Rotary drilling rig performance testing methods

Abstract

This invention discloses a method for testing the performance of a rotary drilling rig, comprising: installing various sensors; starting the rotary drilling rig for a certain period of time to bring it to a normal working state and ensuring it is in an upright position; controlling the movement of the rotary drilling rig, and during the movement, each sensor performs measurements at a preset frequency within a preset time period to obtain measurement results; and obtaining the performance parameters of the rotary drilling rig based on the measurement results. This method uses a nine-axis sensor to directly measure rotational speed and displacement without conversion, greatly improving testing efficiency and measurement accuracy. It can also test various performance parameters such as handle hysteresis, providing a more comprehensive test of the rotary drilling rig's performance.

Description

Technical Field

[0001] This invention relates to the field of rotary drilling rig testing technology, and in particular to a method for testing the performance of rotary drilling rigs. Background Technology

[0002] Rotary drilling rigs are construction machines suitable for hole-forming operations in building foundation engineering. They are mainly suitable for construction in soil layers such as sand, cohesive soil, and silty soil. They are widely used in various foundation constructions such as cast-in-place piles, continuous walls, and foundation reinforcement. They generally adopt hydraulic crawler telescopic chassis, self-lifting foldable drill mast, telescopic drill rod, automatic vertical detection and adjustment, and digital display of hole depth. The whole machine is generally operated by hydraulic pilot control and load sensing, and features easy and comfortable operation.

[0003] During the production process, the performance of rotary drilling rigs needs to be tested, including measuring the rotation speed at different gears, the working condition of the hydraulic system at different gears, braking time, handle lag, deceleration of rotation braking and acceleration of mast swaying, and also testing the hydraulic, speed, and torque performance of the power head device. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a method for testing the performance of a rotary drilling rig, which can conveniently test multiple performance characteristics of the rotary drilling rig.

[0005] This invention provides a method for testing the performance of a rotary drilling rig, comprising:

[0006] A first pressure sensor is installed at the first and second working ports of the rotary motor of the rotary drilling rig; a second pressure sensor is installed at the third and fourth working ports of the rotary main valve; a third pressure sensor is installed at the fifth and sixth working ports of the power head motor of the rotary drilling rig; a fourth pressure sensor is installed at the pressure relief port of the power head motor; a fifth pressure sensor is installed at the first and second pilot ports of the power head hydraulic circuit; a sixth pressure sensor is installed at the seventh working port of the main pump that supplies oil to the power head motor; a flow sensor is installed at the seventh working port of the main pump that supplies oil to the power head motor; a first nine-axis sensor is installed on the mast of the rotary drilling rig; a second nine-axis sensor is installed at the rotary handle of the rotary drilling rig; a third nine-axis sensor is installed at the rotary support of the rotary drilling rig; a fourth nine-axis sensor is installed on the power head housing; and a fifth nine-axis sensor is installed on the power head operating handle of the rotary drilling rig.

[0007] Start the rotary drilling rig and operate it for a certain period of time to bring it to normal working condition and ensure that the rotary drilling rig is in an upright position;

[0008] The rotary drilling rig is controlled to move, and during the movement of the rotary drilling rig, the first pressure sensor, the second pressure sensor, the third pressure sensor, the fourth pressure sensor, the fifth pressure sensor, the sixth pressure sensor, the flow sensor, the first nine-axis sensor, the second nine-axis sensor, the third nine-axis sensor, the fourth nine-axis sensor, and the fifth nine-axis sensor respectively measure at a preset frequency within a preset time period to obtain the measurement results;

[0009] The performance parameters of the rotary drilling rig are obtained based on the measurement results.

[0010] Optionally, along the length of the mast, a plurality of the first nine-axis sensors located at different positions are provided on the mast at intervals.

[0011] Optionally, the first nine-axis sensor is provided at the bottom end, top end, connection point with the tripod, and connection point with the luffing cylinder of the mast.

[0012] Optionally, in the step of measuring the measurement results, the actions of the rotary drilling rig include controlling the rotary drilling rig's turntable to drive the mast to rotate at different gears; and the first pressure sensor measures the oil pressure at the first and second working oil ports of the rotary motor, the second pressure sensor measures the oil pressure at the third and fourth working oil ports of the rotary main valve, the first nine-axis sensor measures the rotational angular velocity and oscillation linear acceleration of the mast, the second nine-axis sensor measures the moving speed of the rotary handle, and the third nine-axis sensor measures the rotational speed of the turntable.

[0013] Optionally, in the step of obtaining the performance parameters of the rotary drilling rig based on the measurement results, the rotation speed of the turntable is directly obtained based on the rotation angular velocity measured by the first nine-axis sensor; the rotation stabilization pressure and start-stop pressure impact of the rotary drilling rig are directly obtained based on the oil pressure measured by the first pressure sensor; the handle stroke x and total handle stroke y when the turntable starts to rotate are calculated based on the moving speed of the rotary handle measured by the second nine-axis sensor, and then calculated according to the formula... The dead zone displacement η is calculated. The handle stroke x when the turntable starts to rotate is the product of the moving speed of the rotary handle and the time from the start of rotation to the stop of rotation of the turntable. The total handle stroke y is the product of the moving speed of the rotary handle and the time from the start of action to the stop of action of the rotary handle. The handle start time t0 is obtained based on the moving speed of the rotary handle measured by the second nine-axis sensor, and the turntable start time t is obtained based on the rotation speed of the turntable measured by the third nine-axis sensor. 回转 And according to the formula t = t 回转-t0 is used to calculate the rotational reaction delay t; the minimum stable rotational speed of the rotary drilling rig is directly obtained based on the rotational angular velocity measured by the first nine-axis sensor; the mast swaying acceleration is directly obtained based on the rotational linear acceleration measured by the first nine-axis sensor.

[0014] Optionally, in the step of measuring the measurement results, the actions of the rotary drilling rig include controlling the power head of the rotary drilling rig to rotate at different gears, and the third pressure sensor measuring the oil pressure at the fifth and sixth working ports of the power head motor, the fourth pressure sensor measuring the oil pressure at the pressure relief port of the power head motor, the fifth pressure sensor measuring the oil pressure at the first and second pilot ports of the power head hydraulic circuit, the sixth pressure sensor measuring the oil pressure at the seventh working port of the main pump that drives the power head motor to supply oil; the flow sensor measuring the flow rate at the seventh working port of the main pump that supplies oil to the power head motor, the fourth nine-axis sensor measuring the rotation speed of the power head housing; and the fifth nine-axis sensor measuring the movement speed of the power head operating handle.

[0015] Optionally, in the step of obtaining the performance parameters of the rotary drilling rig based on the measurement results, the rotational speed of the power head motor under different gears in the soil-throwing condition is directly obtained based on the rotational speed measured by the fourth nine-axis sensor; based on the rotational speed measured by the fourth nine-axis sensor and the formula... The angular acceleration of the power head is obtained, where α is the angular acceleration of the power head, ω is the rotational angular velocity, and t is time. The impact pressure value under the soil-throwing condition is directly obtained from the oil pressure measured by the third pressure sensor. The starting time t0 of the power head operating handle and the starting time t of the power head rotation are obtained from the moving speed of the power head operating handle measured by the fifth nine-axis sensor. 角速度 And according to the formula t2=t 角速度 -t0 calculates the power head control response delay t2; the rotation speed measured by the fourth nine-axis sensor directly obtains the minimum stable rotation speed of the power head.

[0016] Optionally, the first pressure sensor, the second pressure sensor, the third pressure sensor, the fourth pressure sensor, the fifth pressure sensor, the sixth pressure sensor, the flow sensor, the first nine-axis sensor, the second nine-axis sensor, the third nine-axis sensor, the fourth nine-axis sensor, and the fifth nine-axis sensor all include a wireless transmission module. The rotary drilling rig also includes a data acquisition unit, which is used to receive data sent by the wireless transmission module via wireless transmission.

[0017] Optionally, the data collector is a handheld terminal.

[0018] Optionally, the rotary drilling rig performance testing method further includes a step between measuring the measurement results and obtaining the performance parameters of the rotary drilling rig based on the measurement results:

[0019] The first pressure sensor, the second pressure sensor, the third pressure sensor, the fourth pressure sensor, the fifth pressure sensor, the sixth pressure sensor, the flow sensor, the first nine-axis sensor, the second nine-axis sensor, the third nine-axis sensor, the fourth nine-axis sensor, and the fifth nine-axis sensor transmit the measurement results to the data acquisition unit wirelessly.

[0020] The rotary drilling rig performance testing method provided in this embodiment of the invention uses a nine-axis sensor to directly measure rotational speed and displacement without conversion, which greatly improves testing efficiency and measurement accuracy. At the same time, it can test various performance parameters such as handle hysteresis, and can more comprehensively test the performance of the rotary drilling rig. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of a rotary hydraulic circuit.

[0023] Figure 2 This is a schematic diagram of a hydraulic circuit for a power head.

[0024] Figure 3 This is a flowchart illustrating a rotary drilling rig performance testing method according to an embodiment of the present invention.

[0025] Figure 4 for Figure 3 The diagram shows the installation locations of some of the sensors used in the rotary drilling rig performance testing method.

[0026] Figure 5 for Figure 3 The diagram shows the installation locations of some of the sensors used in the rotary drilling rig performance testing method.

[0027] Figure 6 for Figure 3 The diagram shows the installation locations of some of the sensors used in the rotary drilling rig performance testing method.

[0028] Figure 7 for Figure 3The diagram shows the installation locations of some of the sensors used in the rotary drilling rig performance testing method. Detailed Implementation

[0029] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. Based on the description of the present invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present invention.

[0030] Unless otherwise explicitly specified and limited, the terms "setup," "installation," and "connection" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of these terms based on the specific circumstances.

[0031] The terms “upper,” “lower,” “left,” “right,” “front,” “back,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use. They are only for the convenience of description and simplification, 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 limitations on the present invention.

[0032] The terms “first,” “second,” “third,” etc., are used merely to distinguish elements with similar properties, not to indicate or imply relative importance or a specific order.

[0033] The terms “include,” “comprising,” or any other variation thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0034] This invention provides a performance testing method for a rotary drilling rig. The rotary drilling rig includes a rotary hydraulic circuit and a power head hydraulic circuit. Please refer to [the relevant documentation]. Figure 1 The rotary hydraulic circuit includes a main pump (not shown), a rotary main valve 91, and a rotary motor 92. The main pump supplies oil to the rotary motor 92 through the rotary main valve 91 to drive the rotary motor 92 to rotate, thereby rotating the rotary drilling rig's turntable. Please refer to... Figure 2The hydraulic circuit of the power head includes a main pump (not shown), a power head main valve (not shown), and a power head motor 94. The main pump supplies oil to the power head motor 94 through the power head main valve to drive the power head motor to rotate, thereby driving the power head of the rotary drilling rig to rotate. The power head main valve is driven to switch directions by the pilot oil circuit. The two control terminals of the power head main valve are respectively connected to the first pilot oil port and the second pilot oil port of the pilot oil circuit. When the first pilot oil port or the second pilot oil port supplies oil to one of the control terminals of the power head main valve, it can drive the valve core of the power head main valve to move, thereby realizing the switching of the power head main valve.

[0035] Please refer to Figure 3 One embodiment of the rotary drilling rig performance testing method includes the following steps:

[0036] S11, a first pressure sensor 11 is installed at the first working port 922 and the second working port 923 of the rotary drilling rig's rotary motor 92, a second pressure sensor 12 is installed at the third working port 912 and the fourth working port 913 of the rotary main valve 91, a third pressure sensor 13 is installed at the fifth working port 942 and the sixth working port 943 of the rotary drilling rig's power head motor 94, a fourth pressure sensor 14 is installed at the pressure relief port 944 of the power head motor 94, a fifth pressure sensor (not shown) is installed at the first pilot port and the second pilot port of the power head hydraulic circuit, and a sixth pressure sensor (not shown) is installed at the seventh working port (i.e., the outlet port of the main pump) of the main pump supplying oil to the power head motor 94. A flow sensor (not shown) is installed at the seventh working port of the main pump supplying oil to the power head motor 94. Please refer to... Figures 4 to 7 A first nine-axis sensor 31 is installed on the mast 61 of the rotary drilling rig; a second nine-axis sensor 32 is installed at the slewing handle 63 of the rotary drilling rig; a third nine-axis sensor 33 is installed at the slewing support of the rotary drilling rig; a fourth nine-axis sensor 34 is installed on the power head housing 65; and a fifth nine-axis sensor 35 is installed on the power head operating handle 67 of the rotary drilling rig. Specifically, when there are two main pumps supplying oil to the power head motor 94, there are two sixth pressure sensors and two flow sensors, with one sixth pressure sensor and one flow sensor respectively installed at the seventh working oil port of each of the two main pumps. Specifically, the nine-axis sensor can be a nine-axis gyroscope sensor, which can measure the angular velocity and linear acceleration of the component.

[0037] S13, Start the rotary drilling rig and operate it for a certain period of time to bring it to its normal operating state and ensure that the rotary drilling rig is in a stable condition. Figure 4The upright state is shown. Specifically, the upright state refers to the state in which the rotary drilling rig is preparing to enter vertical drilling; the so-called normal working state refers to the stable working stage of the rotary drilling rig. Usually, at this time, the water temperature and oil temperature of the rotary drilling rig are neither too high nor too low, but reach the preset temperature range. For example, the preset temperature of the hydraulic oil can be 55-70℃.

[0038] S15 controls the rotary drilling rig's movement. During the rig's movement, the first pressure sensor 11, second pressure sensor 12, third pressure sensor 13, fourth pressure sensor 14, fifth pressure sensor, sixth pressure sensor, flow sensor, first nine-axis sensor 31, second nine-axis sensor 32, third nine-axis sensor 33, fourth nine-axis sensor 34, and fifth nine-axis sensor 35 perform measurements at a preset frequency within a preset duration, obtaining measurement results. Specifically, the preset duration can be, for example, more than 100 seconds, and the preset frequency can be, for example, 200 Hz. Of course, the preset duration and preset frequency can also be other durations and frequencies. Specifically, the measurement results can include the values ​​measured by each sensor at different time points, for example, the data in Table 1 below (in Table 1 below, when there are multiple corresponding sensors, there are also multiple corresponding data, which are not subdivided in Table 1).

[0039] Table 1. Measurement data of each sensor at different time points.

[0040]

[0041]

[0042] S17, obtain the performance parameters of the rotary drilling rig based on the measurement results.

[0043] In the rotary drilling rig performance testing method of this embodiment, a nine-axis sensor is used to directly measure the rotational speed and displacement without conversion, which greatly improves the testing efficiency and measurement accuracy. At the same time, it can test a variety of performance parameters such as handle hysteresis, and can more comprehensively test the performance of the rotary drilling rig.

[0044] In this embodiment, the first pressure sensor 11, the second pressure sensor 12, the third pressure sensor 13, the fourth pressure sensor 14, the fifth pressure sensor, the sixth pressure sensor, the flow sensor, the first nine-axis sensor 31, the second nine-axis sensor 32, the third nine-axis sensor 33, the fourth nine-axis sensor 34, and the fifth nine-axis sensor 35 all include wireless transmission modules. The rotary drilling rig also includes a data acquisition unit, which is used to receive data sent by the wireless transmission modules via wireless transmission. Wireless transmission avoids numerous wiring connections and improves the efficiency of the experiment.

[0045] Specifically, the data acquisition device can be a handheld terminal. Handheld devices allow for convenient viewing of results, are easy to carry, and offer efficient data storage. It is understood that wireless data acquisition devices can also be installed on rotary drilling rigs.

[0046] In this embodiment, please refer again. Figure 4 Along the length of the mast 61, multiple first nine-axis sensors 31 are spaced apart at different positions on the mast 61 to measure the angular velocity and linear acceleration at different locations on the mast 61. Specifically, the first nine-axis sensors 31 are respectively installed at the bottom end, top end, connection point with the tripod, and connection point with the luffing cylinder of the mast 61. By placing the first nine-axis sensors 31 at different positions on the mast 61, more comprehensive mast rotation speed parameters can be obtained, allowing for a better assessment of the rotary drilling rig's rotation performance.

[0047] In this embodiment, the range of the first pressure sensor 11, the third pressure sensor 13, and the sixth pressure sensor can be 600 Bar (1 Bar = 100 kPa), and the range of the second pressure sensor 12, the fourth pressure sensor 14, and the fifth pressure sensor can be 60 Bar. The range of the flow sensor can be 600 L / min. The range of the first nine-axis sensor 31, the second nine-axis sensor 32, and the fourth nine-axis sensor 34 can be 50 g (g is the acceleration due to gravity).

[0048] In this embodiment, the rotary drilling rig performance testing method further includes a step between step S15 and step S17:

[0049] S19, the first pressure sensor 11, the second pressure sensor 12, the third pressure sensor 13, the fourth pressure sensor 14, the fifth pressure sensor, the sixth pressure sensor, the flow sensor, the first nine-axis sensor 31, the second nine-axis sensor 32, the third nine-axis sensor 33, the fourth nine-axis sensor 34, and the fifth nine-axis sensor 35 transmit the measurement results to the data acquisition unit wirelessly.

[0050] In this embodiment, in step S15, the actions of the rotary drilling rig include controlling the turntable of the rotary drilling rig to drive the mast 61 to rotate at different gears.

[0051] Specifically, in step S15, the first pressure sensor 11 measures the oil pressure at the first working port 922 and the second working port 923 of the rotary motor 92, the second pressure sensor 12 measures the oil pressure at the third working port 912 and the fourth working port 913 of the rotary main valve 91, the first nine-axis sensor 31 measures the rotational angular velocity and oscillation linear acceleration of the mast 61, the second nine-axis sensor 32 measures the moving speed of the rotary handle 63, and the third nine-axis sensor 33 measures the rotational speed of the turntable.

[0052] Specifically, in step S17, the rotational speed of the rotary table is directly obtained based on the rotational angular velocity measured by the first nine-axis sensor 31; the rotational stabilization pressure and start-stop pressure impact of the rotary drilling rig are directly obtained based on the oil pressure measured by the first pressure sensor 11; the handle stroke x and total handle stroke y when the rotary table starts to rotate are calculated based on the moving speed of the rotary handle 63 measured by the second nine-axis sensor 32, and then calculated according to the formula... The dead zone displacement η is calculated. The handle stroke x when the turntable starts to rotate is the product of the moving speed of the rotary handle 63 and the time from the start of rotation to the stop of rotation of the turntable. The total handle stroke y is the product of the moving speed of the rotary handle 63 and the time from the start of action to the stop of action of the rotary handle 63. The handle start time t0 is obtained from the moving speed of the rotary handle 63 measured by the second nine-axis sensor 32, and the turntable start time t is obtained from the rotation speed of the turntable measured by the third nine-axis sensor 33. 回转 And according to the formula t = t 回转 -t0 calculates the rotational reaction delay t, where a moving speed of 0 indicates the rotation handle 63 has stopped, and a moving speed not of 0 indicates the rotation handle is activated. A rotational speed of 0 indicates the turntable has stopped rotating, and a rotational speed not of 0 indicates the turntable is rotating. The minimum stable rotational speed of the rotary drilling rig is directly obtained from the rotational angular velocity measured by the first nine-axis sensor 31. The mast swaying acceleration is directly obtained from the rotational linear acceleration measured by the first nine-axis sensor 31. During rotation, in addition to rotating around the turntable center, the mast 61 will also sway left and right due to crosswinds, etc. The first nine-axis sensor 31 can directly measure the lateral acceleration of the mast 61.

[0053] In this embodiment, in step S15, the actions of the rotary drilling rig include controlling the power head of the rotary drilling rig to rotate at different gears.

[0054] Specifically, in step S15, the third pressure sensor 13 measures the oil pressure at the fifth working port 942 and the sixth working port 943 of the power head motor 94; the fourth pressure sensor 14 measures the oil pressure at the pressure relief port 944 of the power head motor 94; the fifth pressure sensor measures the oil pressure at the first pilot port and the second pilot port of the power head hydraulic circuit; and the sixth pressure sensor measures the oil pressure at the seventh working port of the main pump that supplies oil to the power head motor 94. A flow sensor measures the flow rate at the seventh working port of the main pump supplying oil to the power head motor 94. The fourth nine-axis sensor 34 measures the rotational speed of the power head housing 65. The fifth nine-axis sensor 35 measures the moving speed of the power head operating handle 67.

[0055] Specifically, in step S17, the rotational speed of the power head motor under different gears in the soil-throwing condition is directly obtained based on the rotational speed measured by the fourth nine-axis sensor 35; based on the rotational speed measured by the fourth nine-axis sensor 35 and the formula... The angular acceleration of the power head is obtained, where α is the angular acceleration of the power head, ω is the rotational angular velocity, and t is time. The impact pressure value under the soil-throwing condition is directly obtained from the oil pressure measured by the third pressure sensor 13. The starting time t0 of the power head operating handle and the starting time t of the power head rotation are obtained from the moving speed of the power head operating handle 67 measured by the fifth nine-axis sensor 35. 角速度 And according to the formula t2=t 角速度 -t0 calculates the power head control response delay t2, where a movement speed of 0 indicates that the power head operating handle 67 has stopped, and a movement speed that is not 0 indicates that the power head operating handle 67 has moved; the rotation speed measured by the fourth nine-axis sensor 34 directly obtains the minimum stable rotation speed of the power head, which refers to the minimum rotation speed when the power head is working stably.

[0056] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for testing the performance of a rotary drilling rig, characterized in that, include: A first pressure sensor (11) is installed at the first working port (922) and the second working port (923) of the rotary motor (92) of the rotary drilling rig, a second pressure sensor (12) is installed at the third working port (912) and the fourth working port (913) of the rotary main valve (91), a third pressure sensor (13) is installed at the fifth working port (942) and the sixth working port (943) of the power head motor (94) of the rotary drilling rig, a fourth pressure sensor (14) is installed at the pressure relief port (944) of the power head motor (94), and a first pilot port and a second pilot port of the power head hydraulic circuit are installed. A fifth pressure sensor is installed at the location of the power head motor (94), a sixth pressure sensor is installed at the seventh working port of the main pump that supplies oil to the power head motor (94), a flow sensor is installed at the seventh working port of the main pump that supplies oil to the power head motor (94), a first nine-axis sensor (31) is installed on the mast (61) of the rotary drilling rig, a second nine-axis sensor (32) is installed at the rotary handle (63) of the rotary drilling rig, a third nine-axis sensor (33) is installed at the rotary support of the rotary drilling rig, a fourth nine-axis sensor (34) is installed on the power head housing (65), and a fifth nine-axis sensor (35) is installed on the power head operating handle (67) of the rotary drilling rig. Start the rotary drilling rig and operate it for a certain period of time to bring it to normal working condition and ensure that the rotary drilling rig is in an upright position; The rotary drilling rig is controlled to move, and during the movement of the rotary drilling rig, the first pressure sensor (11), the second pressure sensor (12), the third pressure sensor (13), the fourth pressure sensor (14), the fifth pressure sensor, the sixth pressure sensor, the flow sensor, the first nine-axis sensor (31), the second nine-axis sensor (32), the third nine-axis sensor (33), the fourth nine-axis sensor (34), and the fifth nine-axis sensor (35) measure at a preset frequency within a preset time period to obtain the measurement results; The performance parameters of the rotary drilling rig are obtained based on the measurement results.

2. The rotary drilling rig performance testing method as described in claim 1, characterized in that, Along the length of the mast (61), a plurality of the first nine-axis sensors (31) located at different positions are provided on the mast (61).

3. The rotary drilling rig performance testing method as described in claim 2, characterized in that, The first nine-axis sensor (31) is provided at the bottom end, top end, connection point with the tripod, and connection point with the luffing cylinder of the mast (61).

4. The rotary drilling rig performance testing method as described in claim 1, characterized in that, In the steps of measuring the measurement results, the actions of the rotary drilling rig include controlling the rotary drilling rig's turntable to drive the mast (61) to rotate at different gears; and the first pressure sensor (11) measures the oil pressure at the first working oil port (922) and the second working oil port (923) of the rotary motor (92), the second pressure sensor (12) measures the oil pressure at the third working oil port (912) and the fourth working oil port (913) of the rotary main valve (91), the first nine-axis sensor (31) measures the rotational angular velocity and oscillation linear acceleration of the mast (61), the second nine-axis sensor (32) measures the moving speed of the rotary handle (63), and the third nine-axis sensor (33) measures the rotational speed of the turntable.

5. The rotary drilling rig performance testing method as described in claim 4, characterized in that, In the step of obtaining the performance parameters of the rotary drilling rig based on the measurement results, the rotation speed of the turntable is directly obtained based on the rotation angular velocity measured by the first nine-axis sensor (31); the rotation stabilization pressure and start-stop pressure impact of the rotary drilling rig are directly obtained based on the oil pressure measured by the first pressure sensor (11); the handle stroke x and the total handle stroke y when the turntable starts to rotate are calculated based on the moving speed of the rotary handle (63) measured by the second nine-axis sensor (32), and then calculated according to the formula... The dead zone displacement η is calculated. The handle stroke x when the turntable starts to rotate is the product of the moving speed of the rotary handle (63) and the time from the start of rotation to the stop of rotation of the turntable. The total handle stroke y is the product of the moving speed of the rotary handle (63) and the time from the start of action to the stop of action of the rotary handle (63). The handle start time t0 is obtained according to the moving speed of the rotary handle (63) measured by the second nine-axis sensor (32). The turntable start time t is obtained according to the rotation speed of the turntable measured by the third nine-axis sensor (33). 回转 And according to the formula t = t 回转 -t0 is used to calculate the rotational reaction delay t; the minimum stable rotational speed of the rotary drilling rig is obtained directly from the rotational angular velocity measured by the first nine-axis sensor (31); the mast swaying acceleration is obtained directly from the rotational linear acceleration measured by the first nine-axis sensor (31).

6. The rotary drilling rig performance testing method as described in claim 1, characterized in that, In the steps of measuring the measurement results, the actions of the rotary drilling rig include controlling the power head of the rotary drilling rig to rotate at different gears, and the third pressure sensor (13) measuring the oil pressure at the fifth working port (942) and the sixth working port (943) of the power head motor (94), the fourth pressure sensor (14) measuring the oil pressure at the pressure relief port (944) of the power head motor (94), the fifth pressure sensor measuring the oil pressure at the first pilot port and the second pilot port of the power head hydraulic circuit, the sixth pressure sensor measuring the oil pressure at the seventh working port of the main pump that drives the power head motor (94) to supply oil; the flow sensor measuring the flow rate at the seventh working port of the main pump that supplies oil to the power head motor (94), the fourth nine-axis sensor (34) measuring the rotation speed of the power head housing (65); and the fifth nine-axis sensor (35) measuring the movement speed of the power head operating handle (67).

7. The rotary drilling rig performance testing method as described in claim 6, characterized in that, In the step of obtaining the performance parameters of the rotary drilling rig based on the measurement results, the rotation speed of the power head motor under different gears in the soil-throwing condition is directly obtained based on the rotation speed measured by the fourth nine-axis sensor (34); based on the rotation speed measured by the fourth nine-axis sensor (34) and the formula The angular acceleration of the power head is obtained, where α is the angular acceleration of the power head, ω is the rotational angular velocity, and t is the time. The impact pressure value under the soil-throwing condition is directly obtained based on the oil pressure measured by the third pressure sensor (13). The starting time t0 of the power head operating handle and the starting time t of the power head rotation are obtained based on the moving speed of the power head operating handle (67) measured by the fifth nine-axis sensor (35). 角速度 And according to the formula t2=t 角速度 -t0 calculates the power head control response delay t2; the rotation speed measured by the fourth nine-axis sensor (34) directly obtains the minimum stable rotation speed of the power head.

8. The rotary drilling rig performance testing method as described in claim 1, characterized in that, The first pressure sensor (11), the second pressure sensor (12), the third pressure sensor (13), the fourth pressure sensor (14), the fifth pressure sensor, the sixth pressure sensor, the flow sensor, the first nine-axis sensor (31), the second nine-axis sensor (32), the third nine-axis sensor (33), the fourth nine-axis sensor (34), and the fifth nine-axis sensor (35) all include a wireless transmission module. The rotary drilling rig also includes a data acquisition unit, which is used to receive data sent by the wireless transmission module via wireless transmission.

9. The rotary drilling rig performance testing method as described in claim 8, characterized in that, The data collector is a handheld terminal.

10. The rotary drilling rig performance testing method as described in claim 8, characterized in that, The rotary drilling rig performance testing method also includes a step between measuring the measurement results and obtaining the performance parameters of the rotary drilling rig based on the measurement results: The first pressure sensor (11), the second pressure sensor (12), the third pressure sensor (13), the fourth pressure sensor (14), the fifth pressure sensor, the sixth pressure sensor, the flow sensor, the first nine-axis sensor (31), the second nine-axis sensor (32), the third nine-axis sensor (33), the fourth nine-axis sensor (34), and the fifth nine-axis sensor (35) transmit the measurement results to the data acquisition unit wirelessly.

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