrusion can cover the connecting rod 2 and the rotating shaft 3 .

[0081] In the above scheme, a fixing sleeve 4 is provided to protect the connecting rod 2, the rotating shaft 3 and the central axis angle sensor 5, and the fixing sleeve 4 and the connecting rod 2 are always in a relatively static state, so it will not affect the normal transmission function of the bridge mechanism, but can prevent some debris inside the mast from entering the connection between the rotating shaft 3 and the central axis angle sensor 5, affecting the detection work of the central axis angle sensor 5, so the fixing sleeve 4 can indirectly ensure the detection accuracy of the central axis angle sensor 5. The material of the fixing sleeve 4 can be plastic, stainless steel, etc., as long as it is guaranteed not to rust and not easy to break, and its specific material is not limited in this invention.

[0082] In a preferred embodiment of the present invention, the mast-falling control device further comprises:

[0083] The second angle acquisition device is used to obtain the angle Y formed by the mast 6 in the front-to-back direction with itself in a vertical state; the control device is also used to adjust the maximum current values ​​of the mast right retraction proportional valve 91 and the mast left retraction proportional valve 92 when the angle Y is between the third angle threshold and the fourth angle threshold, so as to control and slow down the retraction speed of the mast 6.

[0084] In the above scheme, the mast is mainly controlled during the mast-falling process. The angle Y can be understood as the rotation angle in the mast-falling direction. Effective detection of the angle Y can ensure that the mast-falling work is carried out in an orderly and safe manner. During the mast-falling process, the distance from the cockpit is large in the early stage, and the speed of mast-falling can be relatively fast. When the distance between the mast and the cockpit reaches a certain value, in order to prevent the mast from colliding with the cockpit or other parts of the fuselage, it is necessary to strengthen the control of the mast in the left and right directions. At this time, it is necessary to slow down the speed of mast-falling to facilitate the control of the mast. For example, when the mast tilts to the left, there can be enough time to adjust the mast to make it straight. If the speed is too fast at this time, the control may not be timely, causing the mast to collide with the fuselage. The second angle acquisition device can be a mast inclination sensor.

[0085] As for the specific data of the third angle threshold and the fourth angle threshold, in general, the third angle threshold is in the range of -65° to -75°, and the fourth angle threshold is generally -90°, which is also the maximum rotation angle under normal circumstances, that is, the mast is in a horizontal state. Preferably, when the angle Y is in the range of -90° to -72°, the mast is around the cockpit and other aircraft bodies and is prone to collision with them. It is necessary to control the maximum current value of the right retraction proportional valve 91 and the left retraction proportional valve 92 of the mast to control and slow down the mast retraction speed of the mast 6, thereby ensuring the safety of mast retraction.

[0086] In a preferred embodiment of the present invention, the mast-falling control device further comprises:

[0087] A weighing device, used to detect the total weight of the drill pipe and drilling tool 13;

[0088] When the weight of the drill pipe and drilling tool 13 is greater than a weight threshold, the mast 6 is restricted from performing a reverse mast movement.

[0089] In the above scheme, in order to further improve the installability of the inverted mast, it is necessary to detect the total weight of the drill pipe and drill tools 13 before the inverted mast work begins. When the total weight exceeds the weight threshold, it means that the inverted mast process is over and the lower frame 11 cannot guarantee the stability of the rotary drilling rig. At this time, there is a risk of overall rollover. Therefore, the inverted mast work is limited while ensuring safety.

[0090] In the present invention, the weight threshold is generally within the range of 20-30 tons, that is, the total weight of the drill pipe and drilling tools 13 generally should not exceed 20-30 tons. At this time, the safety of the mast-down operation cannot be guaranteed. Of course, the present invention does not make a specific limitation on the weight threshold. For example, in some special cases, the lower frame is particularly stable and can withstand more than 30 tons of drill pipe and drilling tools 13. The weighing device can be a weight sensor.

[0091] like Figure 6 As shown, the present invention also provides a method for controlling the inverted mast of a rotary drilling rig, the method comprising:

[0092] Obtain the angle X at which the mast 6 rotates about the central axis 7;

[0093] When X≤the first angle threshold, the current of the mast right retraction proportional valve 91 is adjusted;

[0094] When X≥the second angle threshold, the current of the mast left retraction proportional valve 92 is adjusted.

[0095] In the above scheme, by accurately obtaining the angle X, the mast 6 is adjusted according to the angle X to keep it within the range of [-2°, 2], so as to effectively prevent the mast 6 from tilting too much and colliding with the fuselage during the mast-falling process.

[0096] During operation, the rotary drilling rig in the present invention uses the mast handle to perform the mast inversion operation, and according to the handle stroke size, the mast left retraction proportional valve and the mast right retraction proportional valve are adjusted to work with corresponding current output; in the specific control process of the present invention: when it is detected that X≤the first angle threshold, it means that the mast is tilted to the left relative to the position of the cab, at this time, the current of the mast left retraction proportional valve 92 is maintained, and the current of the right retraction proportional valve 91 is adjusted, so that the mast cylinder on the right side of the mast 6 is contracted, and the mast 6 is driven to rotate to the right to correct the mast 6; when X≥the second angle threshold, it means that the mast is tilted to the right relative to the position of the cab, at this time, the current of the mast right retraction proportional valve 91 is maintained, and the current of the left retraction proportional valve 92 is adjusted, so that the mast cylinder on the left side of the mast 6 is contracted, and the mast 6 is driven to rotate to the left to correct the mast 6. The angle of the mast 6 in the left and right directions is guaranteed by the above control method.

[0097] In a preferred embodiment of the present invention, the angle X of the mast 6 rotating around the central axis 7 is detected by using a central axis angle sensor between the central axis 7 and a bridging mechanism; wherein the central axis 7 is fixed on a mast turntable 8 of the rotary drilling rig, and an end portion of the central axis 7 away from the mast turntable 8 extends into the interior of the mast 6, the central axis 7 is vertical to the mast 6, the central axis angle sensor 5 is fixed on the end surface of the central axis 7 extending into the interior of the mast, the mast 6 is connected to a detection axis on the central axis angle sensor 5 through the bridging mechanism, and the central axis angle sensor 5 is used to detect the angle X of the mast 6 rotating around the central axis 7.

[0098] In the above scheme, the present invention sets a bridge mechanism to transmit the rotational force of the mast in the left-right direction relative to the central axis to the detection shaft on the central axis angle sensor 5, so as to accurately obtain the angle X. The bridge mechanism set in the present invention can accurately measure the rotation of the mast 6 in the left-right direction without changing the original structure of the rotary drilling rig, so as to facilitate the precise control of the mast 6 and realize the safe mast inversion. Of course, in order to ensure the accuracy of the detection of the central axis angle sensor 5, the central axis angle sensor 5 is generally arranged on the end surface of the central axis 7 and located at its center.

[0099] In a preferred embodiment of the present invention, the bridging mechanism comprises: a connecting rod 2 and a rotating shaft 3;

[0100] A fixing sleeve 4 matching the central axis 7 is provided on the side of the mast 6; the two ends of the connecting rod 2 are respectively fixed on the end faces of the fixing sleeve 4, the connecting rod 2 is parallel to the end faces of the central axis 7, and the middle part of the connecting rod 2 is connected to the detection axis on the central axis angle sensor 5 through the rotating shaft 3, and the rotating shaft 3 is coaxially arranged with the detection axis.

[0101] In the above scheme, the fixing sleeve 4 structure on the inner side of the mast 6 facilitates the fixing of the connecting rod 2, so that the connecting rod 2 rotates with the rotation of the mast 6, thereby transmitting the rotational force to the detection shaft on the central axis angle sensor 5, so as to realize accurate detection of the rotation angle of the mast 6.

[0102] In a preferred embodiment of the present invention, the bridging mechanism further comprises: a protective cover 1

[0103] The bottom of the protective cover 1 is fixed on the end surface of the fixing sleeve 4 , and the protective cover 1 is also provided with a protrusion matched with the connecting rod 2 , and the protrusion can cover the connecting rod 2 and the rotating shaft 3 .

[0104] In the above scheme, a fixing sleeve 4 is provided to protect the connecting rod 2, the rotating shaft 3 and the central axis angle sensor 5, and the fixing sleeve 4 and the connecting rod 2 are always in a relatively static state, so it will not affect the normal transmission function of the bridge mechanism, but can prevent some debris inside the mast from entering the connection between the rotating shaft 3 and the central axis angle sensor 5, affecting the detection work of the central axis angle sensor 5, so the fixing sleeve 4 can indirectly ensure the detection accuracy of the central axis angle sensor 5. The material of the fixing sleeve 4 can be plastic, stainless steel, etc., as long as it is guaranteed not to rust and not easy to break, and its specific material is not limited in this invention.

[0105] like Figure 7As shown, in a preferred embodiment of the present invention, the rotary drilling rig mast inversion control method includes:

[0106] Obtain the angle Y formed by the mast 6 in the front-rear direction and itself in the vertical state; wherein,

[0107] When the angle Y is between the third angle threshold and the fourth angle threshold, the maximum current values ​​of the right retraction proportional valve 91 and the left retraction proportional valve 92 are adjusted to control and slow down the retraction speed of the mast 6;

[0108] Obtain the angle X at which the mast 6 rotates about the central axis 7;

[0109] When X≤the first angle threshold, the current of the mast right retraction proportional valve 91 is adjusted;

[0110] When X≥the second angle threshold, the current of the mast left retraction proportional valve 92 is adjusted.

[0111] In the above scheme, the mast is mainly controlled during the mast-falling process. The angle Y can be understood as the rotation angle in the mast-falling direction. Effective detection of the angle can ensure that the mast-falling work is carried out in an orderly and safe manner. In the mast-falling process, the distance from the cockpit is large in the early stage, and the speed of mast-falling can be relatively fast. When the distance between the mast and the cockpit reaches a certain distance, in order to prevent the mast from colliding with the cockpit or other parts of the fuselage, it is necessary to strengthen the control of the mast in the left and right directions. At this time, it is necessary to slow down the speed of mast-falling to facilitate the control of the mast. For example, when the mast tilts to the left, there will be enough time to adjust the mast to make it straight. If the speed is too fast at this time, there may be problems with untimely control, causing the mast to collide with the fuselage.

[0112] like Figure 8 As shown, in a preferred embodiment of the present invention, the rotary drilling rig mast inversion control method includes:

[0113] Obtain the weight of the drill rod and drill tool 13 on the rotary drilling rig; wherein,

[0114] When the weight of the drill pipe and drilling tool 13 is greater than a weight threshold, the mast 6 is restricted from performing a reverse mast movement;

[0115] When the weight of the drill pipe and drilling tool 13 is greater than or equal to the weight threshold, the following steps are performed:

[0116] Obtaining an angle Y formed between the mast 6 in the front-rear direction and itself in a vertical state;

[0117] The angle X at which the mast 6 rotates about the central axis 7 is obtained.

[0118] In the above scheme, in order to further improve the installability of the inverted mast, it is necessary to detect the total weight of the drill pipe and drill tools 13 before the inverted mast work begins. When the total weight exceeds the weight threshold, it means that the inverted mast process is over and the lower frame 11 cannot guarantee the stability of the rotary drilling rig. At this time, there is a risk of overall rollover. Therefore, the inverted mast work is limited while ensuring safety.

[0119] like Fig. 9 The figure shows the hardware control logic diagram of the mast-retracting process of the rotary drilling rig. A PLC controller is generally used for logic control. The staff sends control instructions to the PLC controller through the mast handle to change the current of the proportional valve, thereby controlling the mast-retracting movement. Generally, the proportional valve includes a left-retracting proportional valve, a right-retracting proportional valve, a left-extending proportional valve and a right-extending proportional valve, thereby controlling the movement of the mast in the front-to-back and left-to-right directions.

[0120] like Fig.10 The figure shows the hardware control logic diagram for controlling the mast in the left and right directions. In the left and right directions, the movement of the mast in the left and right directions is generally controlled by a left retraction proportional valve and a right retraction proportional valve.

[0121] An embodiment of the present invention further provides a machine-readable storage medium on which a program is stored, and when the program is executed, the above-mentioned method for controlling the inverted mast of the rotary drilling rig is implemented.

[0122] The optional implementation modes of the embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above implementation modes. Within the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical scheme of the embodiments of the present invention, and these simple modifications all belong to the protection scope of the embodiments of the present invention.

[0123] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not further describe various possible combinations.

[0124] Those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions to enable a single-chip microcomputer, a chip or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0125] In addition, various implementation modes of the embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the embodiments of the present invention, they should also be regarded as the contents disclosed by the embodiments of the present invention.

Claims

1. A rotary drilling rig mast inversion control device, characterized in that: The device comprises: The first angle acquisition device is used to acquire the angle X at which the mast (6) on the rotary drilling rig rotates around the central axis (7), The first angle acquisition device comprises a central axis angle sensor (5) and a bridging mechanism, wherein the central axis angle sensor (5) is used to detect an angle X at which the mast (6) rotates about the central axis (7). The bridging mechanism comprises a connecting rod (2) and a rotating shaft (3). The side of the mast (6) is provided with a fixing sleeve (4) matched with the central axis (7); the two ends of the connecting rod (2) are respectively fixed to the end faces of the fixing sleeve (4), the connecting rod (2) is parallel to the end faces of the central axis (7), and the middle part of the connecting rod (2) is connected to the detection shaft on the central axis angle sensor (5) through the rotating shaft (3), and the rotating shaft (3) and the detection shaft are coaxially arranged; and A control device for performing one or more of the following operations: When X≤the first angle threshold, adjusting the current of the mast right retraction proportional valve (91); When X≥the second angle threshold, the current of the mast left retraction proportional valve (92) is adjusted.

2. The rotary drilling rig mast inversion control device according to claim 1, characterized in that: The mast-falling control device further comprises: A second angle acquisition device, used for acquiring an angle Y formed between the mast (6) in the front-rear direction and itself in a vertical state; The control device is also used to adjust the maximum current value of the mast right retraction proportional valve (91) and the mast left retraction proportional valve (92) when the angle Y is between the third angle threshold and the fourth angle threshold, so as to control and slow down the mast retraction speed of the mast (6).

3. The rotary drilling rig mast inversion control device according to claim 1, characterized in that: The mast-falling control device further comprises: A weighing device, used to detect the total weight of the drill rod and drill tool (13); When the weight of the drill pipe and drilling tool (13) is greater than a weight threshold, the mast (6) is restricted from performing inverted movement.

4. A method for controlling the inverted mast of a rotary drilling rig, characterized in that: The method comprises: Obtain the angle X at which the mast (6) rotates about the central axis (7), The angle X at which the mast (6) rotates about the central axis (7) is detected by a central axis angle sensor between the central axis (7) and the bridge mechanism. The bridging mechanism comprises a connecting rod (2) and a rotating shaft (3). The side of the mast (6) is provided with a fixing sleeve (4) matched with the central axis (7); the two ends of the connecting rod (2) are respectively fixed to the end faces of the fixing sleeve (4), the connecting rod (2) is parallel to the end faces of the central axis (7), and the middle part of the connecting rod (2) is connected to the detection shaft on the central axis angle sensor (5) through the rotating shaft (3), and the rotating shaft (3) and the detection shaft are coaxially arranged; When X≤the first angle threshold, adjusting the current of the mast right retraction proportional valve (91); When X≥the second angle threshold, the current of the mast left retraction proportional valve (92) is adjusted.

5. The method for controlling the inverted mast of a rotary drilling rig according to claim 4, characterized in that: The central axis (7) is fixed on the mast turntable (8) of the rotary drilling rig, and the end portion of the central axis (7) away from the mast turntable (8) extends into the interior of the mast (6). The central axis (7) and the mast (6) are in a vertical state. The central axis angle sensor (5) is fixed on the end surface of the central axis (7) extending into the interior of the mast. The mast (6) is connected to the detection axis on the central axis angle sensor (5) through the bridging mechanism. The central axis angle sensor (5) is used to detect the angle X of the mast (6) rotating around the central axis (7).

6. The method for controlling the inverted mast of a rotary drilling rig according to claim 4, characterized in that: Before obtaining the angle X at which the mast (6) rotates about the central axis (7), the method further comprises: Obtaining the angle Y formed by the mast (6) in the front-rear direction and itself in the vertical state; wherein, When the angle Y is between the third angle threshold and the fourth angle threshold, the maximum current values ​​of the right retraction proportional valve (91) and the left retraction proportional valve (92) are adjusted to control and slow down the retraction speed of the mast (6).

7. The method for controlling the inverted mast of a rotary drilling rig according to claim 6, characterized in that: Before obtaining the angle Y formed by the mast (6) in the front-rear direction and the mast itself in a vertical state, the method further comprises: The weight of the drill rod and drill tool (13) on the rotary drilling rig is obtained; wherein: When the weight of the drill pipe and drilling tool (13) is greater than a weight threshold, the mast (6) is restricted from performing inverted movement.

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