Electric drive hoist float control device, drilling rig, and electric drive hoist float control method

Abstract

The application discloses a kind of electric drive hoist floating control device, drilling machine and electric drive hoist floating control method, it is related to engineering machinery field, to realize the floating control of electric drive hoist, and floating speed is adjustable, wire rope will not be over placed after touching ground.The device includes: motor, with hoist drive connection;Floating signal module, with floating control switch electricity connection.The speed detection and judgment module, with hoist electricity connection;Torque control module and speed detection and judgment module, motor are all electricity connection;Torque control module is configured to control the torque of motor according to the speed detected by speed detection and judgment module;Speed control module, with floating signal module, motor are all electricity connection;Speed control module is configured to output the signal of 0 speed to motor when floating signal module outputs floating stop signal.The above technical scheme realizes hoist rapid deceleration, stable tensioning, and wire rope will not be over placed, also will not be rolled back.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery, specifically to an electric-driven winch floating control device, a drilling rig, and an electric-driven winch floating control method. Background Technology

[0002] A rotary drilling rig is a type of hole-forming equipment used in piling operations. It consists of a winch, a wire rope wound around the winch, and a drill rod connected to the wire rope. During rotary drilling operations, the drill rod advances into the ground under its own weight and pressure, requiring the main winch wire rope to be in a slack, or floating, state.

[0003] Depending on the method by which the winch is driven, rotary drilling rigs are divided into two main categories: hydraulic motor-driven winches and electric motor-driven winches.

[0004] The inventors discovered that for hydraulic motor-driven winches, a floating solenoid valve is installed on the winch mechanism. The opening and closing of this valve is controlled by a winch float switch in the operator's cab, thereby opening the inlet and return oil chambers of the main winch motor, thus enabling winch floating. When the float switch is open, the winch gradually releases the rope under the weight of the drill rod. After the weight of the drill rod and the back pressure of the motor's return oil balance each other, the rope is released at a uniform speed until the drill rod touches the ground. After touching the ground, although the inlet and return oil chambers of the winch motor remain open, the winch loses the weight of the drill rod, and the hydraulic motor itself has a very small moment of inertia. The rope release speed drops to zero in a very short time, and then stops releasing the rope. Therefore, the motor-driven winch floating mechanism has the advantages of simple and easy control and fast stopping speed.

[0005] Further research by the inventors revealed that the floating control method, suitable for hydraulic motor-driven winches, is not applicable to electric motor-driven winches. This is because the rotational inertia of an electric motor is much greater than that of a hydraulic motor, making its speed difficult to control. Therefore, achieving a floating state is currently difficult for rotary drilling rigs with electric motor-driven winches. Summary of the Invention

[0006] This invention proposes an electric drive winch floating control device, a drilling rig, and an electric drive winch floating control method to achieve floating control of the electric drive winch, with adjustable floating speed and no over-release of the wire rope after contact with the ground.

[0007] This invention provides an electric drive hoist floating control device, comprising:

[0008] Hoist;

[0009] The motor is connected to the hoist drive;

[0010] Floating control switch;

[0011] A floating signal module, electrically connected to a floating control switch, and configured to output a floating start signal when the floating control switch is pressed and output a floating stop signal when the floating control switch is disconnected;

[0012] A speed detection and judgment module, electrically connected to the hoist to detect the lowering speed of the hoist in real time;

[0013] A torque control module, electrically connected to both the speed detection and judgment module and the motor; the torque control module is configured to control the torque of the motor according to the speed detected by the speed detection and judgment module; and

[0014] A speed control module, electrically connected to both the floating signal module and the motor; the speed control module is configured to output a signal with a speed of 0 to the motor when the floating signal module outputs a floating stop signal.

[0015] In some embodiments, the torque control module is further configured to, after the speed control module outputs a signal with a speed of 0 to the motor, delay for a set duration and then output a signal with a torque of 0 to the motor.

[0016] In some embodiments, the torque control module is configured to control the torque of the motor according to the speed detected by the speed detection and judgment module, specifically including:

[0017] When the speed V detected by the speed detection and judgment module is ≤ V1, the torque control module controls the torque of the motor to be T1;

[0018] When the speed V1 < V detected by the speed detection and judgment module ≤ V2, the torque control module controls the torque of the motor to be T2;

[0019] When the speed V2 < V detected by the speed detection and judgment module, the torque control module controls the torque of the motor to be T3;

[0020] Where, 0 < T1 < T2 < T3 < Tmax, and Tmax is the maximum torque of the motor.

[0021] In some embodiments, the directions of T1, T2, and T3 are all in the direction of the hoist lifting.

[0022] In some embodiments, T1 is the same as the torque required for the steel wire rope wound on the hoist to be tightened until it just leaves the slack state, and is much smaller than the torque TP generated by the gravity of the drill pipe connected to the steel wire rope of the hoist; TP = m * g * r * i;

[0023] Where, M is the weight of the drill pipe; g is the acceleration due to gravity; r is the winding radius of the steel wire rope on the hoist; i is the transmission ratio between the motor and the hoist.

[0024] An embodiment of the present invention further provides a drilling rig, which includes the electric-drive winch floating control device provided by any technical solution of the present invention.

[0025] An embodiment of the present invention further provides an electric-drive winch floating control method, which includes the following steps:

[0026] When a floating start signal is received, detect the lowering speed of the winch;

[0027] Calculate the speed range in which the lowering speed of the winch is located, and control the torque of the motor according to the speed range.

[0028] In some embodiments, the correspondence between the speed range and the motor torque is as follows:

[0029] When the lowering speed V of the winch is V≤V1, the torque of the motor is T1;

[0030] When the lowering speed V1<V≤V2 of the winch, the torque of the motor is T2;

[0031] When the lowering speed V2<V of the winch, the torque of the motor is T3;

[0032] Where, 0<T1<T2<T3<Tmax, and Tmax is the maximum torque of the motor.

[0033] In some embodiments, the directions of T1, T2, and T3 are all in the direction of winch lifting.

[0034] In some embodiments, T1 is the same as the torque required to tighten the steel wire rope wound on the winch until it just脱离松弛状态, and is much smaller than the torque TP generated by the gravity of the drill pipe connected to the steel wire rope of the winch; TP = m*g*r*i;

[0035] Where, M is the weight of the drill pipe; g is the acceleration due to gravity; r is the winding radius of the steel wire rope on the winch; i is the transmission ratio between the motor and the winch.

[0036] In some embodiments, T2 = TV,a, where a is a parameter and its value is adjustable.

[0037] In some embodiments, the electric-drive winch floating control method further includes the following steps:

[0038] When a floating stop signal is received, output a signal with a speed of 0 to the motor.

[0039] In some embodiments, the electric-drive winch floating control method further includes the following steps:

[0040] After outputting a signal with a speed of 0 to the motor, delay for a set duration and then output a signal with a torque of 0 to the motor.

[0041] The electric winch floating control device provided by the above technical solution includes a winch, a motor, a floating control switch, a floating signal module, a speed detection and judgment module, a torque control module, and a speed control module. When floating control of the winch is required, the wire rope connected to the winch must be in a slack state. The floating control switch can obtain a signal in real time indicating whether floating control is needed. If floating control is required, the speed detection and judgment module detects the winch's lowering speed in real time, and based on the range of the winch's lowering speed, the torque control module applies the required torque to the motor accordingly. If floating control is not needed, the speed control module resets the winch's speed to 0. In this technical solution, the torque applied to the motor is greater when the winch's lowering speed is high, and vice versa. Furthermore, the applied torque is adjusted multiple times in real time according to the descent speed until it can balance the weight of the drill rod connected to the winch wire rope, so as to achieve a phased decrease in the winch speed and the descent speed of the drill rod, realizing rapid deceleration under high motor torque and stable tension under low torque, and the deceleration process and tensioning process are seamlessly connected, so that the wire rope will neither be over-released nor reversed. Attached Figure Description

[0042] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0043] Figure 1 A schematic diagram of the structure of the electric drive winch floating control device provided in an embodiment of the present invention.

[0044] Figure 2 A schematic diagram showing the connection between the electric drive winch floating control device and the drill pipe provided in an embodiment of the present invention;

[0045] Figure 3 This is a schematic diagram of the electric drive hoist floating control method provided in an embodiment of the present invention.

[0046] Figure label:

[0047] 1. Hoist; 2. Motor; 3. Floating control switch; 4. Floating signal module; 5. Speed ​​detection and judgment module; 6. Torque control module; 7. Speed ​​control module; 8. Reducer; 9. Wire rope; 10. Drill rod; 11. Brake release solenoid valve. Detailed Implementation

[0048] The following is combined with Figures 1-3 The technical solution provided by this invention will be described in more detail below.

[0049] The inventors discovered through research that, theoretically, for electrically driven winches, if no operating current is input to the motor, the motor rotor will be in a floating state. However, to achieve the aforementioned floating function, a certain torque must be actively applied to the motor to balance the weight of the drill rod 10 and lower it at a uniform speed; otherwise, the drill rod 10 will be lowered in free fall. However, if the drill rod 10 has already touched the ground before the floating switch is activated, applying torque to the motor will cause the winch to momentarily lift, i.e., reverse the rope winding. In addition, since the rotational inertia of the electric motor is much greater than that of the hydraulic motor, the winch speed needs a certain deceleration time to drop to zero after the drill rod 10 touches the ground. During this period, the wire rope 9 is prone to over-release, and a certain braking torque must be applied to the motor to prevent the wire rope 9 from over-release.

[0050] The electric drive winch floating control device and control method provided in this embodiment of the invention can apply torque to motor 2 to take into account all the above situations, and effectively realize the floating control of electric drive winch 1.

[0051] Rotary drilling rigs are used for hole-forming operations. During rotary drilling, the drill rod 10 advances into the ground under the combined action of its own weight and external pressure. During the operation of the drill rod 10, the wire rope 9 of the main winch 1 is required to be in a slack state, that is, a floating state.

[0052] Before detailing the technical solutions of the embodiments of the present invention, the specific structure of the drilling rig will be introduced first.

[0053] The drilling rig includes a winch 1, on which a wire rope 9 is wound. The end of the wire rope 9 furthest from the winch 1 is connected to a drill rod 10. Before drilling begins, the drill rod 10 is suspended by the wire rope 9. When drilling is required, the drill rod 10 is first adjusted to a floating state, and then, under its own weight and applied pressure, the drill rod 10 is operated in a controlled and precise manner.

[0054] The drilling rig provided in this embodiment of the invention includes the electric-driven winch floating control device provided by any of the technical solutions of the invention. The winch 1 of the drilling rig is driven by a motor 2, so it is also called a drilling rig of the electric-driven winch 1 type. A reducer 8 is provided between the motor 2 and the winch 1 to control the working speed of the winch 1. During the operation of the winch 1, the brake is always in the working state to ensure that the working parameters of the winch 1 are controllable. The speed and torque parameters of the motor 2 are controlled by the corresponding modules of the electric-driven winch floating control device.

[0055] Specifically, the electric drive winch floating control device includes a winch 1, a motor 2, a floating control switch 3, a floating signal module 4, a speed detection and judgment module 5, a torque control module 6, and a speed control module 7.

[0056] The winch 1, also known as the main winch, is used to move the drill rod 10 up and down. The winch 1 is driven by the reducer 8 and the motor 2. The motor 2 is electrically connected to the speed detection and judgment module 5, the torque control module 6, and the speed control module 7. The speed detection and judgment module 5, the torque control module 6, and the speed control module 7 can be integrated into a single controller or consist of three independent modules.

[0057] The floating control switch 3 can be installed inside the cab. Before drilling operations, the floating control switch 3 is turned on. After the floating control switch 3 is turned on, the corresponding control module collects, detects, and processes data to ultimately control the torque and speed of the motor 2. Specifically, after receiving the floating start signal and during the descent of the drill rod 10, the main function is to control the torque of the motor 2; after receiving the floating stop signal and during the descent of the drill rod 10, the main function is to reset the speed and torque of the motor 2 to zero.

[0058] The floating signal module 4 is electrically connected to the floating control switch 3 and is configured to output a floating start signal when the floating control switch 3 is pressed and a floating stop signal when the floating control switch 3 is opened. The floating signal module 4 is operated by the operator as needed. When floating control is required, the hoist 1 floating switch is pressed, and the floating signal module 4 receives the floating start signal. When floating control needs to be stopped, the hoist 1 floating switch is opened, and the floating signal module 4 receives the floating stop signal. Depending on whether the floating signal module 4 outputs a floating signal, there are two control branches: if a floating signal is output, the hoist 1 brake release solenoid valve 11 is energized, putting the hoist 1 mechanism in a floating state, and then the process enters the speed detection and judgment module 5; if no floating signal is output, the process enters the speed control module 7.

[0059] The speed detection and judgment module 5 is electrically connected to the winch 1 to detect the lowering speed of the winch 1 in real time. Specifically, the speed detection and judgment module 5 can detect the lowering speed V of the winch 1 in real time using the following method: Where D is the diameter of hoist 1, n is the speed of hoist 1 motor 2, and i is the reduction ratio.

[0060] The torque control module 6 is electrically connected to the speed detection and judgment module 5 and the motor 2. The torque control module 6 is configured to control the torque of the motor 2 based on the speed detected by the speed detection and judgment module 5. The control of the motor 2's torque is related to the detected real-time lowering speed of the winch 1. A faster lowering speed V of the winch 1 results in a larger torque applied to the motor 2; conversely, a slower lowering speed V of the winch 1 results in a smaller torque applied to the motor 2. The purpose of this control is to ensure that the torque applied by the motor 2 is essentially balanced with the drill rod 10 itself, allowing the drill rod 10 to descend at a uniform speed rather than in a free-fall state.

[0061] The torque of motor 2 is mainly controlled by the following strategy: the lowering speed V of winch 1 is compared with a set speed range [V1, V2]. Specifically, the lowering speed V of winch 1 is divided into three levels: less than the minimum speed of the range and greater than the maximum speed of the range. The following control is performed based on these three levels.

[0062] When the speed detected by the speed detection and judgment module 5 is V≤V1, the torque control module 6 controls the torque of the motor 2 to be T1.

[0063] When the speed detected by the speed detection and judgment module 5 is V1 < V ≤ V2, the torque control module 6 controls the torque of the motor 2 to be T2.

[0064] When the speed detected by the speed detection and judgment module 5 is V2 < V, the torque control module 6 controls the torque of the motor 2 to be T3.

[0065] Where 0 < T1 < T2 < T3 < Tmax, and Tmax is the maximum torque of motor 2.

[0066] The purpose of applying torque to motor 2 is to balance the weight of drill rod 10. The directions of T1, T2, and T3 are all the direction of lifting winch 1.

[0067] In some embodiments, T1 is the same as the torque required to tighten the wire rope 9 wound on the winch 1 to just come out of the slack state, and is much smaller than the torque TP generated by the gravity of the drill rod 10 connected to the wire rope 9 of the winch 1; TP = m * g * r * i.

[0068] Where M is the weight of drill rod 10; g is the acceleration due to gravity; r is the winding radius of wire rope 9 on winch 1; and i is the transmission ratio between motor 2 and winch 1.

[0069] In some embodiments, T2 = T(V, a). T2 is a function of V and a, where parameter a can be adjusted according to the desired final stable floating speed. By adjusting parameter a, the proportional characteristic of the torque T2 output to motor 2 to the lowering speed V can be changed, thereby obtaining different speed balance points that match the weight of drill pipe 10.

[0070] Speed ​​control module 7 is electrically connected to floating signal module 4 and motor 2. Speed ​​control module 7 is configured to output a speed signal of 0 to motor 2 when floating signal module 4 outputs a floating stop signal. Speed ​​control module 7 performs the following operations: First, it outputs a speed signal of 0 to motor 2; second, it de-energizes hoist 1 brake release solenoid valve 11 after a delay of t0 seconds, thereby closing the hoist 1 brake; third, it initializes the torque output to motor 2 to T=0.

[0071] In some embodiments, the torque control module 6 is further configured to, after the speed control module 7 outputs a signal of speed 0 to the motor 2, delay for a set period of time before outputting a signal of torque 0 to the motor 2.

[0072] See Figure 3 The present invention also provides an electric drive hoist floating control method, which can be implemented using the electric drive hoist floating control device provided in any embodiment of the present invention, and includes the following steps:

[0073] First, upon receiving the floating start signal, the lowering speed of winch 1 is detected.

[0074] Specifically, the aforementioned floating signal module 4 can be used in conjunction with the floating control switch 3 to obtain floating start and floating stop signals. The speed detection and judgment module 5 is used to detect the lowering speed of the winch 1.

[0075] Secondly, the speed range within which the lowering speed of hoist 1 falls is calculated, and the torque of motor 2 is controlled according to this speed range. Specifically, the speed detection and judgment module 5 and the torque control module 6 are used to achieve the corresponding control of torque and speed.

[0076] In some embodiments, the correspondence between the speed range and the torque of motor 2 is as follows:

[0077] When the lowering speed V of hoist 1 is less than or equal to V1, the torque of motor 2 is T1.

[0078] When the lowering speed of winch 1 is V1 < V ≤ V2, the torque of motor 2 is T2.

[0079] When the lowering speed of winch 1 is V2 < V, the torque of motor 2 is T3.

[0080] Where 0 < T1 < T2 < T3 < Tmax, and Tmax is the maximum torque of motor 2.

[0081] The directions of T1, T2, and T3 are all upwards from hoist 1. Further details regarding T1, T2, and T3 can be found above and will not be repeated here.

[0082] In some embodiments, T1 is the same torque required to tighten the wire rope 9 wound on the winch 1 to just break free of its slack state, and is much smaller than the torque TP generated by the gravity of the drill rod 10 connected to the wire rope 9 of the winch 1; TP = m * g * r * i. Wherein, M is the weight of the drill rod 10; g is the acceleration due to gravity; r is the winding radius of the wire rope 9 on the winch 1; and i is the transmission ratio between the motor 2 and the winch 1.

[0083] In some embodiments, the electric drive hoist floating control method further includes the following step: when a floating stop signal is received, outputting a signal with a speed of 0 to the motor 2.

[0084] In some embodiments, the electric drive hoist floating control method further includes the following steps: after outputting a speed signal of 0 to the motor 2, delaying for a set time, outputting a torque signal of 0 to the motor 2. Specifically, the speed control module 7 can output a speed signal of 0, and after the speed is zero, the brake is closed, and then the motor torque returns to zero.

[0085] Based on the position of drill pipe 10, a specific embodiment of the electric drive winch floating control method is introduced when the floating control switch 3 is suddenly turned on.

[0086] The first scenario occurs when the drill rod 10 is suspended in mid-air by the winch 1 and the float switch of the winch 1 is suddenly activated. In this case, the actual lowering speed V of the winch 1 will increase from 0. When V ≤ V1, the torque T1 output to the motor 2 is very small and insufficient to balance the gravity of the falling drill rod 10. Therefore, the lowering speed V will continue to increase.

[0087] When V1 < V ≤ V2, the torque output to motor 2 is T2, where T2 = TV, a. The larger V is, the larger T2 is. When T2 increases to the point where it can balance the gravity of the falling drill rod 10, V no longer increases, and the drill rod 10 begins to fall at a constant speed.

[0088] In addition, if the lowering speed increases too quickly, the torque T2 output to motor 2 will not be enough to decelerate drill rod 10. Once V2 < V, a larger torque T3 will be output to motor 2 to decelerate it quickly and return it to the range defined by V1 and V2. Eventually, the floating speed will stabilize at a certain value between V1 and V2.

[0089] As drill rod 10 floats and falls at a constant speed until it touches the ground, if the winch 1's float switch is still open, the speed of drill rod 10 will instantly drop to 0. However, motor 2 will continue to rotate due to its greater inertia. Depending on the speed V range, there are two possible scenarios.

[0090] In scenario one, at the instant of ground contact, when V1 < V ≤ V2, a large torque T2 is output to motor 2, causing motor 2 to decelerate rapidly. T2 = TV, where a, and T2 decreases as V decreases. When V decelerates to almost V1, T2 also decreases to its minimum value, but it still allows winch 1 to continue decelerating rapidly. When the lowering speed slows to V ≤ V1, a smaller torque T1 is output to motor 2, causing motor 2 to continue decelerating until V = 0. At this point, the torque T1 of motor 2 tensions the wire rope 9 to just break free from its slack state. Since T1 is much smaller than the torque generated by the weight of drill rod 10, drill rod 10 will not be lifted again. Here, "much smaller" means more than 10 times smaller. In the above process, motor 2 decelerates rapidly under the action of a large torque T2 and tensions stably under the action of a small torque T1. The deceleration and tensioning processes are seamlessly connected according to the speed change, ensuring that the wire rope 9 neither over-releases nor reverses.

[0091] In scenario two, when the hoisting speed V ≤ V1 at the instant the drill rod 10 touches the ground, a small torque T1 is output to the motor 2, causing the motor 2 to continue decelerating until V = 0. At this point, the torque T1 of the motor 2 tightens the wire rope 9 to just break free from its slack state. Since T1 is much smaller than the torque generated by the weight of the drill rod 10, the drill rod 10 will not be lifted again. During the above process, the wire rope 9 is stably tightened under the action of the small torque T1, and the wire rope 9 will neither be over-released nor reverse-wound.

[0092] The second scenario: When the drill rod 10 has touched the ground and is stationary on the ground, and the floating switch of the winch 1 is suddenly opened, the winch 1 maintains a lowering speed V = 0 because it is not subjected to external force, satisfying the condition V ≤ V1, and outputs torque T1 to the motor 2, causing the wire rope 9 to tighten until it just leaves the slack state.

[0093] As can be seen, in the above technical solution, after the drill rod 10 touches the ground, the torque of the motor 2 decreases in stages according to the speed of the winch 1, that is, the gear at which the drill rod 10 is lowered. This achieves rapid deceleration under high torque and stable tensioning under low torque, and the deceleration process and tensioning process are seamlessly connected. The wire rope 9 will neither be over-released nor reversed.

[0094] The following describes a specific embodiment of the electric drive hoist floating control method when the floating control switch 3 is disconnected.

[0095] In the first scenario, when the drill rod 10 is floating and falling at a constant speed, the floating switch of the winch 1 is suddenly closed, that is, the floating control switch 3 is disconnected. At this time, regardless of whether the drill rod 10 has touched the ground or is still in mid-air, the speed command V=0 is output to the motor 2. The motor 2 decelerates to 0 under the action of its own current and closes the brake of the winch 1 after a delay. Then the torque of the motor 2 is initialized to T=0. At this time, the winch 1 is in the parking brake state.

[0096] The second scenario is that when the drill rod 10 has touched the ground and is stationary on the ground, and the floating switch of the winch 1 is not turned on (i.e., when it is closed), the speed command V=0 is output to the motor 2. Since the initial state of the winch 1 is V=0, the brake remains in the initial closed state, and the torque of the motor 2 remains in the initial state T=0.

[0097] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to facilitate the description of this invention and to simplify the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. However, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A floating control device for an electrically driven hoist, characterized in that, include: Winnowing (1); The motor (2) is connected to the hoist (1) for driving; Floating control switch (3); The floating signal module (4) is electrically connected to the floating control switch (3) and is configured to output a floating start signal when the floating control switch (3) is pressed and a floating stop signal when the floating control switch (3) is opened. The speed detection and judgment module (5) is electrically connected to the winch (1) to detect the lowering speed of the winch (1) in real time. The torque control module (6) is electrically connected to both the speed detection and judgment module (5) and the motor (2); the torque control module (6) is configured to control the torque of the motor (2) based on the speed detected by the speed detection and judgment module (5); and The speed control module (7) is electrically connected to both the floating signal module (4) and the motor (2); the speed control module (7) is configured to output a speed of 0 to the motor (2) when the floating signal module (4) outputs a floating stop signal; The torque control module (6) is configured to control the torque of the motor (2) based on the speed detected by the speed detection and judgment module (5), specifically including: When the speed detected by the speed detection and judgment module (5) Then the torque control module (6) controls the torque of the motor (2) to be... ; When the speed detected by the speed detection and judgment module (5) Then the torque control module (6) controls the torque of the motor (2) to be... ; When the speed detected by the speed detection and judgment module (5) Then the torque control module (6) controls the torque of the motor (2) to be... ; in, ; The maximum torque of the motor (2); The The torque required to tighten the wire rope (9) wound on the winch (1) to just come out of its slack state is the same as that required to tighten it, and is much smaller than the torque generated by the weight of the drill rod (10) connected to the wire rope (9) of the winch (1). ; ; in, The weight of the drill pipe (10); It is the acceleration due to gravity; The winding radius of the wire rope (9) on the winch (1); The transmission ratio between the motor (2) and the hoist (1) is given.

2. The electric drive hoist floating control device according to claim 1, characterized in that, The torque control module (6) is also configured to output a torque signal of 0 to the motor (2) after the speed control module (7) outputs a speed signal of 0 to the motor (2) for a set time delay.

3. The electric drive hoist floating control device according to claim 1, characterized in that, The , , The direction of all is the upward direction of the hoist (1).

4. A drilling rig, characterized in that, Includes the electric drive winch floating control device as described in any one of claims 1 to 3.

5. A floating control method for an electrically driven hoist, characterized in that, Includes the following steps: Upon receiving the floating start signal, the lowering speed of the winch (1) of the electric drive winch floating control device is detected; Calculate the speed range in which the lowering speed of the hoist (1) is located, and control the torque of the motor (2) of the electric drive hoist floating control device according to the speed range; The electric-driven hoist floating control device includes: The hoist (1); The motor (2) is driven and connected to the hoist (1); Floating control switch (3); The floating signal module (4) is electrically connected to the floating control switch (3) and is configured to output a floating start signal when the floating control switch (3) is pressed and a floating stop signal when the floating control switch (3) is opened. The speed detection and judgment module (5) is electrically connected to the winch (1) to detect the lowering speed of the winch (1) in real time. The torque control module (6) is electrically connected to both the speed detection and judgment module (5) and the motor (2); the torque control module (6) is configured to control the torque of the motor (2) based on the speed detected by the speed detection and judgment module (5); and The speed control module (7) is electrically connected to both the floating signal module (4) and the motor (2); the speed control module (7) is configured to output a speed of 0 to the motor (2) when the floating signal module (4) outputs a floating stop signal; The relationship between the speed range and the torque of the motor (2) is as follows: When the hoist (1) descends at a speed Then the torque of the motor (2) is ; When the hoist (1) descends at a speed Then the torque of the motor (2) is ; When the hoist (1) descends at a speed Then the torque of the motor (2) is ; in, ; The maximum torque of the motor (2); The The torque required to tighten the wire rope (9) wound on the winch (1) to just come out of its slack state is the same as that required to tighten it, and is much smaller than the torque generated by the weight of the drill rod (10) connected to the wire rope (9) of the winch (1). ; ; in, The weight of the drill pipe (10); It is the acceleration due to gravity; The winding radius of the wire rope (9) on the winch (1); The transmission ratio between the motor (2) and the hoist (1) is given.

6. The electric drive hoist floating control method according to claim 5, characterized in that, The , , The direction of all is the upward direction of the hoist (1).

7. The electric drive hoist floating control method according to claim 5, characterized in that, ,in It is a parameter whose value can be adjusted.

8. The electric drive hoist floating control method according to claim 5, characterized in that, It also includes the following steps: Upon receiving the floating stop signal, the motor (2) outputs a signal with a speed of 0.

9. The electric drive hoist floating control method according to claim 8, characterized in that, It also includes the following steps: After outputting a speed signal of 0 to the motor (2), a delay of a set time is set, and then a torque signal of 0 is output to the motor (2).

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