A mechanical, electrical, hydraulic and gas multi-field coupling rotary drilling system

Abstract

The present invention provides an electromechanical, hydraulic, and gas multi-field coupled rotary percussion drilling system, including a control system, a hydraulic feed subsystem, a high-speed variable plunger motor rotation subsystem, a low-speed cycloidal motor rotation subsystem, a pneumatic impact subsystem, and a comprehensive power integration subsystem. The hydraulic feed subsystem is used to control the feed and pull-out of the drill; the high-speed variable plunger motor rotation subsystem and the low-speed cycloidal motor rotation subsystem are respectively used to drive the rotation of the main shaft of the drilling rig at different speeds; the pneumatic impact subsystem is used to control the high-frequency impact of the pneumatic impact drill; the comprehensive power integration subsystem is used to integrate and transmit the comprehensive power of the hydraulic feed subsystem, the high-speed variable plunger motor rotation subsystem, the low-speed cycloidal motor rotation subsystem, and the pneumatic impact subsystem. The present invention can realize a large range of stepless speed regulation and rotation, multiple torque outputs, high-frequency impact, load-sensitive regulation, and intelligent drilling pressure regulation during the process of drilling and breaking rocks, effectively overcoming drill jamming and drilling deviation.

Description

Technical Field

[0001] The invention relates to the technical field of rotary percussion drilling of deep well drilling rigs, and in particular to an electromechanical, hydraulic, and gas multi-field coupled rotary percussion drilling system. Background Art

[0002] With the rapid development of the national economy, the demand for energy in all walks of life is also rising rapidly. However, the energy currently discovered is often located deep in the earth's crust or deep in the ocean. The low drilling efficiency and high cost of deep hard rock formations are the long-term difficulties faced in the current deep well and ultra-deep well drilling process. The rotary percussion drilling technology has been recognized by the engineering community for its advantages such as improving the drilling efficiency of hard rock formations, reducing stick-slip vibrations in directional drilling, and improving the drilling pressure transmission efficiency. It has been gradually applied to geological exploration such as minerals, oil, natural gas, groundwater, geothermal energy, as well as land and marine underground resource exploitation, emergency rescue and disaster relief, blasting construction, pile foundation construction, deep foundation pit anchoring, tunnel pipe support and other fields. Technical upgrades and innovative development present a broad application prospect.

[0003] Although rotary drilling technology has incomparable advantages over traditional rotary drilling technology, the rotary drilling drive system works in a compound motion mode of rotation and impact reciprocation, and is required to adapt to variable load conditions of unknown rock structures under complex geological conditions. A large number of engineering application practices have shown that there are still many problems in the construction process, mainly manifested as: (1) borehole deviation. The hydraulic impactor has a large impact force, the drilling rig has a large vibration force, and the stability is poor. Although the drilling rig is equipped with a level, improper operation in actual construction often causes wellbore deviation. If the deviation angle is too large, drilling cannot continue. Even if the well is completed, it is impossible to install auxiliary equipment such as casing and water pumps; (2) drilling stuck. The hardness of hard rock formations is high, and the rock formation structural fissures are complex, which leads to variable load conditions when the drilling rig is drilling. Poor output torque tracking is prone to stick-slip vibration, causing the well wall to be uneven, and the additional wellbore deflection effect. The impact drill bit is easily stuck in the wellbore or rock formation channel, and it is impossible to lift the drill or continue drilling, causing the wellbore to be scrapped. The impact down-the-hole drill and the extended drill rod will suffer huge economic losses because they cannot be lifted out of the well. Therefore, it is necessary to invent a new type of rotary percussion drilling system that can significantly improve the drilling efficiency of complex geological rock formations while overcoming "drill stuck" and "drill deviation", and improve the reliability and intelligence level of high-end drilling equipment for deep wells and ultra-deep wells. Summary of the invention

[0004] In view of the shortcomings in the prior art, the present invention provides an electromechanical, hydraulic and gas multi-field coupled rotary percussion drilling system, which can realize a large range of stepless speed regulation and rotation of the drill bit, multi-torque output, high-frequency impact, load-sensitive regulation and intelligent drilling pressure regulation during the drilling and rock breaking process, and effectively overcome "drilling sticking" and "drilling deviation".

[0005] The present invention achieves the above technical objectives through the following technical means.

[0006] An electromechanical, hydraulic and gas multi-field coupled rotary percussion drilling system, comprising a control system, a hydraulic feeding subsystem, a high-speed variable plunger motor rotation subsystem, a low-speed cycloidal motor rotation subsystem and a pneumatic percussion subsystem;

[0007] The hydraulic feed subsystem is used to control the feeding and pulling out of the drilling tool, and the hydraulic feed subsystem includes pressure parameters, a pressure comparator, a pressure regulator, a charge amplifier A, a load-sensitive control valve A, a load-sensitive hydraulic pump source, a feed oil cylinder and a pressure sensor; the control system is connected to an input end of the pressure comparator, and the control system inputs the pressure parameter into the pressure comparator; the output end of the pressure comparator is connected to the input end of the pressure regulator; the output end of the pressure regulator is input to the valve core control end of the load-sensitive control valve A through the charge amplifier A, the oil inlet of the load-sensitive control valve A is connected to the oil outlet of the load-sensitive hydraulic pump source, and the working oil port of the load-sensitive control valve A is connected to the working oil port of the feed oil cylinder; the pressure sensor is used to detect the working pressure of the feed oil cylinder, and the pressure sensor feeds back the collected pressure parameters to the control system and the other input end of the pressure comparator, so as to realize the pressure state monitoring and closed-loop feedback control of the feed oil cylinder;

[0008] The high-speed variable piston motor rotation subsystem and the low-speed cycloid motor rotation subsystem are respectively used to drive the main shaft of the drilling rig to rotate at different speeds; the pneumatic impact subsystem is used to control the high-frequency impact of the pneumatic impact drill.

[0009] Furthermore, the high-speed variable piston motor rotation subsystem includes a speed parameter A, a speed comparator A, a speed regulator A, a charge amplifier B, a load-sensitive control valve B, a high-speed variable piston motor, a torque tachometer A and a meshing sleeve A; the control system is connected to an input end of the speed comparator A, and the control system inputs the speed parameter A into the speed comparator A; the output end of the speed comparator A is connected to the input end of the speed regulator A; the output end of the speed regulator A is input to the valve core control end of the load-sensitive control valve B through the charge amplifier B, the oil inlet of the load-sensitive control valve B is connected to the oil outlet of the load-sensitive hydraulic pump source, and the working oil port of the load-sensitive control valve B is connected to the working oil port of the high-speed variable piston motor; the torque tachometer A is used to detect the speed and torque of the output end of the high-speed variable piston motor, the output end of the high-speed variable piston motor is connected to the input shaft through the meshing sleeve A, and the torque tachometer A feeds back the collected speed parameter A to the control system and the other input end of the speed comparator A, so as to realize the speed state monitoring and closed-loop feedback control of the high-speed variable piston motor.

[0010] Furthermore, the low-speed cycloidal motor rotation subsystem includes a speed parameter B, a speed comparator B, a speed regulator B, a charge amplifier C, a load-sensitive control valve C, a low-speed cycloidal motor, a torque tachometer B and a meshing sleeve B; the control system is connected to an input end of the speed comparator B, and the control system inputs the speed parameter B into the speed comparator B; the output end of the speed comparator B is connected to the input end of the speed regulator B; the output end of the speed regulator B is input to the valve core control end of the load-sensitive control valve C through the charge amplifier C, the oil inlet of the load-sensitive control valve C is connected to the oil outlet of the load-sensitive hydraulic pump source, and the working oil port of the load-sensitive control valve C is connected to the working oil port of the low-speed cycloidal motor; the torque tachometer B is used to detect the speed and torque of the output end of the low-speed cycloidal motor, the output end of the low-speed cycloidal motor is connected to the input shaft through the meshing sleeve B, and the torque tachometer B feeds back the collected speed parameter B to the control system and the other input end of the speed comparator B, so as to realize the speed state monitoring and closed-loop feedback control of the low-speed cycloidal motor.

[0011] Furthermore, the pneumatic impact subsystem includes pneumatic parameters, an air pressure comparator, an air pressure regulator, a charge amplifier D, a pneumatic control valve, an air compressor, a pneumatic parameter sensor, a spindle, a special joint, an extended drill rod and a pneumatic impact drill tool; the control system is connected to an input end of the air pressure comparator, and the control system inputs the pneumatic parameters into the air pressure comparator; the output end of the air pressure comparator is connected to the input end of the air pressure regulator; the output end of the air pressure regulator is input to the valve core control end of the pneumatic control valve through the charge amplifier D, the pneumatic control valve is connected to the air compressor, and the working air port of the pressure control valve is connected to the air inlet at the top of the spindle; the upper end of the extended drill rod is connected to the lower end of the spindle through a special joint; the lower end of the extended drill rod is connected to the pneumatic impact drill tool; the pneumatic parameter sensor is used to detect the pneumatic parameters of the air inlet at the top of the spindle, and the pneumatic parameter sensor feeds back the collected pneumatic parameters to the control system and the other input end of the air pressure comparator to realize pneumatic parameter state monitoring and closed-loop feedback control.

[0012] Furthermore, it also includes a comprehensive power integration subsystem, which is used to integrate the comprehensive power of the hydraulic feed subsystem, the high-speed variable piston motor rotation subsystem, the low-speed cycloid motor rotation subsystem and the pneumatic impact subsystem; the comprehensive power integration subsystem includes an input shaft, a torque tachometer C, a speed gear box and a power head drag plate; the input end of the input shaft is connected to the meshing sleeve A and / or the meshing sleeve B; the output end of the input shaft is connected to the main shaft through the speed gear box; the torque tachometer C is used to detect the torque and speed of the output end of the input shaft; the torque tachometer C feeds back the collected torque and speed signals to the control system; the power head drag plate is connected to the piston rod of the feed cylinder for feeding and pulling out the drilling tool.

[0013] Furthermore, during the operation of the system, the hydraulic feed subsystem, the high-speed variable piston motor rotation subsystem, the low-speed cycloid motor rotation subsystem, the pneumatic impact subsystem and the comprehensive power integration subsystem work in a linked manner at the same time; the comprehensive power integration subsystem is used to integrate and transmit the comprehensive power of the hydraulic feed subsystem, the high-speed variable piston motor rotation subsystem, the low-speed cycloid motor rotation subsystem and the pneumatic impact subsystem, and under the control of the control system, a large range of stepless speed regulation and rotation of the drill bit, multiple torque outputs, high-frequency impact, load-sensitive control and intelligent drilling pressure control are realized during the drilling and rock breaking process.

[0014] The beneficial effects of the present invention are:

[0015] 1. The electromechanical, hydraulic and gas multi-field coupled rotary percussion drilling system described in the present invention can realize a wide range of stepless speed regulation rotation, multiple torque outputs, high-frequency impact, load-sensitive regulation and intelligent drilling pressure regulation during the drilling and rock breaking process.

[0016] 2. The electromechanical, hydraulic, and gas multi-field coupled rotary percussion drilling system described in the present invention achieves large-volume rock crushing under the coordinated action of stepless speed regulation, high-frequency impact, and intelligent drilling pressure control, with a short crushing time, and avoids the generation of deflection torque to a certain extent, thereby ensuring the quality of the borehole. The improvement of the rock breaking method improves the situation of ultra-high drilling pressure and ultra-high speed during the drilling process, making the force of the drill string more balanced, and reducing the possibility of borehole deflection and drill jamming when drilling in complex formations, making the drilling process safer and more efficient.

[0017] 3. The electromechanical, hydraulic and gas multi-field coupled rotary percussion drilling system described in the present invention adopts a high-frequency impact rock breaking method to reduce the wear of the drill bit during the drilling process, which is beneficial to prolonging the service life of the drill bit, increasing the footage and saving construction costs.

[0018] 4. The electromechanical, hydraulic and gas multi-field coupled rotary drilling system described in the present invention adopts load-sensitive electro-hydraulic control technology to drive and control the actuators to work together, which can realize closed-loop feedback control. At the same time, it also realizes the combination of load-sensitive regulation and intelligent drilling pressure regulation. It can automatically adjust the system flow according to load changes, realize overload protection and save power loss.

[0019] 5. The electromechanical, hydraulic and gas multi-field coupled rotary drilling system described in the present invention can significantly improve the drilling efficiency of complex geological rock formations while overcoming the problems of "drilling stuck" and "drilling deviation", and has better comprehensive performance than traditional mechanical and hydraulic rotary drilling systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 This is a schematic diagram of the electromechanical, hydraulic and gas multi-field coupled rotary drilling system described in the present invention.

[0022] In the figure:

[0023] 1-control system; 2-pressure parameter; 3-pressure comparator; 4-pressure regulator; 5-charge amplifier A; 6-load sensitive control valve A; 7-load sensitive hydraulic pump source; 8-feed cylinder; 9-pressure sensor; 10-speed parameter A, 11-speed comparator A; 12-speed regulator A; 13-charge amplifier B; 14-load sensitive control valve B; 15-high-speed variable piston motor; 16-torque speed meter A; 17-meshing sleeve A; 18-speed parameter B; 19-speed comparator B; 20-speed regulator B; 21-charge amplifier C; 22-load sensitive control valve C; 23-low speed cycloidal motor; 24-torque tachometer B; 25-meshing sleeve B; 26-pneumatic parameters; 27-air pressure comparator; 28-air pressure regulator; 29-charge amplifier D; 30-pneumatic control valve; 31-air compressor; 32-pneumatic parameter sensor; 33-spindle; 34-special joint; 35-extended drill rod; 36-pneumatic impact drill tool; 37-input shaft; 38-torque tachometer C; 39-speed gearbox; 40-power head drag plate. DETAILED DESCRIPTION

[0024] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0025] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0026] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "axial", "radial", "vertical", "horizontal", "inner", "outer" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0027] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] like Figure 1 As shown, the electromechanical, hydraulic and gas multi-field coupled rotary percussion drilling system of the present invention includes a control system 1, a hydraulic feeding subsystem, a high-speed variable piston motor rotation subsystem, a low-speed cycloidal motor rotation subsystem, a pneumatic percussion subsystem and a comprehensive power integration subsystem;

[0029] The hydraulic feeding subsystem is used to control the feeding and pulling out of the drilling tool, and the hydraulic feeding subsystem includes a pressure parameter 2, a pressure comparator 3, a pressure regulator 4, a charge amplifier A5, a load-sensitive control valve A6, a load-sensitive hydraulic pump source 7, a feeding cylinder 8 and a pressure sensor 9; the control system 1 is connected to an input end of the pressure comparator 3, and the control system 1 inputs the pressure parameter 2 into the pressure comparator 3; the output end of the pressure comparator 3 is connected to the input end of the pressure regulator 4; the output end of the pressure regulator 4 is input to the valve core control end of the load-sensitive control valve A6 through the charge amplifier A5, and the load-sensitive control valve A6 The oil inlet is connected to the oil outlet of the load-sensitive hydraulic pump source, and the working oil port of the load-sensitive control valve A6 is connected to the working oil port of the feed cylinder 8; the pressure sensor 9 is used to detect the working pressure of the feed cylinder 8, and the pressure sensor 9 feeds back the collected pressure parameters to the control system 1 and the other input end of the pressure comparator 3, so as to realize the pressure state monitoring and closed-loop feedback control of the feed cylinder 8; the high-speed variable piston motor rotation subsystem and the low-speed cycloid motor rotation subsystem are respectively used to drive the main shaft 33 of the drilling rig to rotate at different speeds; the pneumatic impact subsystem is used to control the high-frequency impact of the pneumatic impact drill 36.

[0030] The high-speed variable piston motor rotation subsystem includes a speed parameter A10, a speed comparator A11, a speed regulator A12, a charge amplifier B13, a load-sensitive control valve B14, a high-speed variable piston motor 15, a torque tachometer A16 and a meshing sleeve A17; the control system 1 is connected to an input end of the speed comparator A11, and the control system 1 inputs the speed parameter A10 into the speed comparator A11; the output end of the speed comparator A11 is connected to the input end of the speed regulator A12; the output end of the speed regulator A12 is input to the valve core of the load-sensitive control valve B14 through the charge amplifier B13. At the control end, the oil inlet of the load-sensitive control valve B14 is connected to the oil outlet of the load-sensitive hydraulic pump source, and the working oil port of the load-sensitive control valve B14 is connected to the working oil port of the high-speed variable piston motor 15; the torque tachometer A16 is used to detect the speed and torque of the output end of the high-speed variable piston motor 15, and the output end of the high-speed variable piston motor 15 is connected to the input shaft 37 through the engagement sleeve A17. The torque tachometer A16 feeds back the collected speed parameters to the control system 1 and the other input end of the speed comparator A11, which is used to realize the speed state monitoring and closed-loop feedback control of the high-speed variable piston motor 15. The high-speed variable piston motor rotation subsystem is used to drive the rotation of the main shaft of the drilling rig, and then drive the rotation of the drilling tool and the unscrewing of the drill rod.

[0031] The low-speed cycloidal motor rotation subsystem includes a speed parameter B18, a speed comparator B19, a speed regulator B20, a charge amplifier C21, a load-sensitive control valve C22, a low-speed cycloidal motor 23, a torque tachometer B24 and a meshing sleeve B25; the control system 1 is connected to an input end of the speed comparator B19, and the control system 1 inputs the speed parameter B18 into the speed comparator B19; the output end of the speed comparator B19 is connected to the input end of the speed regulator B20; the output end of the speed regulator B20 is input to the load-sensitive control valve C22 through the charge amplifier C21. The valve core control end, the oil inlet of the load-sensitive control valve C22 is connected to the oil outlet of the load-sensitive hydraulic pump source, and the working oil port of the load-sensitive control valve C22 is connected to the working oil port of the low-speed cycloidal motor 23; the torque tachometer B24 is used to detect the speed and torque of the output end of the low-speed cycloidal motor 23, and the output end of the low-speed cycloidal motor 23 is connected to the input shaft 37 through the engagement sleeve B25. The torque tachometer B24 feeds back the collected speed parameters to the control system 1 and the other input end of the speed comparator B19, which is used to realize the speed state monitoring and closed-loop feedback control of the low-speed cycloidal motor 23. The low-speed cycloidal motor rotation subsystem is used to drive the rotation of the main shaft of the drilling rig, and then drive the rotation of the drilling tool and the unscrewing of the drill rod.

[0032] The pneumatic impact subsystem includes pneumatic parameters 26, an air pressure comparator 27, an air pressure regulator 28, a charge amplifier D29, a pneumatic control valve 30, an air compressor 31, a pneumatic parameter sensor 32, a spindle 33, a special joint 34, an extended drill rod 35 and a pneumatic impact drill 36; the control system 1 is connected to an input end of the air pressure comparator 27, and the control system 1 inputs the pneumatic parameters 26 into the air pressure comparator 27; the output end of the air pressure comparator 27 is connected to the input end of the air pressure regulator 28; the output end of the air pressure regulator 28 is input to the pneumatic control valve 3 through the charge amplifier D29. 0, the pneumatic control valve 30 is connected to the air compressor 31, and the working air port of the pneumatic control valve 30 is connected to the air inlet hole at the top of the main shaft 33; the upper end of the extended drill rod 35 is connected to the lower end of the main shaft 33 through a special joint 34; the lower end of the extended drill rod 35 is connected to a pneumatic impact drill 36; the pneumatic parameter sensor 32 is used to detect the pneumatic parameters 26 of the air inlet hole at the top of the main shaft 33, and the pneumatic parameter sensor 32 feeds back the collected pneumatic parameters to the control system 1 and the other input end of the air pressure comparator 27, so as to realize pneumatic parameter state monitoring and closed-loop feedback control.

[0033] The comprehensive power integration subsystem is used to integrate the comprehensive power of the hydraulic feeding subsystem, the high-speed variable piston motor rotating subsystem, the low-speed cycloidal motor rotating subsystem and the pneumatic impact subsystem; the comprehensive power integration subsystem includes an input shaft 37, a torque tachometer C38, a speed gear box 39 and a power head carriage 40; the input end of the input shaft 37 is connected to the meshing sleeve A17 and / or the meshing sleeve B25, so that the high-speed variable piston motor 15 and the low-speed cycloidal motor 23 drive the input shaft 37 to rotate in parallel; the output end of the input shaft 37 is connected to the main shaft 33 through the speed gear box 39; the torque tachometer C38 is used to detect the torque and speed of the output end of the input shaft 37; the torque tachometer C38 feeds back the collected torque and speed signals to the control system 1; the power head carriage 40 is connected to the piston rod of the feed cylinder 8 for feeding and pulling out the drilling tool.

[0034] During the operation of the system, the hydraulic feed subsystem, the high-speed variable piston motor rotation subsystem, the low-speed cycloid motor rotation subsystem, the pneumatic impact subsystem and the comprehensive power integration subsystem work in a linked manner at the same time; the comprehensive power integration subsystem is used to integrate and transmit the comprehensive power of the hydraulic feed subsystem, the high-speed variable piston motor rotation subsystem, the low-speed cycloid motor rotation subsystem and the pneumatic impact subsystem, and under the control of the control system 1, a large range of stepless speed regulation and rotation of the drill bit, multiple torque outputs, high-frequency impact, load-sensitive control and intelligent drilling pressure control are realized during the drilling and rock breaking process.

[0035] The working process of the electromechanical, hydraulic and gas multi-field coupled rotary drilling system described in the embodiment of the present invention is as follows:

[0036] When the system is running, the control system 1 outputs the pressure parameter 2 according to the drilling load requirement, and acts on the valve core control end of the load-sensitive control valve A6 through the pressure comparator 3, the pressure regulator 4 and the charge amplifier A5, thereby controlling the valve core opening degree of the load-sensitive control valve A6; the load-sensitive hydraulic pump source 7 is running, and the high-pressure oil is transported from the oil outlet of the load-sensitive hydraulic pump source 7 to the oil inlet of the load-sensitive control valve A6 through the hydraulic pipeline; the working oil port of the load-sensitive control valve A6 is connected with the working oil port of the feed cylinder 8 through the hydraulic pipeline, and the high-pressure oil discharged by the load-sensitive hydraulic pump source 7 is transported to the working oil port of the feed cylinder 8, driving the piston rod of the feed cylinder 8 to drag the power head carriage 40 to complete the feeding and pulling of the drilling tool; the pressure sensor 9 installed on the branch oil line of the load-sensitive control valve A6 and the feed cylinder 8 feeds back the collected pressure signal to the control system 1 and the input end of the pressure comparator 3, realizing the pressure state monitoring and closed-loop feedback control of the feed cylinder 8, and completing the load-sensitive regulation and intelligent drilling pressure regulation.

[0037] When the system is running, the control system 1 outputs the speed parameter A10 according to the drilling load requirement, and acts on the valve core control end of the load-sensitive control valve B14 through the speed comparator A11, the speed regulator A12 and the charge amplifier B13, thereby controlling the valve core opening degree of the load-sensitive control valve B14; the load-sensitive hydraulic pump source 7 is running, and the high-pressure oil is transported from the oil outlet of the load-sensitive hydraulic pump source 7 to the oil inlet of the load-sensitive control valve B14 through the hydraulic pipeline; the working oil port of the load-sensitive control valve B14 and the working oil port of the high-speed variable piston motor 15 are hydraulically connected. The pipeline is connected to deliver the high-pressure oil discharged from the load-sensitive hydraulic pump source 7 to the working oil port of the high-speed variable piston motor 15; the torque tachometer A16 installed between the output shaft of the high-speed variable piston motor 15 and the meshing sleeve A17 feeds back the collected speed signal to the control system 1 and the input end of the speed comparator A11, so as to realize the speed state monitoring and closed-loop feedback control of the high-speed variable piston motor 15, and then, in cooperation with the comprehensive power integration subsystem, complete the stepless speed regulation and load-sensitive regulation of the main shaft of the driving drill rig, and then drive the rotation of the drilling tool and the unscrewing of the drill rod.

[0038] When the system is running, the control system 1 outputs the speed parameter B18 according to the drilling load requirement, and acts on the valve core control end of the load-sensitive control valve C22 through the speed comparator B19, the speed regulator B20 and the charge amplifier C21, thereby controlling the valve core opening degree of the load-sensitive control valve C22; the load-sensitive hydraulic pump source 7 is running, and the high-pressure oil is transported from the oil outlet of the load-sensitive hydraulic pump source 7 to the oil inlet of the load-sensitive control valve C22 through the hydraulic pipeline; the working oil port of the load-sensitive control valve C22 and the working oil port of the low-speed cycloidal motor 23 are connected through The hydraulic pipeline is connected to deliver the high-pressure oil discharged from the load-sensitive hydraulic pump source 7 to the working oil port of the low-speed cycloidal motor 23; the torque tachometer B24 installed between the output shaft of the low-speed cycloidal motor 23 and the meshing sleeve B25 feeds back the collected speed signal to the control system 1 and the input end of the speed comparator B19, so as to realize the speed state monitoring and closed-loop feedback control of the low-speed cycloidal motor 23, and then, in cooperation with the comprehensive power integration subsystem, complete the stepless speed regulation and load-sensitive regulation of the main shaft of the driving drill rig, and then drive the rotation of the drilling tool and the unscrewing of the drill rod.

[0039] When the system is running, the control system 1 outputs the set pneumatic parameters 26 according to the load requirements, and acts on the valve core control end of the pneumatic control valve 30 through the air pressure comparator 27, the air pressure regulator 28 and the charge amplifier D29, thereby controlling the opening degree of the valve core of the pneumatic control valve 30; the high-pressure gas is transported from the air outlet of the air compressor 31 to the air inlet of the pneumatic control valve 30 through the air pressure pipeline, and the air pressure pipeline connects the working air port of the pneumatic control valve 30 with the air inlet hole at the top of the drilling rig main shaft 33. The high-pressure gas discharged from the air compressor 31 is transported to the pneumatic impact drill 36 through the hollow drilling rig main shaft 33, the special joint 34 and the extended drill rod 35, so as to realize the high-frequency impact of the drilling tool. The pneumatic parameter sensor 32 installed on the air pressure branch pipeline between the pneumatic control valve 30 and the drilling rig main shaft 33 feeds back the collected pneumatic signal to the control system 1 and the input end of the air pressure comparator 27 to realize the pneumatic parameter state monitoring and closed-loop feedback control.

[0040] When the system is running, the input end of the input shaft 37 of the integrated power integration subsystem is connected to the meshing sleeve A17 in the high-speed variable piston motor rotating subsystem or the meshing sleeve B25 in the low-speed cycloidal motor rotating subsystem. When the drilling load condition requires high speed and small torque, the meshing sleeve A17 meshes with the input shaft 37, and the high-speed variable piston motor 15 drives the input shaft 37 to rotate alone, and the input shaft 37 outputs high speed and small torque; when the drilling load condition requires low speed and large torque, the meshing sleeve A17 and the meshing sleeve B25 are both meshed with the input shaft 37, and the high-speed variable piston motor 15 and the low-speed cycloidal motor 23 drive the input shaft 37 to rotate in parallel, and the input shaft 37 outputs low speed and large torque. The speed and torque output by the input shaft 37 are changed by the speed change gear box 39 and output by the main shaft 33, driving the main shaft 33 to realize a wide range of stepless speed regulation and rotation of the drilling tool and multiple torque outputs, driving the drilling tool to complete the rotary drilling or unscrewing the drill rod. The air inlet at the top of the main shaft 33 is connected to the working air port of the pneumatic control valve 30 in the pneumatic impact subsystem, driving the drilling tool to complete high-frequency impact. The power head carriage 40 is connected to the piston rod of the feed cylinder 8 in the hydraulic feed subsystem, and the feed cylinder 8 reciprocates along the mast guide rail of the drilling rig body to realize the feeding and pulling of the drilling tool.

[0041] During the operation of the system, the hydraulic feed subsystem, high-speed variable piston motor rotation subsystem, low-speed cycloidal motor rotation subsystem, pneumatic impact subsystem and comprehensive power integration subsystem work in a coordinated manner. The comprehensive power integration subsystem is used to integrate and transmit the comprehensive power of the hydraulic feed subsystem, high-speed variable piston motor rotation subsystem, low-speed cycloidal motor rotation subsystem and pneumatic impact subsystem, and realizes a wide range of stepless speed regulation and rotation of the drill tool, multiple torque outputs, high-frequency impact, load-sensitive regulation and intelligent drilling pressure regulation during the drilling and rock breaking process under the intelligent control of the state monitoring and control system.

[0042] An intelligent control algorithm is embedded in the control system 1. According to the drilling process requirements and the state parameters such as pressure, speed, torque, air pressure, etc. fed back by the sensors of each subsystem, a real-time comparison is performed to perform adaptive closed-loop adjustment, so as to realize adaptive intelligent control of output speed, output force, and impact work, so that the drilling speed, drilling pressure, impact force, and impact frequency can adapt to the drilling needs under complex geological conditions and avoid "drilling stuck" and "drilling deviation".

[0043] During pressurized drilling, the control system 1 adaptively controls the hydraulic feed subsystem, high-speed variable plunger motor rotation subsystem, and low-speed cycloidal motor rotation subsystem to cooperate with each other to continuously and stably provide drilling pressure and rotation speed according to the drilling process requirements and load changes, and adjusts the impact frequency of the pneumatic impact subsystem to achieve volumetric crushing of rocks and reduce the violent vibration of the drilling rig. During the drilling process, as the depth and drill rod length continue to increase, the drill rod's moment of inertia and damping increase, and the suspended weight of the drill tool also continues to increase. At this time, the control system 1 ensures balanced and rapid advancement of drilling through load-sensitive control of the hydraulic feed subsystem and intelligent drilling pressure control.

[0044] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0045] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. All equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. An electromechanical, hydraulic and gas multi-field coupled rotary drilling system, characterized in that: It includes a control system (1), a hydraulic feed subsystem, a high-speed variable piston motor rotation subsystem, a low-speed cycloid motor rotation subsystem and a pneumatic impact subsystem; The hydraulic feed subsystem is used to control the feeding and pulling of the drilling tool, and the hydraulic feed subsystem comprises a pressure parameter (2), a pressure comparator (3), a pressure regulator (4), a charge amplifier A (5), a load-sensitive control valve A (6), a load-sensitive hydraulic pump source (7), a feed cylinder (8) and a pressure sensor (9); the control system (1) is connected to an input end of the pressure comparator (3), and the control system (1) inputs the pressure parameter (2) into the pressure comparator (3); the output end of the pressure comparator (3) is connected to the input end of the pressure regulator (4); the pressure regulator (4 ) is input to the valve core control end of the load-sensitive control valve A (6) through the charge amplifier A (5); the oil inlet of the load-sensitive control valve A (6) is connected to the oil outlet of the load-sensitive hydraulic pump source; the working oil port of the load-sensitive control valve A (6) is connected to the working oil port of the feed cylinder (8); the pressure sensor (9) is used to detect the working pressure of the feed cylinder (8); the pressure sensor (9) feeds back the collected pressure parameters to the control system (1) and the other input end of the pressure comparator (3), so as to realize the pressure state monitoring and closed-loop feedback control of the feed cylinder (8); The high-speed variable piston motor rotation subsystem and the low-speed cycloid motor rotation subsystem are respectively used to drive the main shaft (33) of the drilling rig to rotate at different speeds; the pneumatic impact subsystem is used to control the high-frequency impact of the pneumatic impact drill (36); The high-speed variable piston motor rotating subsystem comprises a speed parameter A (10), a speed comparator A (11), a speed regulator A (12), a charge amplifier B (13), a load-sensitive control valve B (14), a high-speed variable piston motor (15), a torque speed meter A (16) and a meshing sleeve A (17); the control system (1) is connected to an input end of the speed comparator A (11), and the control system (1) inputs the speed parameter A (10) into the speed comparator A (11); the output end of the speed comparator A (11) is connected to the input end of the speed regulator A (12); the output end of the speed regulator A (12) is input to the load-sensitive control valve B (17) through the charge amplifier B (13). The load-sensitive control valve B (14) is connected to the valve core control end, the oil inlet of the load-sensitive control valve B (14) is connected to the oil outlet of the load-sensitive hydraulic pump source, and the working oil port of the load-sensitive control valve B (14) is connected to the working oil port of the high-speed variable piston motor (15); the torque tachometer A (16) is used to detect the speed and torque of the output end of the high-speed variable piston motor (15), the output end of the high-speed variable piston motor (15) is connected to the input shaft (37) through the engagement sleeve A (17), and the torque tachometer A (16) feeds back the collected speed parameters to the control system (1) and the other input end of the speed comparator A (11), so as to realize the speed state monitoring and closed-loop feedback control of the high-speed variable piston motor (15); The low-speed cycloidal motor rotation subsystem comprises a speed parameter B (18), a speed comparator B (19), a speed regulator B (20), a charge amplifier C (21), a load-sensitive control valve C (22), a low-speed cycloidal motor (23), a torque speed meter B (24) and a meshing sleeve B (25); the control system (1) is connected to an input end of the speed comparator B (19), and the control system (1) inputs the speed parameter B (18) into the speed comparator B (19); the output end of the speed comparator B (19) is connected to the input end of the speed regulator B (20); the output end of the speed regulator B (20) is input to the load-sensitive control valve through the charge amplifier C (21). The load-sensitive control valve C (22) is connected to the valve core control end, the oil inlet of the load-sensitive control valve C (22) is connected to the oil outlet of the load-sensitive hydraulic pump source, and the working oil port of the load-sensitive control valve C (22) is connected to the working oil port of the low-speed cycloidal motor (23); the torque tachometer B (24) is used to detect the speed and torque of the output end of the low-speed cycloidal motor (23), the output end of the low-speed cycloidal motor (23) is connected to the input shaft (37) through the meshing sleeve B (25), and the torque tachometer B (24) feeds back the collected speed parameters to the control system (1) and the other input end of the speed comparator B (19), so as to realize the speed state monitoring and closed-loop feedback control of the low-speed cycloidal motor (23); The pneumatic impact subsystem comprises pneumatic parameters (26), an air pressure comparator (27), an air pressure regulator (28), a charge amplifier D (29), a pneumatic control valve (30), an air compressor (31), a pneumatic parameter sensor (32), a spindle (33), a special joint (34), an extended drill rod (35) and a pneumatic impact drill tool (36); the control system (1) is connected to an input end of the air pressure comparator (27), and the control system (1) inputs the pneumatic parameters (26) into the air pressure comparator (27); the output end of the air pressure comparator (27) is connected to the input end of the air pressure regulator (28); the output end of the air pressure regulator (28) is input into the pneumatic control valve (30) through the charge amplifier D (29). The valve core control end of the control valve (30) is connected to the air compressor (31); the working air port of the pneumatic control valve (30) is connected to the air inlet hole at the top end of the main shaft (33); the upper end of the extended drill rod (35) is connected to the lower end of the main shaft (33) through a special joint (34); the lower end of the extended drill rod (35) is connected to the pneumatic impact drill (36); the pneumatic parameter sensor (32) is used to detect the pneumatic parameters (26) of the air inlet hole at the top end of the main shaft (33); the pneumatic parameter sensor (32) feeds back the collected pneumatic parameters to the control system (1) and another input end of the air pressure comparator (27) to realize pneumatic parameter state monitoring and closed-loop feedback control.

2. The electromechanical, hydraulic and gas multi-field coupled rotary drilling system according to claim 1 is characterized in that: The integrated power integration subsystem is used to integrate and transmit the integrated power of the hydraulic feed subsystem, the high-speed variable piston motor rotation subsystem, the low-speed cycloid motor rotation subsystem and the pneumatic impact subsystem; the integrated power integration subsystem includes an input shaft (37), a torque speed meter C (38), a speed change gear box (39) and a power head carriage (40); the input end of the input shaft (37) is connected to the meshing sleeve A (17) or / and the meshing sleeve B (25) so that the high The variable speed plunger motor 15 and the low speed cycloidal motor 23 are connected in parallel to drive the input shaft 37 to rotate; the output end of the input shaft (37) is connected to the main shaft (33) through a speed change gear box (39); the torque speed meter C (38) is used to detect the torque and speed of the output end of the input shaft (37); the torque speed meter C (38) feeds back the collected torque and speed signals to the control system (1); the power head carriage (40) is connected to the piston rod of the feed cylinder (8) and is used for feeding and pulling out the drilling tool.

3. The electromechanical, hydraulic and gas multi-field coupled rotary drilling system according to claim 2 is characterized in that: During the operation of the system, the hydraulic feed subsystem, the high-speed variable piston motor rotation subsystem, the low-speed cycloidal motor rotation subsystem, the pneumatic impact subsystem and the comprehensive power integration subsystem work in a coordinated manner at the same time; the comprehensive power integration subsystem is used to integrate and transmit the comprehensive power of the hydraulic feed subsystem, the high-speed variable piston motor rotation subsystem, the low-speed cycloidal motor rotation subsystem and the pneumatic impact subsystem, and under the control of the control system (1), realize a large range of stepless speed regulation and rotation of the drill tool, multiple torque outputs, high-frequency impact, load-sensitive control and intelligent drilling pressure control during the rock breaking process of drilling.

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