An automatic leveling method and system for a roller cone drill rig

Abstract

This invention discloses an automatic leveling method and system for a roller cone drill rig, comprising: initializing the communication parameters of the control device, the drill rig, and the tilt sensor to achieve synchronization; performing stability detection on the four legs of the drill rig to determine whether they are in a balanced state; entering the leveling process based on the balance determination result; and after leveling, the control device provides signal feedback to begin calibrating drill rod docking and / or drill rod storage. This invention decomposes the leveling motion of the roller cone drill rig into the motion of a planar structure, effectively avoiding interference between the legs, facilitating the determination of the highest point by sensors, and controlling the legs to achieve automatic leveling and meet the leveling task requirements.

Description

Technical Field

[0001] This invention relates to the field of roller cone drill leveling technology, and more specifically, to an automatic leveling method and system for a roller cone drill holder. Background Technology

[0002] The balance of the drill rig is crucial for accurate and smooth drilling, especially for rigs with low drill rigs that require connecting and disconnecting drill rods. An uneven drill rig will affect the connection and insertion of drill rods, causing misalignment and preventing proper alignment. In the past, leveling the drill rig required referring to a mechanical level on site, which required the operator to read the level from different positions, relying solely on experience for leveling. Summary of the Invention

[0003] In view of this, the present invention provides an automatic leveling method and system for a roller cone drill holder to solve the above problems.

[0004] To solve the above technical problems, the present invention provides an automatic leveling method for a roller cone drill holder, comprising:

[0005] Initialize the communication parameters of the control equipment, drill frame, and tilt sensor to synchronize them;

[0006] The stability of the four outriggers of the drill frame is tested to determine whether it is in a balanced state.

[0007] Based on the assessment of the equilibrium state, proceed with the balancing process;

[0008] After leveling is completed, the control equipment sends a signal feedback to begin calibrating drill pipe docking and / or drill pipe storage.

[0009] As an optional method, the drill frame is subjected to stability testing to determine whether it is in a balanced state, including:

[0010] Read the measurement data from the tilt sensor. If the measurement data is less than the preset value, control either leg to quickly provide support in the preset extension direction.

[0011] As an optional approach, a pressure sensor is also installed on each leg, and each pressure sensor is communicatively connected to the control device;

[0012] After obtaining the result of determining the equilibrium state, the following also includes:

[0013] The pressure sensor data for each outrigger is compared with preset pressure data to determine whether any outrigger is properly supported. Determining whether any outrigger is properly supported includes:

[0014] If the sum of the pressure sensor data on each leg of the drill frame reaches a preset value, it is considered that there is no false leg; if it does not exceed the preset value, the leg that has not reached the preset pressure value is considered a false leg, and it is driven to continue to extend in the preset direction until the pressure sensor data reaches the preset value and then stops moving; when at least three legs reach the preset value, it is determined that the drill frame has reached a balanced state and leveling begins.

[0015] As an optional method, the tilt sensor is used to measure the calibration values ​​of the lateral tilt angle and the longitudinal tilt angle formed by the drill frame plane and the transverse plane and the longitudinal plane, respectively; the calibration values ​​are used to represent the correlation between the tilt sensor measurement values ​​and the lateral tilt angle and the longitudinal tilt angle.

[0016] The leveling process includes:

[0017] When the lateral tilt angle calibration value is greater than 0 and the longitudinal tilt angle calibration value is greater than 0, the first and fourth legs remain stationary while the second and third legs rise until the absolute value of the lateral tilt angle calibration value is less than or equal to the preset value; then the first and second legs remain stationary while the third and fourth legs rise until the absolute value of the longitudinal tilt angle calibration value is less than or equal to the preset value.

[0018] When the lateral tilt angle calibration value is greater than 0 and the longitudinal tilt angle calibration value is less than 0, the first and fourth legs remain stationary while the second and third legs rise until the absolute value of the lateral tilt angle calibration value is less than or equal to the preset value; then the third and fourth legs remain stationary while the first and second legs rise until the absolute value of the longitudinal tilt angle calibration value is less than or equal to the preset value.

[0019] When the lateral tilt angle calibration value is less than 0 and the longitudinal tilt angle calibration value is less than 0, the second and third legs remain stationary while the first and fourth legs rise until the absolute value of the lateral tilt angle calibration value is less than or equal to the preset value; then the third and fourth legs remain stationary while the first and second legs rise until the absolute value of the longitudinal tilt angle calibration value is less than or equal to the preset value.

[0020] When the lateral tilt angle calibration value is less than 0 and the longitudinal tilt angle calibration value is greater than 0, the second and third legs remain stationary while the first and fourth legs rise until the absolute value of the lateral tilt angle calibration value is less than or equal to the preset value; then the third and fourth legs remain stationary while the first and second legs rise until the absolute value of the longitudinal tilt angle calibration value is less than or equal to the preset value.

[0021] As an optional approach, when the absolute value of the lateral tilt calibration value is less than or equal to a preset value, the lateral tilt calibration value is checked a second time after a preset time delay, and then the next leveling step is performed.

[0022] As an optional method, when the absolute values ​​of both the lateral tilt angle calibration value and the longitudinal tilt angle calibration value are less than preset values, a false leg judgment is performed:

[0023] If a false leg exists, drive the false leg to extend until the preset pressure value is reached, then level it until the absolute values ​​of the lateral tilt angle calibration value and the longitudinal tilt angle calibration value are both less than the preset values, at which point there is no false leg.

[0024] On the other hand, the present invention also provides an automatic leveling system for a roller cone drill holder, used to perform the automatic leveling method for a roller cone drill holder as described above, and as an optional embodiment, includes:

[0025] The intelligent remote adjustment platform includes control equipment and operating equipment.

[0026] Sensing devices, including pressure sensors and dynamic tilt sensors;

[0027] The drive equipment includes a hydraulic adjustment device and a hydraulic device for the outriggers.

[0028] The control equipment is a PLC controller used for current control, data acquisition, and data processing; the operating equipment drives the hydraulic devices of the outriggers to level the drill frame via the control equipment; among these...

[0029] The control device communicates with the control and sensing devices via the CAN bus to exchange control commands and status information. After receiving information from the sensing devices, it adjusts the drive device to adjust the outriggers according to a preset strategy to achieve leveling.

[0030] As an optional option, the intelligent remote adjustment platform is installed in the driver's cab.

[0031] As an alternative, the dynamic tilt sensor is mounted on the outer edge of the roller cone drill body near the geometric center.

[0032] As an alternative, the hydraulic adjustment device is a proportional directional valve, and the outrigger hydraulic device is a hydraulic cylinder.

[0033] The beneficial effects of this invention are as follows:

[0034] This invention decomposes the leveling motion of the roller cone drill holder into the motion of a planar structure, effectively avoiding mutual interference between the legs, and facilitating the determination of the highest point by sensors to control the legs to achieve automatic leveling and meet the leveling task requirements. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the leveling method steps provided in Embodiment 1 of the present invention;

[0036] Figure 2This is a schematic diagram of the leveling process provided in Embodiment 1 of the present invention;

[0037] Figure 3 This is a schematic diagram of the leveling system structure provided in Embodiment 2 of the present invention. Detailed Implementation

[0038] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to specific embodiments.

[0039] Example 1

[0040] Please see Figure 1 and Figure 2 This embodiment provides an automatic leveling method for a roller cone drill rig, including: initializing the communication parameters of the control device, the drill rig, and the tilt sensor to achieve synchronization; performing stability detection on the four legs of the drill rig to determine whether they are in a balanced state; entering the leveling process based on the determination result of the balance state; after leveling is completed, the control device provides signal feedback to begin calibrating drill rod docking and / or drill rod storage.

[0041] In this embodiment, as an optional approach, the drill frame is subjected to stability detection to determine whether it is in a balanced state. This includes: reading the measurement data from the tilt sensor; if the measurement data is less than a preset value, controlling one leg to quickly provide support in a preset extension direction. This allows the drill frame to quickly enter a relatively stable state, avoiding overturning or errors.

[0042] As an optional approach, a pressure sensor is also installed on each leg, and each pressure sensor is communicatively connected to the control device. After obtaining the balance state determination result, this embodiment further includes:

[0043] The pressure sensor data for each outrigger is compared with preset pressure data to determine whether any outrigger is properly supported. Determining whether any outrigger is properly supported includes:

[0044] If the sum of the pressure sensor data on each leg of the drill frame reaches a preset value, it is considered that there is no false leg; if it does not exceed the preset value, the leg that has not reached the preset pressure value is considered a false leg, and it is driven to continue to extend in the preset direction until the pressure sensor data reaches the preset value and then stops moving; when at least three legs reach the preset value, it is determined that the drill frame has reached a balanced state and leveling begins.

[0045] After making the above preliminary judgment, please refer to [the relevant documents / references]. Figure 2 This embodiment follows Figure 2The process described above involves leveling. It should be noted that the first, second, third, and fourth legs mentioned in this embodiment can be legs in any direction, such as the upper right leg, the upper left leg, etc., determined according to a preset standard. This embodiment does not limit their orientation.

[0046] In practical implementation, the tilt sensor is used to measure the calibration values ​​of the lateral tilt angle and longitudinal tilt angle formed by the drill frame plane and the transverse and longitudinal planes, respectively. The calibration value represents the correlation between the tilt sensor measurement value and the lateral tilt angle and longitudinal tilt angle. For example, if the calibration value is 100, then the actual tilt angle is 1°. This correlation is specified by different tilt sensor models, and this embodiment does not limit its specific relationship. Optionally, if in a certain case this embodiment needs to adjust the leveling angle to ±0.15°, then the calibration value can be ±15, with an absolute value of 15.

[0047] The leveling process includes:

[0048] When the lateral tilt angle calibration value is greater than 0 and the longitudinal tilt angle calibration value is greater than 0, the first and fourth legs remain stationary while the second and third legs rise until the absolute value of the lateral tilt angle calibration value is less than or equal to the preset value; then the first and second legs remain stationary while the third and fourth legs rise until the absolute value of the longitudinal tilt angle calibration value is less than or equal to the preset value.

[0049] When the lateral tilt angle calibration value is greater than 0 and the longitudinal tilt angle calibration value is less than 0, the first and fourth legs remain stationary while the second and third legs rise until the absolute value of the lateral tilt angle calibration value is less than or equal to the preset value; then the third and fourth legs remain stationary while the first and second legs rise until the absolute value of the longitudinal tilt angle calibration value is less than or equal to the preset value.

[0050] When the lateral tilt angle calibration value is less than 0 and the longitudinal tilt angle calibration value is less than 0, the second and third legs remain stationary while the first and fourth legs rise until the absolute value of the lateral tilt angle calibration value is less than or equal to the preset value; then the third and fourth legs remain stationary while the first and second legs rise until the absolute value of the longitudinal tilt angle calibration value is less than or equal to the preset value.

[0051] When the lateral tilt angle calibration value is less than 0 and the longitudinal tilt angle calibration value is greater than 0, the second and third legs remain stationary while the first and fourth legs rise until the absolute value of the lateral tilt angle calibration value is less than or equal to the preset value; then the third and fourth legs remain stationary while the first and second legs rise until the absolute value of the longitudinal tilt angle calibration value is less than or equal to the preset value.

[0052] As an optional approach, when the absolute value of the lateral tilt calibration is less than or equal to a preset value, the lateral tilt calibration is checked a second time after a preset delay period before proceeding to the next leveling step. For example, this delay time could be 0.5s, 1s, etc.

[0053] As an optional method, when the absolute values ​​of both the lateral tilt angle calibration value and the longitudinal tilt angle calibration value are less than the preset value, a false leg judgment is performed: if a false leg exists, the false leg is driven to extend until the preset pressure value reaches the preset value, and then leveling is performed until there is no false leg when the absolute values ​​of both the lateral tilt angle calibration value and the longitudinal tilt angle calibration value are less than the preset value.

[0054] Example 2

[0055] Please see Figure 3 This embodiment provides an automatic leveling system for a roller cone drill holder, used to execute the automatic leveling method for a roller cone drill holder as described in Embodiment 1 above. As an optional approach, it includes:

[0056] The intelligent remote adjustment platform includes control equipment and operating equipment.

[0057] Sensing devices, including pressure sensors and dynamic tilt sensors;

[0058] The drive equipment includes a hydraulic adjustment device and a hydraulic device for the outriggers.

[0059] The control equipment is a PLC controller used for current control, data acquisition, and data processing; the operating equipment drives the hydraulic devices of the outriggers to level the drill frame via the control equipment; among these...

[0060] The control device communicates with the control and sensing devices via CAN bus or 5G signal to exchange control commands and status information; after receiving information from the sensing devices, it adjusts the drive device to adjust the outriggers according to the preset strategy to complete the leveling.

[0061] The aforementioned intelligent remote adjustment platform can be installed in the cab and mainly consists of control and operation equipment. The control equipment can be composed of a programmable logic controller (PLC), which receives control commands sent by the control equipment, controls the hydraulic adjustment device to adjust the output oil volume, and performs automatic leveling control based on the pressure data measured by the pressure sensor and the horizontal and longitudinal level signals of the drill frame measured by the dynamic tilt sensor.

[0062] As an alternative approach, the control device can interact with the control device via, for example, a CAN2.0B bus or 5G signal to exchange control commands and status information, providing operation inputs and status indications for human-machine interaction; and can acquire the angle values ​​of the lateral and longitudinal tilt angles of the drill frame platform measured by the tilt sensor in real time via the CANopen bus, providing angle information for automatic leveling of the drill frame.

[0063] As an optional approach, the dynamic tilt sensor is mounted on the outer edge of the roller cone drill body near its geometric center. In this embodiment, a proportional directional valve is used as the hydraulic adjustment device, and a hydraulic cylinder is used as the outrigger hydraulic device. Other devices capable of achieving similar functions can also be used; this embodiment does not impose any limitations.

[0064] Therefore, in actual mining operations, rotary drilling rigs must be leveled before operation. The original manual leveling method, using levers, took 5-10 minutes, which was time-consuming and resulted in poor leveling accuracy, failing to achieve the desired value. However, based on the technical solution described in this embodiment, using a 5G intelligent remote automatic leveling method, tests have shown that the time taken is only 1-2 minutes, significantly shorter, with clear data feedback and display, and high leveling accuracy. This improves operational efficiency and reduces the workload and working environment for workers.

[0065] The above are merely preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be considered as limitations on the present invention, and the scope of protection of the present invention should be determined by the scope defined in the claims. For those skilled in the art, several improvements and modifications can be made without departing from the spirit and scope 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 method of automatically leveling a drill frame of a drag bit, comprising: The method comprises the following steps: initializing the communication parameters of the control device, the drilling rig and the inclination sensor to synchronize them; detecting the stability of the four legs of the drilling rig to determine whether the drilling rig is in a balanced state; entering a leveling process according to the determination result of the balanced state; after the leveling process is completed, the control device feeds back a signal and starts to calibrate the connection of the drill pipe and / or the storage of the drill pipe; wherein the inclination sensor is used to measure the calibration values of the transverse inclination and the longitudinal inclination formed by the drilling rig plane and the transverse plane and the longitudinal plane respectively, and the calibration values are used to represent the correlation between the measurement values of the inclination sensor and the transverse inclination angle and the longitudinal inclination angle; the leveling process comprises the following steps: when the calibration value of the transverse inclination is greater than 0 and the calibration value of the longitudinal inclination is greater than 0, the first leg and the fourth leg remain unchanged, the second leg and the third leg are raised until the absolute value of the calibration value of the transverse inclination is less than or equal to a preset value, and then the first leg and the second leg remain unchanged, the third leg and the fourth leg are raised until the absolute value of the calibration value of the longitudinal inclination is less than or equal to a preset value; when the calibration value of the transverse inclination is greater than 0 and the calibration value of the longitudinal inclination is less than 0, the first leg and the fourth leg remain unchanged, the second leg and the third leg are raised until the absolute value of the calibration value of the transverse inclination is less than or equal to a preset value, and then the third leg and the fourth leg remain unchanged, the first leg and the second leg are raised until the absolute value of the calibration value of the longitudinal inclination is less than or equal to a preset value; when the calibration value of the transverse inclination is less than 0 and the calibration value of the longitudinal inclination is less than 0, the second leg and the third leg remain unchanged, the first leg and the fourth leg are raised until the absolute value of the calibration value of the transverse inclination is less than or equal to a preset value, and then the third leg and the fourth leg remain unchanged, the first leg and the second leg are raised until the absolute value of the calibration value of the longitudinal inclination is less than or equal to a preset value; when the calibration value of the transverse inclination is less than 0 and the calibration value of the longitudinal inclination is greater than 0, the second leg and the third leg remain unchanged, the first leg and the fourth leg are raised until the absolute value of the calibration value of the transverse inclination is less than or equal to a preset value, and then the third leg and the fourth leg remain unchanged, the first leg and the second leg are raised until the absolute value of the calibration value of the longitudinal inclination is less than or equal to a preset value.

2. The method of automatically leveling a roller cone drill rig frame of claim 1, wherein, The stability detection of the drilling rig and the determination of whether the drilling rig is in a balanced state comprise the following steps: reading the measurement data of the inclination sensor, and if the measurement data is less than a preset value, controlling any leg to support quickly in a preset stretching direction.

3. The method of automatically leveling a roller cone drill rig frame of claim 2, wherein, Any leg is further provided with a pressure sensor, and any pressure sensor is in communication connection with the control device; after the determination result of the balanced state is obtained, the following steps are further included: The pressure sensor detection data of each leg is compared with preset pressure data to determine whether any leg is supported in place; the determination of whether any leg is supported in place includes: whether the sum of the pressure sensor data of each leg of the drilling rig is reached to a preset value, if the preset value is exceeded, it is considered that there is no virtual leg; if the preset value is not exceeded, the leg that does not reach the preset pressure value is regarded as a virtual leg, and it is driven to continue to stretch in the preset direction until the pressure sensor data reaches the preset value and the movement is stopped; wherein, when at least three legs reach the preset value, it is determined that the drilling rig reaches a balanced state and leveling is started.

4. The method of automatically leveling a bit frame of a drag bit of claim 1, wherein, When the absolute value of the lateral inclination calibration value is less than or equal to a preset value, after a preset time period of delay, the lateral inclination calibration value is detected again, and the next leveling is performed.

5. The method of automatically leveling a bit frame of a drag bit of claim 4, wherein, When the absolute values of the lateral inclination calibration value and the longitudinal inclination calibration value are less than a preset value, a virtual leg is determined: if there is a virtual leg, the virtual leg is driven to stretch until the preset pressure value reaches the preset value, and then leveling is performed until there is no virtual leg when the absolute values of the lateral inclination calibration value and the longitudinal inclination calibration value are less than the preset value.

6. An automatic leveling system of a drill frame of a drag bit for performing the automatic leveling method of the drill frame of the drag bit according to any one of claims 1 to 5, characterized by It comprises: An intelligent remote adjustment platform, which comprises a control device and a control device; A sensing device, which comprises a pressure sensor and a dynamic inclination sensor; A driving device, which comprises a hydraulic adjustment device and a leg hydraulic device; The control device is a PLC controller for current control, data acquisition and data processing; the control device drives the leg hydraulic device to level the drilling rig; wherein, the control device communicates with the control device and the sensing device through CAN bus to complete the interaction of control commands and state information; After receiving the information of the sensing device, the driving device is controlled according to a preset strategy to adjust the leg and complete leveling.

7. The automatic leveling system for a roller bit drill string of claim 6, wherein, The intelligent remote adjustment platform is arranged in the cab.

8. The automatic leveling system of a roller bit drill string as defined in claim 6, wherein, The dynamic inclination sensor is installed on the outer edge of the roller bit body near the geometric center.

9. The automatic leveling system for a roller bit drill string of claim 6, wherein, The hydraulic adjustment device is a proportional reversing valve, and the leg hydraulic device is an oil cylinder.

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