Hydraulic apparatus, control method, and horizontal directional drilling machine for butt crossing

Abstract

The present application relates to the technical field of hydraulic control system, and specifically relates to a hydraulic device for butt-joint crossing, a control method and a horizontal directional drilling machine. The hydraulic device comprises a main pump, a main valve group, a power head motor one, a power head motor two and an auxiliary valve group. The control method comprises a normal working mode and / or a butt-joint crossing mode. In the normal working mode, the electromagnetic coil in the auxiliary valve group cannot be electrified, the electromagnetic coil in the main valve group can be electrified to independently control the oil circuit, and the electromagnetic coil can be electrified to control the power head action. In the butt-joint crossing mode, the electromagnetic coil in the auxiliary valve group can be electrified, the oil ports A1, B1 and T1 of the auxiliary valve group are turned on, the power head motor is electrified, the motors are in a "0 displacement" state, the coil in the main valve group cannot be electrified, and the main pump is unloaded through the neutral position of the main valve group. The present application solves the problems of low construction efficiency and safety caused by the real-time mutual cooperation of two drillers of the main and auxiliary drilling machines in the butt-joint crossing method of the prior art.

Description

Technical Field

[0001] This invention relates to the field of hydraulic control system technology, specifically a hydraulic device, control method, and horizontal directional drilling rig used for docking and crossing. Background Technology

[0002] With the increasing number of large-scale oil and natural gas pipeline projects, and the growing number of projects with large diameters and long construction distances, the requirements for guiding construction using large horizontal directional drilling rigs are becoming increasingly stringent. In recent years, the number of projects using the butt-and-cross method, especially those exceeding 2000 meters in length, has been rising daily. The butt-and-cross method involves using two drilling rigs, with the main rig and auxiliary rig positioned at the entry and exit points respectively, each performing guiding construction. The two drill bits are then joined together in the horizontal section. After successful joining, the auxiliary rig's drill bit is pulled back, simultaneously guiding the main rig's guide drill bit along the auxiliary rig's guide hole. During this process, the drillers on both sides coordinate, currently communicating via walkie-talkies to exchange parameters such as torque and thrust / pull force between the two rigs in real time. Due to the long pipeline length and significant communication and data lag, the construction process suffers from poor safety, the drill rod is prone to bending under abnormal thrust, and progress is slow, severely impacting construction efficiency. Summary of the Invention

[0003] The technical problem this invention aims to solve is to overcome the shortcomings of the prior art and provide a simple-to-operate, highly safe hydraulic device, control method, and horizontal directional drilling rig for docking and crossing operations. This addresses the low construction efficiency and safety issues caused by the need for real-time coordination between two drillers on the main and auxiliary drilling rigs in existing docking and crossing methods. Furthermore, because the power head motor automatically operates at "0 displacement" in docking and crossing mode, the flow rate through the auxiliary valve group is significantly reduced, thus decreasing the operating resistance of the power head.

[0004] This invention is achieved through the following technical solution: a hydraulic device for docking and traversing, comprising a main pump, a main valve group, a first power head motor, a second power head motor, and an auxiliary valve group; the main pump inlet is connected to a hydraulic oil tank, and its outlet is connected to the main valve group port P; the first and second power head motors are connected in parallel to the main valve group ports A and B; the auxiliary valve group ports A1 and B1 are connected to the main valve group ports A and B respectively, the auxiliary valve group return port T1 is connected to the main valve group return port T, and the auxiliary valve group return port T is connected to the hydraulic oil tank; the main valve group, auxiliary valve group, first power head motor, and second power head motor are connected to a controller via wiring harnesses.

[0005] Furthermore, the auxiliary valve group includes a solenoid directional valve and a check valve; the oil ports A and B of the solenoid directional valve communicate internally through the valve block, the oil port T of the solenoid directional valve communicates internally with the oil port a of the check valve and is also connected to the return oil port T1 of the auxiliary valve group, and the outlet b of the check valve is connected to the hydraulic oil tank.

[0006] Furthermore, the first and second power head motors are rotary motors or push-pull motors; the main pump is a rotary pump or push-pull pump corresponding to the power head motor; and the main valve group is a rotary valve or push-pull valve corresponding to the power head motor.

[0007] Furthermore, the first power head motor and the second power head motor are electro-proportional variable motors.

[0008] Furthermore, the controller is a PLC controller. The input terminal of the PLC controller is electrically connected to the mode selection and hydraulic oil circuit pressure sensor, and its output terminal is electrically connected to the coil of the main and auxiliary valve groups and the power head motor.

[0009] Furthermore, a control method for a hydraulic device for docking crossing includes a normal operating mode and / or a docking crossing mode;

[0010] The normal operating mode is that the solenoid coil in the auxiliary valve group is not energized, the oil circuit of the auxiliary valve group is in the open state, the solenoid coil of the main valve group is energized to independently control the oil circuit, and the solenoid coils Y11 and Y12 are energized to control the action of the power head.

[0011] The docking and crossing mode is characterized by the auxiliary valve group solenoid coil Y21 or Y22 being energized, and the auxiliary valve group oil ports A1, B1, and T1 being in a conducting state. At the same time, the power head motor one and power head motor two are energized, and the motors are both in a "0 displacement" state. At this time, the main valve group coils Y11 and Y12 are not energized, and the main pump is unloaded through the middle position of the main valve group.

[0012] Furthermore, the startup process for the docking and traversal mode is as follows:

[0013] Step 1: Activate the docking and crossing mode. The controller will automatically detect whether the current of the main valve group solenoid coil is 0. If the current of the main valve group solenoid coil is not 0, the controller will remind the user and repeat the detection of the current of the main valve group solenoid coil.

[0014] Step 2: When the current of the main valve group solenoid coil is 0, the controller automatically detects whether the pushing force is within the safe range. If the pushing force is not within the safe range, the controller will remind the user and repeat the detection of the pushing force.

[0015] Step 3: When the pushing force is within a safe range, the controller controls the Y01 and Y02 of the power head motor 1 and the power head motor 2 to be energized to the maximum current. At the same time, the auxiliary valve group solenoid coil Y21 or Y22 is energized, and the docking and crossing mode is entered.

[0016] Furthermore, a horizontal directional drilling rig employs the hydraulic device described in claim 1.

[0017] Furthermore, a construction method for a horizontal directional drilling rig employs the aforementioned control method.

[0018] Furthermore, the construction method of the horizontal directional drilling rig is as follows: When two horizontal directional drilling rigs are docked for crossing, the main drilling rig and the auxiliary drilling rig are placed at the entry point and the exit point respectively, and they carry out guiding construction in opposite directions. The main drilling rig and the auxiliary drilling rig adopt normal working mode. When the drill bits of the main drilling rig and the auxiliary drilling rig are successfully docked in the horizontal section, either drilling rig switches to docking crossing mode and follows the other drilling rig automatically. The other drilling rig continues to adopt normal working mode and carries out collaborative operation.

[0019] This invention has the following advantages: The hydraulic device, control method, and horizontal directional drilling rig of this invention for docking and crossing operations, by configuring an auxiliary valve group, addresses the low construction efficiency and safety issues caused by the need for real-time coordination between two drillers in the existing technology, while maintaining the main hydraulic circuit unchanged, based on the characteristics of the main and auxiliary drilling rigs working together during docking and crossing operations. Simultaneously, because the power head motor automatically enters a "0 displacement" state in docking and crossing mode, the flow rate through the auxiliary valve group is greatly reduced, as is the running resistance of the power head. Attached Figure Description

[0020] Figure 1 This is a hydraulic schematic diagram of the present invention;

[0021] Figure 2 This is a schematic diagram of the auxiliary valve assembly of the present invention;

[0022] Figure 3 This is a flowchart of the control method of the present invention;

[0023] Figure 4 This is the logic control block diagram of the present invention;

[0024] Figure 5 It is the curve of the displacement of the power head motor changing with the current.

[0025] In the diagram: 1. Main pump; 2. Main valve assembly; 3. Power head motor one; 4. Power head motor two; 5. Auxiliary valve assembly; 6. Solenoid directional valve; 7. Check valve. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below. However, it should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of the invention.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention.

[0028] like Figures 1 to 5 As shown, a hydraulic device for docking and drilling is installed on a horizontal directional drilling rig to drive the drill bit. It includes a main pump 1, a main valve assembly 2, a first power head motor 3, a second power head motor 4, and an auxiliary valve assembly 5. The main pump 1's inlet is connected to the hydraulic oil tank, and its outlet is connected to port P of the main valve assembly 2. The first power head motor 3 and the second power head motor 4 are connected in parallel to ports A and B of the main valve assembly 2. The auxiliary valve assembly 5 includes four ports: ports A1 and B1 are connected to ports A and B of the main valve assembly 2, respectively; the return port T1 of the auxiliary valve assembly 5 is connected to the return port T of the main valve assembly 2; and the return port T of the auxiliary valve assembly 5 is connected to the hydraulic oil tank. The auxiliary valve assembly 5 includes a solenoid directional valve 6 and a check valve 7. Ports A and B of the solenoid directional valve 6 communicate internally through a valve block, and port T of the solenoid directional valve 6 communicates internally with port a of the check valve 7, and is also connected to the return port T1 of the auxiliary valve assembly 5. One-way valve 7 outlet b is connected to the hydraulic oil tank. The main valve group 2, auxiliary valve group 5, power head motor 1 3, and power head motor 2 4 are connected to the controller via wiring harnesses. Each main and auxiliary valve group 5 electromagnetic coil and power head motor corresponds to a different port of the controller, and can be controlled independently.

[0029] Power head motor 3 and power head motor 4 are rotary motors that control the rotation of the power head or push-pull motors that control the push-pull movement of the power head. Correspondingly, main pump 1 is a rotary pump that controls the rotation of the power head or a push-pull pump that controls the push-pull movement of the power head. Main valve group 2 is a rotary valve that controls the rotation of the power head or a push-pull valve that controls the push-pull movement of the power head. The power head motors are electro-proportional variable motors, which adjust the displacement by changing the current. The larger the current, the smaller the motor displacement, and the smaller the current, the larger the motor displacement.

[0030] Both the electromagnetic directional valve 6 and the check valve 7 are standard parts and are mounted on an integrated block, resulting in lower cost and easier standardization. The check valve 7 provides back pressure to the system, with an opening pressure typically of 2-5 bar, preventing the power head motor from drawing air.

[0031] The hydraulic device described in this invention can be used in both open and closed hydraulic systems, and in both power head rotary and power head push-pull hydraulic systems. The control method is similar; this invention uses an open hydraulic system as an example.

[0032] The control method of the hydraulic device described in this invention is divided into two control modes: normal working mode and docking and crossing mode. When using the docking and crossing method, the main drilling rig and the auxiliary drilling rig are placed at the entry point and exit point respectively, and guide construction is carried out in opposite directions. The two drilling rigs operate independently and are not related. Normal working mode can be used for construction. At this time, the electromagnetic coil in the auxiliary valve group 5 is not energized, that is, the oil circuit of the auxiliary valve group 5 is in the disconnected state. The main valve group 2 independently controls the oil circuit. Y11 and Y12 normally control the action of the power head, which is unrelated to the auxiliary valve group 5. The two drilling rigs do not affect each other, and each drilling rig can operate normally, just like a normal drilling rig. When two drilling rigs are docked and need to be linked, either rig can be switched to docking and crossing mode. The electromagnetic coil Y21 or Y22 of the auxiliary valve group 5 is energized, meaning that the oil ports A1, B1, and T1 of the auxiliary valve group 5 are all in the conducting state. The power head motor 3 and the power head motor 4 are energized, so that the power head motors are in the "0 displacement" state. At the same time, the electromagnetic coils Y11 and Y12 of the main valve group 2 are not energized. The main pump 1 is unloaded through the middle position of the main valve group 2, while the power head motor is in pump mode, which brakes the power head. The braking torque M = displacement V × pressure difference △P / 62.8. At this time, the motor displacement V is close to 0, and the pressure difference △P is also close to 0 due to the communication of the auxiliary valve group 5. Thus, the braking torque M≈0 can be achieved. This mode is suitable for the passive working state of the drilling rig, that is, the follow-up state, which is pushed and pulled by the drill pipe. At this time, one of the main drilling rigs and the auxiliary drilling rig is in normal working mode, and the other is in docking and crossing mode. The drilling rig in docking and crossing mode does not require any operation, while the drilling rig in normal crossing mode is operated in the same way as when the drilling rig is independent. It can be pushed forward and pulled backward to realize automatic collaborative operation of the two drilling rigs.

[0033] For example, if the main drilling rig is in normal crossing mode and the auxiliary drilling rig is in docking crossing mode, the auxiliary drilling rig can move along with the main drilling rig. When the main drilling rig moves forward, the auxiliary drilling rig automatically moves backward.

[0034] In this way, by allocating different control modes to the hydraulic device through the controller, the problems of low construction efficiency and poor safety caused by the need for two drillers on the main and auxiliary drilling rigs to cooperate in real time in the existing technology can be solved.

[0035] The startup process for docking and traversing mode is as follows:

[0036] Step 1: The user initiates the docking and crossing mode on either the main or auxiliary drilling rig via a display or physical button. The rig's controller automatically checks whether the current of the main valve group 2 solenoid coil is 0, i.e., whether the operating handle is in the neutral position. If the current of the main valve group 2 solenoid coil is not 0, the user is prompted to return the handle to the neutral position via the display and / or voice. The controller then repeatedly checks the current of the main valve group 2 solenoid coil.

[0037] Step 2: When the current of the solenoid coil of the main valve group 2 is 0, the controller automatically detects whether the pushing force is within the safe range. If the pushing force is not within the safe range, the controller will remind the user to release the pushing force through the display and / or voice. The controller will then repeatedly detect the pushing force.

[0038] Step 3: When the pushing force is within a safe range, the controller controls the Y01 and Y02 of the power head motor 3 and the power head motor 4 to be energized to the maximum current, that is, the power head motor is in "0 displacement". At the same time, the electromagnetic coil Y22 of the auxiliary valve group 5 is energized, and the switching quantity is controlled.

[0039] The hydraulic device of the present invention is controlled by a PLC controller. The PLC controller receives the mode selection signal and the pressure sensor signal of the hydraulic oil circuit, and controls the electromagnetic coil current of the main and auxiliary valve groups 5 and the power head motor current, thereby controlling the main and auxiliary valve groups 5 and the power head motor.

[0040] The controller can automatically determine the current conditions based on the input from the knob or display, and remind the user through the display, thereby controlling the operation of the main and auxiliary valve groups 5 and the power head motor, which is an interactive automatic control.

[0041] The embodiments of this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0042] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A hydraulic device for docking and crossing, the hydraulic device for docking and crossing comprising a main pump (1), a main valve group (2), a power head motor one (3), a power head motor two (4), and an auxiliary valve group (5); the oil inlet of the main pump (1) is connected to a hydraulic oil tank, and its oil outlet is connected to the oil port P of the main valve group (2); the power head motor one (3) and the power head motor two (4) are connected to the oil ports A and B of the main valve group (2) in parallel; the oil ports A1 and B1 of the auxiliary valve group (5) are connected to the oil ports A and B of the main valve group (2) respectively; the oil return port T1 of the auxiliary valve group (5) is connected to the oil return port T of the main valve group (2); the oil return port T of the auxiliary valve group (5) is connected to the hydraulic oil tank; the main valve group (2), the auxiliary valve group (5), the power head motor one (3), and the power head motor two (4) are connected to a controller via a wiring harness; Its features are: The control method for the hydraulic device includes a normal operating mode and / or a docking and crossing mode; The normal working mode is that the electromagnetic coil in the auxiliary valve group (5) is not energized, the oil circuit of the auxiliary valve group (5) is in the disconnected state, the electromagnetic coil of the main valve group (2) is energized to independently control the oil circuit, and the electromagnetic coil Y11 or Y12 is energized to control the action of the power head. The docking and crossing mode is that the electromagnetic coil Y21 or Y22 of the auxiliary valve group (5) is energized, and the oil ports A1, B1 and T1 of the auxiliary valve group (5) are all in the conducting state. At the same time, the power head motor one (3) and the power head motor two (4) are energized, and the motors are all in the "0 displacement" state. At this time, the electromagnetic coils Y11 and Y12 of the main valve group (2) are not energized, and the main pump (1) is unloaded through the middle position of the main valve group (2).

2. The hydraulic device for docking and crossing according to claim 1, characterized in that: The auxiliary valve group (5) includes a solenoid directional valve (6) and a check valve (7); the oil ports A and B of the solenoid directional valve (6) are connected through the inside of the valve block, the oil port T of the solenoid directional valve (6) is connected to the oil port a of the check valve (7) through the inside of the valve block, and is also connected to the return oil port T1 of the auxiliary valve group (5), and the outlet b of the check valve (7) is connected to the hydraulic oil tank.

3. The hydraulic device for docking and crossing according to claim 1, characterized in that: The first power head motor (3) and the second power head motor (4) are rotary motors or push-pull motors; the main pump (1) is a rotary pump or push-pull pump corresponding to the power head motor; the main valve group (2) is a rotary valve or push-pull valve corresponding to the power head motor.

4. The hydraulic device for docking and crossing according to claim 1, characterized in that: The power head motor one (3) and power head motor two (4) are electro-proportional variable motors.

5. The hydraulic device for docking and crossing according to claim 1, characterized in that: The controller is a PLC controller. The input terminal of the PLC controller is electrically connected to the mode selection and hydraulic oil circuit pressure sensor, and its output terminal is electrically connected to the coil of the main and auxiliary valve groups (5) and the power head motor.

6. The hydraulic device for docking and crossing according to claim 1, characterized in that: The startup process for the docking and traversal mode is as follows: Step 1: Activate docking and crossing mode. The controller will automatically detect whether the current of the electromagnetic coil of the main valve group (2) is 0. If the current of the electromagnetic coil of the main valve group (2) is not 0, the controller will remind the user and repeatedly detect the current of the electromagnetic coil of the main valve group (2). Step 2: When the current of the electromagnetic coil of the main valve group (2) is 0, the controller automatically detects whether the pushing force is within the safe range. If the pushing force is not within the safe range, the controller will remind the user and repeatedly detect the pushing force. Step 3: When the pushing force is within a safe range, the controller controls the Y01 and Y02 of the power head motor 1 (3) and the power head motor 2 (4) to be energized to the maximum current. At the same time, the electromagnetic coil Y21 or Y22 of the auxiliary valve group (5) is energized, and the docking and crossing mode is entered.

7. A horizontal directional drilling rig, characterized in that: The hydraulic device described in any one of claims 1 to 6 is used.

8. A construction method for a horizontal directional drilling rig as described in claim 7, characterized in that: When two horizontal directional drilling rigs are docked for crossing, the main drilling rig and the auxiliary drilling rig are placed at the entry point and exit point respectively, and they carry out directional construction in opposite directions. The main drilling rig and the auxiliary drilling rig adopt normal working mode. After the drill bits of the main drilling rig and the auxiliary drilling rig are successfully docked in the horizontal section, either drilling rig switches to docking crossing mode and follows the other drilling rig. The other drilling rig continues to adopt normal working mode and carries out collaborative operation.

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