A propeller system and control method for automatically controlling drilling rig operation

Abstract

The present invention discloses a propeller system and control method for automatically controlling drilling rig operation, which relates to the field of coal mine machinery, including: a propeller, a hydraulic cylinder, a hydraulic motor for driving the propeller to rotate, a control valve group for controlling the rotation direction of the propeller, a drilling rig including an angle sensor and a displacement sensor, and a processor for receiving and calculating the parameters of the angle sensor and the displacement sensor; the processor sends a control signal to the control valve group of the propeller according to the parameters transmitted by the angle sensor and the displacement sensor, and the control valve group controls the propeller to adjust its position according to the control signal. The present invention can realize automatic early braking. The processor judges the position of the telescopic end of the slewing mechanism or the cylinder when the propulsion cylinder moves according to the parameters fed back by the displacement sensor, and stops when the slewing mechanism retreats to a certain distance from the stop position, so that the slewing mechanism is in a floating state, and the retreat speed of the slewing mechanism will drop rapidly.

Description

Technical Field

[0001] The present invention relates to the field of coal mine machinery, and in particular to a thruster system and a control method for automatically controlling drilling rig operations. Background Art

[0002] With the advancement of science and technology, the technical level of drilling engineering equipment has also entered a stage of rapid development. Drilling engineering equipment can replace manual work in underground coal mine drilling operations. At present, the existing technology has realized automatic drilling and automatic drilling by cooperating with the manipulator and the drill rod in the drill rod box, and its automation level is gradually improving.

[0003] However, there is a problem in the prior art that when a manipulator sends a drill rod from a fixed position to realize continuous automatic operation of the equipment, the position accuracy of the rotary mechanism that cooperates with the manipulator to send the drill rod is difficult to control. The rotary mechanism should stop at a fixed position each time the manipulator sends or recovers the drill rod. During the construction of the equipment, due to the existence of large-angle drilling or vertical drilling at the drilling angle, the weight of the rotary mechanism itself and the weight of the drill rod at the front end of the rotary mechanism are superimposed, which greatly affects the stop position control of the rotary mechanism. In particular, when the hydraulic cylinder is used to propel the rotary mechanism to reciprocate, the braking of the rotary mechanism is delayed due to the hydraulic inertia problem, resulting in a deviation in the stop position of the rotary reducer. In particular, when the dead weight of the rotary mechanism is large, there are many drill rods at the front end, the drilling angle is large, and the rotary mechanism retreats quickly, the stop position deviation of the rotary mechanism is greater. If a hydraulic lock is added to the propulsion cylinder, the rotary mechanism will cause great damage to the drill rod thread when the drill rod is threaded, so the hydraulic lock cannot be used to brake the propulsion cylinder. Summary of the invention

[0004] In order to solve the technical problems in the prior art, the present invention provides a thruster system and a control method for automatically controlling drilling rig operations. The method achieves accurate positioning of the slewing mechanism by means of technical means such as early braking of the thrust cylinder of the slewing reducer, increasing the return oil pressure, and performing deviation compensation.

[0005] According to one aspect of the present invention, a thruster system for automatically controlling drilling rig operations includes: a thruster, a hydraulic cylinder, a hydraulic motor for driving the thruster to move, a control valve group for controlling the moving direction of the thruster, a drilling rig including an angle sensor and a displacement sensor, and a processor for receiving parameters of the angle sensor and the displacement sensor and performing calculations; the processor sends a control signal to the control valve group of the thruster according to the parameters transmitted by the angle sensor and the displacement sensor, and the control valve group controls the thruster to adjust its position according to the control signal.

[0006] Further optionally, the control valve group includes a Y-type valve for controlling the moving direction of the thruster and a limiting valve arranged in the oil return pipeline of the hydraulic cylinder, and the limiting valve allows braking after the hydraulic cylinder stops.

[0007] Further optionally, the limiting valve includes a one-way solenoid valve, a hydraulically controlled one-way valve, a counterbalance valve, etc.

[0008] Further optionally, the thruster includes a rotating mechanism and a guide rail, a displacement sensor is installed between the rotating mechanism and the guide rail, the displacement sensor is a full-segment displacement sensor, both ends of which are fixed on the guide rail, and the magnetic ring of the full-segment displacement sensor is fixed on the rotating mechanism; an angle sensor is arranged on the guide rail to sense the angle between the guide rail and the ground, and the output ends of the displacement sensor and the angle sensor are connected to the input end of the processor in a wired form.

[0009] Further optionally, the output end of the processor is connected to the control valve group in a wired form, and the starting position and the end position of the rotary mechanism are preset in the processor.

[0010] According to another aspect of the present invention, a control method for a thruster of an automatic control drilling operation is characterized in that it includes: when the thruster reaches an end position preset in a processor during the drilling process, a drill retraction operation is performed; during the retraction of the thruster, displacement parameters and angle parameters of the thruster are obtained through an angle sensor and a displacement sensor, and transmitted to the processor; a measurement position is preset in an object motion model of the processor, and when the thruster reaches the measurement position, the processor calculates the thruster pressure supply direction and the input pressure value through the object motion model according to the displacement parameters and angle parameters to form a control signal; after receiving the control signal, the control valve group controls the thruster, and the thruster stops at a preset starting position.

[0011] Further optionally, the object motion model is:

[0012]

[0013] Wherein, M is the mass of the thruster, and the distance L between the slewing mechanism M and the starting position is collected by the displacement sensor; the relative speed V of the slewing mechanism before stopping is calculated by the fixed relative position change and time; the angle sensor collects the angle a between the guide rail and the ground when the slewing mechanism moves; G is the gravity of the thruster; μ is the friction coefficient, and F1 is the thrust; the calculation method of the input pressure value is as follows: F1=P×S; wherein P is the power of the thruster, and S is the piston area of ​​the hydraulic cylinder.

[0014] Further optionally, the processor calculates the thruster pressure supply direction and the pressure supply value through the object motion model according to the displacement parameter and the angle parameter, and the step of forming the control signal further includes:

[0015] The processor calculates the input pressure value required for the propeller to stop at the preset starting position with the displacement parameter and angle parameter of the measured position through the object motion model, and forms a control signal to control the propeller to stop;

[0016] The displacement sensor detects the stop position of the propeller and determines whether the propeller returns to the preset starting position;

[0017] If not, the processor determines the pressure supply direction and the pressure supply value according to the stop position of the propeller, so that the propeller moves to the preset starting position.

[0018] The beneficial effects of the present invention are:

[0019] 1. In the technical solution proposed by the present invention, the hydraulic cylinder can realize automatic early braking. The processor judges the position of the telescopic end of the slewing mechanism or the cylinder when the cylinder is pushed forward according to the parameters fed back by the displacement sensor, and stops when the slewing mechanism retreats to a certain distance from the stop position, so that the slewing mechanism is in a floating state, and the retreat speed of the slewing mechanism will decrease rapidly;

[0020] 2. The technical solution of the present invention can realize automatic deviation compensation: when the slewing mechanism moves forward and backward, the movement position of the slewing mechanism is monitored in real time through the displacement sensor. When the propulsion cylinder of the slewing mechanism stops, it is judged whether the slewing mechanism is at the preset starting position. If there is a deviation from the starting position, the propulsion cylinder can be re-controlled at a low speed to make the slewing mechanism move to a fixed position and brake.

[0021] 3. The technical solution of the present invention increases the return oil pressure: when the slewing mechanism needs to stop, simply cutting off the inlet and outlet oil circuits of the propulsion cylinder cannot achieve the braking of the cylinder. By introducing a limiting valve in the hydraulic cylinder to limit the oil circuit on the return oil side of the hydraulic cylinder, the propulsion cylinder is braked. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 The object motion model of the control method of the thruster for automatically controlling drilling rig operation proposed by the present invention is shown; DETAILED DESCRIPTION

[0023] Now the content of the present invention will be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the content of the present invention, rather than implying any limitation on the scope of the present invention.

[0024] As used herein, the term "including" and variations thereof are to be interpreted as open-ended terms meaning "including but not limited to." The term "based on" is to be interpreted as "based, at least in part, on." The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment." The term "another embodiment" is to be interpreted as "at least one other embodiment."

[0025] Example 1

[0026] like Figure 1 The content shown in this embodiment will provide a clear and complete description of the technical solution. The described embodiment is only a part of the embodiments of the present invention, not all of the embodiments. This embodiment discloses a thruster system for automatically controlling drilling operations, which mainly includes:

[0027] The thruster is mainly composed of a slewing mechanism and a guide rail. A displacement sensor is installed between the slewing mechanism and the guide rail. The displacement sensor is a full-segment displacement sensor. In this embodiment, a high-precision millimeter-level hysteresis telescopic displacement sensor is preferably used. The two ends of the displacement sensor are fixed on the guide rail, and the magnetic ring of the full-segment displacement sensor is fixed on the slewing mechanism; when the slewing mechanism slides along the guide rail, the position change of the magnetic ring relative to the sensor rod is converted into an electrical signal and transmitted to the processor in real time, and the processor collects the position of the slewing mechanism in real time.

[0028] An angle sensor is also installed on the guide rail to sense the angle between the guide rail and the ground. When the drill's thruster is looking for a drilling position, the guide rail needs to keep changing its angle. When the drilling position is determined, the angle between the guide rail and the ground is sensed by the angle sensor, which generates an electrical signal as an output and transmits it to the processor via wires. The processor collects the angle between the rotary mechanism and the ground. The output of the displacement sensor and the angle sensor can be connected to the input of the processor via wires or wirelessly.

[0029] The thruster system also includes: a hydraulic cylinder, a hydraulic motor for driving the thruster to rotate, and a control valve group and a limiting valve for controlling the moving direction of the thruster. The free end of the piston rod of the hydraulic cylinder is connected to the power head, the limiting valve is arranged on the piston rod chamber oil inlet circuit of the hydraulic cylinder, and the reverse oil inlet of the limiting valve is connected to the oil inlet and outlet of the piston rod chamber in the hydraulic cylinder, the oil inlet I and the oil inlet II in the control valve group are respectively connected to the reverse circuit of the hydraulic motor and the oil inlet circuit of the piston chamber of the thrust cylinder, and the oil outlet of the control valve group is connected to the control port of the limiting valve to form a control oil circuit. The control valve group includes a Y-type valve for controlling the moving direction of the thruster and a limiting valve arranged in the return oil pipeline of the hydraulic cylinder. The limiting valve can brake after the hydraulic cylinder stops. The limiting valve includes a one-way solenoid valve, a hydraulic one-way valve and a counterbalance valve. The control valve group of the hydraulic cylinder adopts a Y-type valve. When the valve is in the middle position, the oil inlet and outlet of the thrust cylinder are connected, so that the cylinder is in a floating state, meeting the requirements of the connection thread of the rotary mechanism. A limiting valve is added to the oil return line when the propulsion cylinder moves backward, so that the hydraulic cylinder can be braked after stopping to avoid further sliding due to gravity operation.

[0030] The control valve group controls the oil circuit to control whether the oil at both ends of the limit valve can flow freely, and then controls the thruster to prevent it from sliding down due to the influence of free fall; when no oil enters the control valve group, there is no pressure oil in the control oil circuit of the hydraulic control one-way valve, so that the oil cannot flow out of the piston rod cavity and flow freely at both ends of the hydraulic control one-way valve. At this time, the thruster cannot retreat, so the thruster will not slide down due to its own gravity or other factors, and the thruster can stop at any position.

[0031] The thruster system also includes a processor, which sends a control signal to the control valve group of the thruster according to the parameters transmitted by the angle sensor and the displacement sensor, and the control valve group controls the thruster to adjust its position according to the control signal. The processor is preset with the starting position and the end position of the rotary mechanism of the thruster, and also includes an object motion model, which is used to calculate the pressure supply direction and the supply pressure value of the control valve group.

[0032] The beneficial effects of this embodiment are:

[0033] In the technical solution proposed in this embodiment, the hydraulic cylinder can realize automatic early braking. The processor judges the position of the telescopic end of the slewing mechanism or the cylinder when the cylinder is pushed forward according to the parameters fed back by the displacement sensor, and stops when the slewing mechanism retreats to a certain distance from the stop position, so that the slewing mechanism is in a floating state, and the retreat speed of the slewing mechanism will decrease rapidly;

[0034] The technical solution of this embodiment increases the return oil pressure: when the slewing mechanism needs to stop, simply cutting off the inlet and outlet oil circuits of the propulsion cylinder cannot achieve braking of the cylinder. A limiting valve is introduced into the hydraulic cylinder to limit the oil circuit on the return oil side of the hydraulic cylinder, thereby braking the propulsion cylinder.

[0035] Example 2

[0036] like Figure 1 The content shown in this embodiment will provide a clear and complete description of the technical solution. The described embodiment is only a part of the embodiments of the present invention, not all of the embodiments. This embodiment discloses a control valve method for automatically controlling a thruster of a drilling rig operation, which mainly includes:

[0037] In order to achieve real-time and accurate detection of the position of the rotary mechanism, in this embodiment, a full-segment displacement sensor is installed between the rotary mechanism and the guide rail. A high-precision millimeter-level hysteresis telescopic displacement sensor is preferably used. The two ends of the sensor are fixed on the guide rail, and the magnetic ring is fixed on the rotary mechanism. It is connected to the processor in a wired form, and the starting position and end position of the rotary mechanism are preset in the processor. When the rotary mechanism slides along the guide rail, the position change of the magnetic ring relative to the sensor rod is converted into an electrical signal and transmitted to the processing system in real time, and the processing system collects the position of the rotary mechanism in real time.

[0038] The starting position and end position of the thruster are preset in advance in the processor. The end position refers to the position where the thruster needs to stop when in different states, such as the position where drilling is completed during the drilling process; the starting position refers to the position where the thruster needs to return to the initial setting in order to cooperate with the robot to drill. When the thruster needs to retreat, the control valve group supplies oil to make the slewing mechanism retreat quickly. The displacement sensor determines the position of the slewing mechanism in real time, and calculates the relative speed V of the slewing mechanism before it stops through the fixed relative position change and time. The angle sensor in the guide rail collects the angle a between the guide rail and the ground when the slewing mechanism moves, forming a Figure 1 The object motion model shown.

[0039] The distance L of the propeller M from the measured position, the current moving speed V of the propeller M, and the angle a between the guide rail and the ground collected by the displacement sensor are calculated for the first time through the following object motion model to obtain the reverse supply pressure value P1 or the variable pressure value P2 of the propeller, thereby making the propeller stop at the preset starting position. The thrust F1 required to be provided by the cylinder is calculated by the following formula, where μ is the friction coefficient.

[0040]

[0041] By calculating the thrust required to stop the thruster at the starting position, the supply pressure value that the cylinder should provide at this time can be reversed, and the calculation formula is:

[0042] P = F1 / S;

[0043] Among them, P is the pressure value required to be supplied to the hydraulic cylinder, that is, the oil pressure required by the hydraulic cylinder, and S is the piston area of ​​the hydraulic cylinder.

[0044] This forms a control signal to control the thruster.

[0045] After the thruster stops, the displacement sensor measures the stop position of the thruster. When the thruster reaches the preset starting position, the displacement sensor sends a signal to the processor, which drives the hydraulic valve to close. At this time, the limit valve is activated to limit the oil return line of the cylinder and brake the slewing mechanism. This prevents the slewing mechanism from sliding down due to its own gravity or other factors.

[0046] Due to unavoidable situations such as mechanical inertia or data transmission delay, the stop position of the propeller may be before or after the starting position. At this time, the displacement sensor can feed back the specific position of the propeller to the processor. When there is a certain deviation between the stop position and the starting position of the slewing mechanism, the displacement sensor is used to detect whether the stop position of the propeller has not exceeded the preset starting position or has exceeded the starting position;

[0047] If it does not exceed the preset starting position, the processor determines that the pressure supply direction is positive pressure supply, calculates the distance L between the stop position and the preset starting position, performs a second object motion model calculation, obtains the positive supply pressure value, and forms a control signal to control the thruster to return to the preset starting position;

[0048] If it is in a state of exceeding the preset starting position, the processor determines that the pressure supply direction is reverse pressure supply, and calculates the distance L between the stop position and the preset starting position, and calculates the object motion model for the second time to obtain the reverse supply pressure value, and forms a control signal to control the thruster to return to the preset starting position; the control signal formed by the forward supply pressure value or the reverse supply pressure value in this step drives the control valve group to open a small amount and the rotary mechanism to move slightly until it moves to the accurate position before the next action can be performed.

[0049] The technical solution of this embodiment can realize automatic deviation compensation: when the slewing mechanism moves forward and backward, the movement position of the slewing mechanism is monitored in real time through the displacement sensor. When the propulsion cylinder of the slewing mechanism stops, it is judged whether the slewing mechanism is at the preset starting position. If there is a deviation from the starting position, the propulsion cylinder can be re-controlled at a low speed to make the slewing mechanism move to a fixed position and brake.

[0050] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

[0051] It should be understood that the size of the serial numbers of each step in the content of the invention and the embodiments of the present invention does not absolutely mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

Claims

1. A thruster system for automatically controlling drilling operations, characterized in that: The propulsion system comprises: A thruster, a hydraulic cylinder, a hydraulic motor for driving the thruster to move, a control valve group for controlling the moving direction of the thruster, a drilling rig including an angle sensor and a displacement sensor, and a processor for receiving and calculating parameters of the angle sensor and the displacement sensor; The processor sends a control signal to the control valve group of the thruster according to the parameters transmitted by the angle sensor and the displacement sensor, and the control valve group controls the thruster to adjust the position according to the control signal; The control valve group includes a Y-shaped valve for controlling the moving direction of the thruster and a limiting valve arranged in the oil return pipeline of the hydraulic cylinder, and the limiting valve enables braking after the hydraulic cylinder stops; The free end of the piston rod of the hydraulic cylinder is connected to the power head, the limiting valve is arranged on the oil inlet circuit of the piston rod chamber of the hydraulic cylinder, and the reverse oil inlet of the limiting valve is connected to the oil inlet and outlet of the piston rod chamber in the hydraulic cylinder, the oil inlet I and the oil inlet II in the control valve group are respectively connected to the reverse circuit of the hydraulic motor and the oil inlet circuit of the piston chamber of the propulsion cylinder, and the oil outlet of the control valve group is connected to the control port of the limiting valve to form a control oil circuit; The limiting valve includes a one-way solenoid valve, a hydraulically controlled one-way valve and a counterbalance valve.

2. The thruster system for automatically controlling drilling operations according to claim 1, characterized in that: The thruster includes a slewing mechanism and a guide rail. A displacement sensor is installed between the slewing mechanism and the guide rail. The displacement sensor is a full-section displacement sensor, both ends of which are fixed on the guide rail. The magnetic ring of the full-section displacement sensor is fixed on the slewing mechanism. When the slewing mechanism slides along the guide rail, the position change of the magnetic ring relative to the full-section displacement sensor is converted into an electrical signal and transmitted to a processor in real time. An angle sensor is arranged on the guide rail to sense the angle between the guide rail and the ground.

3. The thruster system for automatically controlling drilling operations according to claim 2, characterized in that: The processor is preset with the starting position and the end position of the rotary mechanism.

4. A control method for a thruster system for automatically controlling drilling operations as claimed in any one of claims 1 to 3, characterized in that: include: The thruster reaches the end position preset in the processor during the drilling process and performs the drill back operation; During the backward movement of the propeller, displacement parameters and angle parameters of the propeller are obtained through the angle sensor and the displacement sensor, and transmitted to the processor; The object motion model of the processor is preset with a measurement position. When the propeller reaches the measurement position, the processor calculates the pressure supply direction and the pressure supply value of the propeller through the object motion model according to the displacement parameter and the angle parameter to form a control signal; After receiving the control signal, the control valve group controls the propeller, and the propeller stops at a preset starting position; The processor calculates the thruster pressure supply direction and the pressure supply value through the object motion model according to the displacement parameter and the angle parameter, and the step of forming a control signal also includes: The processor calculates the input pressure value required for the propeller to stop at the preset starting position with the displacement parameter and angle parameter of the measured position through the object motion model, and forms a control signal to control the propeller to stop; The displacement sensor detects the stop position of the propeller and determines whether the propeller returns to the preset starting position; If not, the processor determines the pressure supply direction and the pressure supply value according to the stop position of the propeller, so that the propeller moves to the preset starting position.

5. The control method of the thruster system for automatically controlling drilling rig operation according to claim 4, characterized in that: The object motion model is: ； Among them, M is the mass of the propeller, and the distance L between the rotating mechanism M and the starting position is collected by the displacement sensor; the relative speed V of the rotating mechanism before stopping is calculated by the fixed relative position change and time; the angle sensor collects the angle a between the guide rail and the ground when the rotating mechanism moves; G is the gravity of the propeller; μ is the friction coefficient, and F1 is the thrust; The supply pressure value is calculated as follows: P = F1 / S; Among them, P is the pressure value required to be supplied to the hydraulic cylinder, and S is the piston area of ​​the hydraulic cylinder.

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