A rotary drilling method, apparatus, and rotary drilling rig
By obtaining the uniaxial compressive strength of the formation and adaptive speed control, the problem of unstable torque in rotary drilling rigs was solved, achieving efficient drilling and improved equipment efficiency during the drilling process.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- JIANGSU XCMG CONSTRUCTION MACHINERY RESEARCH INSTITUTE LTD
- Filing Date
- 2023-09-01
- Publication Date
- 2026-06-30
AI Technical Summary
Existing rotary drilling rigs rely on operator experience to control ground pressure and rotation speed during drilling, resulting in unstable torque, drill tooth wear, and energy waste.
By obtaining the uniaxial compressive strength of the current stratum, retrieving the single-tooth bearing capacity using a preset expert database, and combining the torque prediction model and the host's capacity range, the system automatically selects the optimal ground pressure and adaptive speed to achieve optimal torque control.
It achieves optimal torque maintenance during drilling, reduces drill bit wear and energy waste, and improves drilling efficiency and equipment efficiency.
Smart Images
Figure CN117166910B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of rotary drilling rig technology, specifically relating to a rotary drilling rig drilling method, device, and rotary drilling rig. Background Technology
[0002] Rotary drilling rigs are foundation construction machinery, widely used in the ground piling industry, and the technology is relatively mature. During drilling, the input is the ground pressure and rotational speed, and the output is the drilling torque and drilling speed.
[0003] Current technologies for controlling ground pressure primarily rely on the operator's experience. The operator intermittently pushes down the pressurizing cylinder using a pressurizing handle to apply pressure to the ground. In terms of ground pressure control, an entire operator cycle is analyzed, divided into the first and second halves of the pressurization process. During the first half of the pressurization, the ground pressure is high, resulting in a greater drill bit penetration depth. This requires a larger torque (T) for drilling, often accompanied by rapid drill bit wear. In the second half, as the drilling depth increases, the ground pressure gradually decreases, leading to a smaller drill bit penetration depth. Therefore, a smaller torque (T) is required, resulting in lower drilling efficiency and energy waste due to insufficient penetration depth.
[0004] Current technology for speed control primarily relies on preset modes in the equipment. Current equipment often has several operating modes, such as fast mode, medium speed mode, fast rock penetration mode, and rock penetration mode. The operator must select the mode. Different drilling modes require different ranges for the power head motor current variation, which is then used to linearly adjust the motor displacement based on the pressure feedback from the power head motor, resulting in different speed outputs. Therefore, current speed control is largely operator-driven and heavily dependent on the operator's experience. Summary of the Invention
[0005] To address the shortcomings of existing technologies, this invention provides a rotary drilling method, apparatus, system, and rotary drilling rig that can automatically select ground pressure and rotational speed during drilling, thereby maintaining torque at its optimal level.
[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:
[0007] In a first aspect, a rotary drilling rig drilling method is provided, comprising: obtaining the uniaxial compressive strength of the current stratum; retrieving the single-tooth bearing capacity of the current stratum from a preset expert database based on the uniaxial compressive strength of the current stratum; obtaining the ground pressure of the current stratum based on the single-tooth bearing capacity and drill string parameters; obtaining the predicted torque from a trained torque prediction model based on the ground pressure of the current stratum; obtaining the optimal ground pressure based on the predicted torque and the main engine's capacity range; and controlling the drilling of the rotary drilling rig using the optimal ground pressure and adaptive rotation speed as input parameters.
[0008] In conjunction with the first aspect, the method for obtaining the uniaxial compressive strength of the current formation includes: performing constant pressure drilling on the current formation with the input initial ground pressure and the rotation speed adjusted according to the system pressure, and recording the drilling process data; and calculating the uniaxial compressive strength of the current formation based on the drilling process data.
[0009] Combining the first aspect, the uniaxial compressive strength of the current formation is calculated based on drilling process data. Specifically, according to drilling theory, under a ground pressure F... y The penetration depth h produced by the action is obtained by formula (1):
[0010]
[0011] Where α is the cone apex angle of the cutting tooth, β is the welding angle of the cutting tooth, σ is the uniaxial compressive strength of the current formation, and F y For ground pressure;
[0012] Among them, F y =F1×n1, where F1 is the single tooth bearing capacity and n1 is the number of teeth.
[0013] Based on the drilling process data, the penetration depth h is obtained using formula (2):
[0014]
[0015] Where V represents the downward drilling speed of the drill bit, and n represents the rotation speed of the drill bit;
[0016] By combining formulas (1) and (2), the uniaxial compressive strength σ of the current stratum is calculated.
[0017] In conjunction with the first aspect, the predicted torque is obtained from the trained torque prediction model based on the current formation pressure on the ground, including:
[0018] Based on the torque model, the ground pressure F is predicted. y The cutting reaction force F generated below x :
[0019]
[0020] in, τ is the internal friction angle; f1 is the internal friction coefficient of the rock; f is the friction coefficient between the cutting tooth and the rock; τ is the shear strength of the rock; γ is an intermediate variable.
[0021]
[0022] Thus, the torque T=F is predicted. x ×d×n1;
[0023] Where d is the drill bit diameter and n1 is the number of teeth.
[0024] In conjunction with the first aspect, the preferred ground pressure is obtained based on the predicted torque and the host's capability range, including: comparing the predicted torque with the host's capability range; when the predicted torque is not less than a set percentage of the host's maximum torque, the ground pressure is not input, but the single-tooth bearing capacity of the corresponding stratum retrieved from the preset expert database is used in a downgraded manner; when the predicted torque is less than a set percentage of the host's maximum torque, the single-tooth bearing capacity of the corresponding stratum retrieved from the preset expert database is used.
[0025] In conjunction with the first aspect, the method for obtaining the adaptive rotational speed includes: using constant system pressure range control to adjust the motor displacement so that the system operates within the target system pressure range, including setting the system operating pressure range, increasing the motor displacement when the system pressure is higher than the set value to reduce the system pressure, and decreasing the motor displacement when the system pressure is lower than the set value to increase the system pressure; thereby enabling the drilling process to have a rotational speed that meets the set requirements.
[0026] Secondly, a rotary drilling rig drilling device is provided, comprising: a formation strength calculation module for obtaining the uniaxial compressive strength of the current formation; a preferred ground pressure module for retrieving the single-tooth bearing capacity of the current formation from a preset expert database based on the uniaxial compressive strength of the current formation, obtaining the ground pressure of the current formation based on the single-tooth bearing capacity and drill string parameters, obtaining the predicted torque from a trained torque prediction model based on the ground pressure of the current formation, and obtaining the preferred ground pressure based on the predicted torque and the host machine's capability range; and a ground pressure execution module for controlling the drilling of the rotary drilling rig with the preferred ground pressure and adaptive rotation speed as input parameters.
[0027] In conjunction with the second aspect, the formation strength calculation module performs constant pressure drilling on the current formation using the input initial ground pressure and the rotation speed set according to the system pressure, and records the drilling process data; the uniaxial compressive strength of the current formation is calculated based on the drilling process data.
[0028] In conjunction with the second aspect, the uniaxial compressive strength of the current formation is calculated based on drilling process data, specifically as follows:
[0029] According to drilling theory, under the ground pressure F y The penetration depth h produced by the action is obtained by formula (1):
[0030]
[0031] Where α is the cone apex angle of the cutting tooth, β is the welding angle of the cutting tooth, σ is the uniaxial compressive strength of the current formation, and F y For ground pressure;
[0032] Among them, F y=F1×n1, where F1 is the single tooth bearing capacity and n1 is the number of teeth.
[0033] Based on the drilling process data, the penetration depth h is obtained using formula (2):
[0034]
[0035] Where V represents the downward drilling speed of the drill bit, and n represents the rotation speed of the drill bit;
[0036] By combining formulas (1) and (2), the uniaxial compressive strength σ of the current stratum is calculated.
[0037] In conjunction with the second aspect, the predicted torque is obtained from the trained torque prediction model based on the current formation pressure on the ground, including:
[0038] Based on the torque model, the ground pressure F is predicted. y The cutting reaction force F generated below x :
[0039]
[0040] in, τ is the internal friction angle; f1 is the internal friction coefficient of the rock; f is the friction coefficient between the cutting tooth and the rock; τ is the shear strength of the rock; γ is an intermediate variable.
[0041]
[0042] Thus, the torque T=F is predicted. x ×d×n1;
[0043] Where d is the drill bit diameter and n1 is the number of teeth.
[0044] In conjunction with the second aspect, the preferred ground pressure is obtained based on the predicted torque and the host's capability range, including: comparing the predicted torque with the host's capability range; if the predicted torque is not less than a set percentage of the host's maximum torque, the ground pressure is not input, and instead the single-tooth bearing capacity of the corresponding stratum retrieved from the preset expert database is used in a downgraded manner; if the predicted torque is less than a set percentage of the host's maximum torque, the single-tooth bearing capacity of the corresponding stratum retrieved from the preset expert database is used.
[0045] In conjunction with the second aspect, it also includes: a speed adaptation module for obtaining adaptive speed, specifically: using system constant pressure range control to adjust the motor displacement so that the system operates within the system target pressure range, including setting the system operating pressure range; when the system pressure is higher than the set value, increasing the motor displacement to lower the system pressure; when the system pressure is lower than the set value, decreasing the motor displacement to raise the system pressure; thereby enabling the drilling process to have a rotational speed that meets the set requirements; and a parameter input module for operator input when there is no preferred ground pressure.
[0046] Thirdly, a rotary drilling rig is provided, wherein the rotary drilling rig is equipped with the rotary drilling device described in the second aspect.
[0047] Compared with existing technologies, the beneficial effects achieved by this invention are as follows: This invention retrieves the single-tooth bearing capacity of the current stratum from a preset expert database based on the uniaxial compressive strength of the current stratum; obtains the ground pressure of the current stratum based on the single-tooth bearing capacity and drill string parameters; obtains the predicted torque from a trained torque prediction model based on the ground pressure of the current stratum; and obtains the optimal ground pressure based on the predicted torque and the main engine's capacity range. The drilling of the rotary drilling rig is controlled using the optimal ground pressure and adaptive rotation speed as input parameters. This scheme can automatically select and adaptively adjust the ground pressure and rotation speed according to the stratum type and equipment capacity during drilling, thereby maintaining the torque at an optimal state. Attached Figure Description
[0048] Figure 1 This is a schematic diagram of the input / output control logic of a rotary drilling rig in the prior art;
[0049] Figure 2 This is a schematic diagram of the drilling depth of a rotary drilling rig during the drilling process;
[0050] Figure 3 This is a schematic diagram of the overall control logic of the present invention;
[0051] Figure 4 This is a schematic diagram of a preferred ground pressure module of the present invention;
[0052] Figure 5 This is a schematic diagram of the speed adaptation module. Detailed Implementation
[0053] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.
[0054] During the drilling process of a rotary drilling rig, the inputs are the ground pressure and rotational speed, and the outputs are the drilling torque and drilling speed. The input / output logic is as follows: Figure 1As shown. This invention mainly relates to methods for controlling ground pressure and rotational speed. Through analysis of the drawbacks of the operator-controlled ground pressure drilling method, this invention proposes a novel rotary drilling rig drilling method.
[0055] Example 1:
[0056] like Figures 2-5 As shown, a rotary drilling rig drilling method includes: obtaining the uniaxial compressive strength of the current stratum; retrieving the single-tooth bearing capacity of the current stratum from a preset expert database based on the uniaxial compressive strength of the current stratum; obtaining the ground pressure of the current stratum based on the single-tooth bearing capacity and drill string parameters; obtaining the predicted torque from a trained torque prediction model based on the ground pressure of the current stratum; obtaining the optimal ground pressure based on the predicted torque and the main engine's capacity range; and controlling the drilling of the rotary drilling rig using the optimal ground pressure and adaptive rotation speed as input parameters.
[0057] First, the uniaxial compressive strength of the current formation is obtained, including: constant pressure drilling of the current formation with the input initial ground pressure and the rotation speed adjusted according to the system pressure, and recording the drilling process data; the uniaxial compressive strength of the current formation is calculated based on the drilling process data.
[0058] like Figure 2 As shown, according to existing drilling theory, under the ground pressure F y The penetration depth h produced by the action is obtained by formula (1):
[0059]
[0060] Where α is the cone apex angle of the cutting tooth, an inherent parameter of the equipment; β is the welding angle of the cutting tooth, an inherent parameter of the equipment; and σ is the uniaxial compressive strength of the current stratum. Therefore, under the ground pressure F... y Under the influence of σ, the penetration depth h is only related to the uniaxial compressive strength σ of the rock (i.e., the uniaxial compressive strength σ of the current stratum).
[0061] Among them, F y =F1×n1, where F1 is the single tooth bearing capacity and n1 is the number of teeth.
[0062] Meanwhile, based on the drilling process data, the penetration depth h can also be obtained using formula (2):
[0063]
[0064] Where V represents the downward drilling speed of the drill bit, and n represents the rotational speed of the drill bit;
[0065] By combining formulas (1) and (2), the uniaxial compressive strength of the current stratum can be calculated, thereby revealing the rock strength of the current stratum.
[0066] Based on the uniaxial compressive strength of the current formation, the single-tooth bearing capacity of the corresponding formation is retrieved from a preset expert database. The ground pressure of the current formation is obtained based on the current number of drill bit teeth. Then, the predicted torque is obtained from a trained torque prediction model, and the optimal ground pressure is obtained based on the host machine's capabilities. Further, a constant pressure range control is employed to adjust the motor displacement so that the system operates within the target pressure range. The ultimate goal is to control the rotary drilling rig's drilling by using the optimal ground pressure and adaptive rotational speed as inputs. This invention can automatically select the ground pressure and rotational speed adaptation during drilling, thereby adapting to changes in the formation for control.
[0067] The predicted torque is obtained from a trained torque prediction model based on the current ground pressure, including:
[0068] Based on the torque model, the ground pressure F is predicted. y The cutting reaction force F generated below x :
[0069]
[0070] in, τ is the internal friction angle; f1 is the internal friction coefficient of the rock; f is the friction coefficient between the cutting tooth and the rock; τ is the shear strength of the rock; γ is an intermediate variable.
[0071]
[0072] Thus, the torque T=F is predicted. x ×d×n1;
[0073] Where d is the drill bit diameter and n1 is the number of teeth.
[0074] The ground pressure is selected based on the host's capabilities, including comparing the predicted torque with the equipment's maximum torque range. If the predicted torque exceeds the equipment's maximum capacity by a certain percentage, the ground pressure is not input. Instead, the single-tooth bearing capacity of the corresponding stratum is retrieved from the preset expert database and downgraded for use to avoid drilling torque exceeding the equipment's capacity range due to excessive torque.
[0075] The system employs constant pressure range control, adjusting the motor displacement to keep the system operating within the target pressure range. This includes setting a system operating pressure range; if the system pressure exceeds the set value, the motor displacement is increased to lower the system pressure; conversely, if the system pressure falls below the set value, the motor displacement is decreased to raise the system pressure. This ensures the highest possible rotational speed during drilling, thereby improving drilling efficiency.
[0076] This invention uses the uniaxial compressive strength of the formation to input ground pressure, ensuring the drilling torque is at its optimal level. This avoids excessive wear of the cutting tools and inefficient construction, thus improving system efficiency. It intelligently controls the motor displacement based on the predicted torque, preventing low system energy utilization and motor efficiency caused by setting the motor displacement too low. It also enables autonomous input from the equipment, reducing the workload of the operator.
[0077] Example 2:
[0078] Based on the rotary drilling method described in Embodiment 1, this embodiment provides a rotary drilling device, including:
[0079] The formation strength calculation module is used to obtain the uniaxial compressive strength of the current formation;
[0080] The preferred ground pressure module is used to retrieve the single tooth bearing capacity of the current formation from the preset expert database based on the uniaxial compressive strength of the current formation, obtain the ground pressure of the current formation based on the single tooth bearing capacity of the current formation and the drill string parameters, obtain the predicted torque from the trained torque prediction model based on the ground pressure of the current formation, and obtain the preferred ground pressure based on the predicted torque and the host machine's capability range.
[0081] The ground pressure actuator module is used to control the drilling of the rotary drilling rig with the preferred ground pressure and adaptive rotation speed as input parameters;
[0082] The rotational speed adaptation module is used to obtain adaptive rotational speed. Specifically, it adopts constant system pressure range control and adjusts the motor displacement to make the system work within the target system pressure range. This includes setting the system working pressure range, increasing the motor displacement when the system pressure is higher than the set value to reduce the system pressure, and decreasing the motor displacement when the system pressure is lower than the set value to increase the system pressure. This ensures that the drilling process has a rotational speed that meets the set requirements.
[0083] The parameter input module is used for operator input when there is no preferred ground pressure.
[0084] Example 3:
[0085] Based on the rotary drilling rig drilling device described in Embodiment 2, this embodiment provides a rotary drilling rig equipped with the rotary drilling rig drilling device described in Embodiment 2.
[0086] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.
Claims
1. A drilling method for a rotary drilling rig, characterized in that, include: Obtain the uniaxial compressive strength of the current formation; Based on the uniaxial compressive strength of the current formation, the single tooth bearing capacity of the current formation is retrieved from the preset expert database. Based on the single tooth bearing capacity of the current formation and the drill string parameters, the ground pressure of the current formation is obtained. Based on the ground pressure of the current formation, the predicted torque is obtained from the trained torque prediction model. Based on the predicted torque and the main unit's capability range, the optimal ground pressure is obtained. The drilling of the rotary drilling rig is controlled by using the optimal ground pressure and adaptive rotation speed as input parameters; The methods for obtaining the uniaxial compressive strength of the current formation include: Constant pressure drilling is performed on the current formation using the input initial ground pressure and the rotation speed adjusted according to the system pressure, and the drilling process data is recorded. The uniaxial compressive strength of the current formation is calculated based on drilling process data, specifically: According to drilling theory, under the pressure on the ground... The penetration depth h produced by the action is obtained by formula (1): （1） in, The cone apex angle of the cutting tooth. For the welding angle of the cutting teeth, The uniaxial compressive strength of the current formation, For ground pressure; in, , For single-tooth load capacity, Number of teeth; Based on the drilling process data, the penetration depth h is obtained using formula (2): （2） in, This indicates the downward drilling speed of the drill bit. Indicates the drill bit rotation speed; By combining formulas (1) and (2), the uniaxial compressive strength of the current stratum can be calculated. .
2. The rotary drilling method according to claim 1, characterized in that, The predicted torque is obtained from a trained torque prediction model based on the current ground pressure, including: Based on the torque model, the ground pressure is predicted. The cutting reaction force generated below : （3） in, It is the internal friction angle; The internal friction coefficient of the rock; The coefficient of friction between the cutting tooth and the rock; For the shear strength of the rock, As an intermediate variable; （4） Thus, the torque T is predicted. ×d×n1; Where d is the drill bit diameter and n1 is the number of teeth.
3. The rotary drilling method according to claim 1, characterized in that, The optimal ground pressure is obtained based on the predicted torque and the main engine's capacity range, including: The predicted torque is compared with the host's capacity range. If the predicted torque is not less than the set percentage of the host's maximum torque, the ground pressure input is not performed. Instead, the single-tooth bearing capacity of the corresponding stratum retrieved from the preset expert database is used in a downgraded manner. If the predicted torque is less than the set percentage of the host's maximum torque, the single-tooth bearing capacity of the corresponding stratum retrieved from the preset expert database is used.
4. The rotary drilling method according to claim 1, characterized in that, Methods for obtaining adaptive rotational speed include: The system employs constant pressure range control, adjusting the motor displacement to keep the system operating within the target pressure range. This includes setting the system operating pressure range, increasing the motor displacement when the system pressure exceeds the set value to lower the system pressure, and decreasing the motor displacement when the system pressure falls below the set value to raise the system pressure. This ensures that the drilling process has a rotational speed that meets the set requirements.
5. A rotary drilling rig drilling device, characterized in that, include: The formation strength calculation module is used to obtain the uniaxial compressive strength of the current formation; The preferred ground pressure module is used to retrieve the single tooth bearing capacity of the current formation from the preset expert database based on the uniaxial compressive strength of the current formation, obtain the ground pressure of the current formation based on the single tooth bearing capacity of the current formation and the drill string parameters, obtain the predicted torque from the trained torque prediction model based on the ground pressure of the current formation, and obtain the preferred ground pressure based on the predicted torque and the host machine's capability range. The ground pressure actuator module is used to control the drilling of the rotary drilling rig with the preferred ground pressure and adaptive rotation speed as input parameters; The formation strength calculation module performs constant-pressure drilling on the current formation using the input initial ground pressure and the rotation speed set according to the system pressure, and records the drilling process data; based on the drilling process data, it calculates the uniaxial compressive strength of the current formation, specifically: According to drilling theory, under the pressure on the ground... The penetration depth h produced by the action is obtained by formula (1): （1） in, The cone apex angle of the cutting tooth. For the welding angle of the cutting teeth, The uniaxial compressive strength of the current formation, For ground pressure; in, , For single-tooth load capacity, Number of teeth; Based on the drilling process data, the penetration depth h is obtained using formula (2): （2） in, This indicates the downward drilling speed of the drill bit. Indicates the rotational speed of the drill bit; By combining formulas (1) and (2), the uniaxial compressive strength of the current stratum can be calculated. .
6. The rotary drilling rig drilling device according to claim 5, characterized in that, The predicted torque is obtained from a trained torque prediction model based on the current ground pressure, including: Based on the torque model, the ground pressure is predicted. The cutting reaction force generated below : （3） in, It is the internal friction angle; The internal friction coefficient of the rock; The coefficient of friction between the cutting tooth and the rock; For the shear strength of the rock, As an intermediate variable; （4） Thus, the torque T is predicted. ×d×n1; Where d is the drill bit diameter and n1 is the number of teeth.
7. The rotary drilling rig drilling device according to claim 5, characterized in that, The optimal ground pressure is obtained based on the predicted torque and the main engine's capacity range, including: The predicted torque is compared with the host's capacity range. If the predicted torque is not less than the set percentage of the host's maximum torque, the ground pressure input is not performed. Instead, the single-tooth bearing capacity of the corresponding stratum retrieved from the preset expert database is used in a downgraded manner. If the predicted torque is less than the set percentage of the host's maximum torque, the single-tooth bearing capacity of the corresponding stratum retrieved from the preset expert database is used.
8. The rotary drilling rig drilling device according to claim 5, characterized in that, Also includes: The speed adaptation module is used to obtain adaptive speed, specifically: The system employs constant pressure range control, adjusting the motor displacement to keep the system operating within the target pressure range. This includes setting the system operating pressure range, increasing the motor displacement when the system pressure exceeds the set value to lower the system pressure, and decreasing the motor displacement when the system pressure falls below the set value to raise the system pressure. This ensures that the drilling process has a rotational speed that meets the set requirements. The parameter input module is used for operator input when there is no preferred ground pressure.
9. A rotary drilling rig, characterized in that, The rotary drilling rig is equipped with the rotary drilling device as described in any one of claims 5 to 8.