New energy electric rotary drill power head soil knocking device

Abstract

The invention belongs to the field of new energy rotary drilling rigs (engineering machinery), and particularly relates to a new energy electric rotary drilling rig power head soil knocking device which comprises a power head motor, the power head motor drives a drill rod to rotate through a power head speed reducer, and a drill rod emergency stop device is arranged so that the drill rod can rapidly stop rotating when the power head motor stops working. And the soil knocking effect is good through inertia.

Description

[0001] This case is a divisional application of CN202111460167.2, patent name: A new energy electric rotary drilling power head soil knocking device and its control method. Technical Field

[0002] The invention belongs to the field of new energy rotary drilling rigs (construction machinery), and in particular relates to a soil knocking device for a new energy electric rotary drilling power head. Background Art

[0003] The existing rotary drilling rigs in the industry mainly rely on the engine to drive the hydraulic pump to achieve the operation, and the soil knocking is also achieved by the hydraulic pump of the whole vehicle driving the hydraulic motor of the power head. Due to the characteristics of the hydraulic drive itself, the power system transmission efficiency of the whole system is not high enough; the work of the engine is affected by the load change, and the efficient operation of the engine cannot be achieved, and the emission effect is not good, which does not meet the requirements of environmental protection development. In summary, there are problems such as low efficiency, serious pollution, and high operating costs of the whole machine. The above problems can be well solved by developing a pure electric drive rotary drilling power system. The soil knocking condition of the rotary drilling power head needs to be realized by the inertial impact between the drill rod and the power head platform when the power head is quickly reversed and started and stopped. When using pure motor drive, since the motor is in a follow-up state (free state) after stopping, there will be a problem that the motor moves with the drill rod after the drill rod hits, resulting in the phenomenon of weak soil knocking. The traditional hydraulic system is in a locked state after the hydraulic stops when knocking the soil, and the impact is strong, and the soil knocking effect is better.

[0004] Soil knocking principle: by controlling the power head motor (or hydraulic motor) to achieve fast forward and reverse switching, relying on inertia to achieve collision between the power head and the drill rod (including drill bit / bucket), and then achieve the purpose of soil knocking. There are keyways distributed around the circumference of the drill rod, and there is a transmission gap (usually a few centimeters) between the keyway of the drill rod and the key bar (gear) of the power head system. It is this gap plus inertia that realizes the collision and soil knocking functions.

[0005] The existing rotary drilling rig operations in the industry mainly rely on the engine to drive the hydraulic pump, and the soil knocking is also achieved by using the vehicle hydraulic pump to drive the power head hydraulic motor. There is currently no research and application of the soil knocking function through new energy motor systems. Summary of the invention

[0006] The present invention aims to solve the technical problem that a rotary drilling rig driven by a pure electric motor is unable to knock soil. To solve the above problem, the present invention provides a new energy electric rotary drilling power head soil knocking device and a control method thereof.

[0007] The objective of the present invention is achieved in the following manner: a new energy electric rotary drilling rig power head soil knocking device comprises a power head motor, the power head motor drives the drill rod to rotate through a power head reducer, and a drill rod emergency stop device is provided so that the drill rod can quickly stop rotating when the power head motor stops working.

[0008] Furthermore, the drill pipe emergency stop device is at least two power head motors.

[0009] Furthermore, the emergency stop device is a power head motor and a power head hydraulic motor connected in series.

[0010] Furthermore, the power head motor and the power head hydraulic motor are connected in series so that the power head motor and the power head hydraulic motor share a shaft.

[0011] Furthermore, the power head motor and the power head hydraulic motor are connected in series with output shafts extending from both ends of the power head motor, one end of the output shaft is connected to the power head reducer, and the other end of the output shaft is connected to the power head hydraulic motor through a coupling.

[0012] Furthermore, the emergency stop device is a brake provided on the power head motor.

[0013] Furthermore, a brake is arranged on the power head motor so that output shafts extend from both ends of the power head motor, one end of the output shaft is connected to the power head reducer, and the other end of the output shaft is connected to the brake.

[0014] Compared with the prior art, the present invention provides a drill rod emergency stop device so that the drill rod can quickly stop rotating when the power head motor stops working, thereby achieving a good soil knocking effect through inertia. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic structural diagram of Embodiment 2 of the present invention; Figure 2 is a schematic diagram of the structure of Embodiment 4 of the present invention; Figure 3 is a flow chart of a soil knocking control method according to Embodiment 4 of the present invention; Figure 4 is a schematic diagram of the structure of Embodiment 7 of the present invention; Figure 5 This is a flow chart of knocking soil in pure electric driving mode in embodiment 7 of the present invention (speed control method); Figure 6 is a flow chart of knocking soil in pure electric driving mode in embodiment 7 of the present invention (torque control method); Figure 7 This is a flow chart of knocking soil in hydraulic drive mode in Example 7 of the present invention; Figure 8 This is a flow chart of soil knocking in the hydraulic + motor hybrid drive mode of embodiment 7 of the present invention.

[0016] Among them, the power head motor 1; the power head motor output shaft 11; the second power head motor 2; the second power head motor output shaft 21; the power head reducer 3; the drill rod 4; the drill bit 41; the brake 5; and the power head hydraulic motor 6. DETAILED DESCRIPTION

[0017] Embodiment 1: A new energy electric rotary drilling power head soil knocking device comprises a power head motor 1, which drives a drill rod 4 to rotate through a power head reducer 3, and a drill rod emergency stop device is provided so that the drill rod 4 can quickly stop rotating when the power head motor 1 stops working.

[0018] A control method for a soil knocking device of a new energy electric rotary drilling power head, the control method comprising the following steps: (1) The power head motor applies a positive rotational force to the drill pipe until the motor system speed reaches a certain positive value; (2) The forward rotation force is canceled, and the power head motor applies a reverse rotation force to the drill pipe, so that the forward speed of the motor system gradually returns to zero and then rotates in the reverse direction until the speed reaches a certain reverse value; (3) The reverse rotation force is canceled, and the power head motor applies a positive rotation force to the drill pipe, causing the reverse speed of the motor system to gradually return to zero; (4) Repeat the above steps.

[0019] Embodiment 2: This embodiment is a further limitation of Embodiment 1. Figure 1 As shown, the drill pipe emergency stop device is composed of at least two power head motors, one of which is an emergency stop motor. When the drill pipe needs to be stopped, the emergency stop motor stops the drill pipe by reversing.

[0020] Based on the control method of a new energy electric rotary drilling power head soil-breaking device in Example 1, the power head motor adopts a multi-motor coupling mode, and the forward rotational force applied in step (1) is to control the power head motor 1 to control the speed so that the speed reaches a determined positive value of 2500rpm; in step (2), the reverse rotational force is applied to the second power head motor 2 to enter the torque control mode, and a torque of -1500N.m is applied to make the power head motor 1 and the second power head motor 2 form a towing working condition, and the forward rotational force is canceled to make the power head motor 1 withdraw the force to 0, and then the forward speed of the motor system gradually returns to zero until it is negative, and then the second power head motor 2 enters the speed control mode until the speed reaches a determined reverse value of -2500rpm; in step (3), the forward rotational force is applied to make the power head motor 1 enter the torque control mode, and a torque of 1500N.m is applied to make the power head motor 1 and the second power head motor 2 form a towing working condition, and the reverse rotational force is canceled to make the second power head motor 2 withdraw the force to 0, and then the reverse speed of the motor system gradually returns to zero until it is positive, and the above steps are repeated.

[0021] More specifically, the control method is as follows: Step ①: The speed of the power head motor 1 is controlled and stabilized to 2500rpm (forward); Step ②: The second power head motor 2 torque control mode controls the power head motor 1 and the second power head motor 2 to form a towing working condition (the power head motor 1 has a forward driving torque, and the second power head motor 2 has a forward braking torque); Step 3: The power head motor 1 suddenly withdraws the power to 0 (closes the tube or actively short-circuits the control); Step ④: The second power head motor 2 continues to rotate at -1500 N.m until the speed changes from the original 2500 rpm (forward) to 100 rpm (reverse). At this time, the second power head motor 2 enters the speed control mode and controls the motor speed to be stable at 2500 rpm (reverse); Step ⑤: Torque control mode of the power head motor 1, controlling the power head motor 1 and the second power head motor 2 to form a towing working condition (reverse driving torque of the second power head motor 2, reverse braking torque of the power head motor 1); Step ⑥: The second power head motor 2 suddenly withdraws power to 0 (turns off the tube or actively short-circuits the motor); Step 7: The power head motor 1 continues to rotate at 1500 N.m until the speed changes from the original 2500 rpm (reverse) to 100 rpm (forward). At this time, the power head motor 1 enters the speed control mode and controls the motor speed to be stable at 2500 rpm (forward); Repeat steps ②~⑦.

[0022] The soil knocking effect can be improved by the cooperation between multiple motors. Taking dual motors as an example, when knocking soil, one motor can be driven and the other motor can be braked. The dual motors can alternately cooperate to realize the fast forward-stop-reverse-stop action cycle, which can solve the problem of slow acceleration and deceleration of a single motor and inability to completely brake; and in the process of drilling the drill bit (bucket), the multi-motor coupling system can also double the driving torque, increase power and improve construction efficiency. In this process, the power head motor rotates at high speed and is decelerated by the reducer. The power of the reducer is input to the small gear shaft in the reduction box. The small gear shaft is decelerated by meshing with the large gear ring. The large gear fixing ring fixed with the inner key sleeve is driven to rotate under the support of the slewing bearing. The inner key sleeve drives the drill rod to rotate through the key bar fixed on it, realizing the rotary motion of the drilling rig.

[0023] Embodiment 3: This embodiment is a further limitation of Embodiment 1, and the emergency stop device is a brake 5 provided on the power head motor.

[0024] Embodiment 4: This embodiment is a further limitation of Embodiment 3. Figure 2 As shown, the brake is arranged on the power head motor as output shafts extending from both ends of the power head motor. The output shafts at both ends are the same, one end of the output shaft is connected to the power head reducer 3, and the other end of the output shaft is connected to the brake 5.

[0025] Based on the control method of a new energy electric rotary drilling rig power head soil-knocking device in Example 1, a power head motor + brake method is adopted. In step (1), the positive rotational force is applied to control the power head motor to apply a positive torque of 1500N.m until the motor system speed reaches a determined positive value of 3000rpm; in step (2), the positive rotational force is canceled by controlling the brake 5 for braking. When the motor system speed reaches 50rpm, the power head motor is controlled to apply a reverse torque of -1500N.m until the motor system speed reaches a determined reverse value of -3000rpm; in step (3), the reverse rotational force is canceled by controlling the brake 5 for braking. When the motor system speed reaches -50rpm, the power head motor is controlled to apply a positive torque of 1500N.m, and then the motor system speed gradually returns to zero, and the above steps are repeated.

[0026] More specifically, the control method is as follows: Figure 3 As shown, when the operator operates the power head to enter the soil knocking mode, the VCU (vehicle control unit) sends a forward target torque command of 1500N.m to the power head motor controller, and the motor system will rotate rapidly. When the motor system speed is ≥3000rpm, the VCU controls the brake to brake. When the motor speed reaches less than 50rpm, the VCU sends a reverse target torque command of 1500N.m to the power head motor controller. After the motor system speed reaches 3000rpm, the VCU controls the brake to brake again. When the motor speed is ≤50rpm, the VCU sends a forward target torque command of 1500N.m to the power head motor controller. According to the above actions, the drill rod's forward-stop-reverse-stop action cycle is realized to knock the soil. The above speed and torque values ​​can also be calibrated and determined based on the actual situation of the system.

[0027] The combination of motor drive + brake locking can realize the fast forward-stop-reverse-stop action cycle of the drill rod system. The braking effect (soil knocking effect) is worse than that of the multi-motor coupling method. However, when the power of the power head motor is large, the volume and weight of the brake are also large, and the power performance during the drill bit (bucket) drilling construction is not as good as the multi-motor coupling configuration.

[0028] Embodiment 5: This embodiment is a further limitation of Embodiment 1, and the emergency stop device is a power head motor and a power head hydraulic motor 6 connected in series.

[0029] Embodiment 6: This embodiment is a further limitation of Embodiment 5, in which the power head motor and the power head hydraulic motor 6 are connected in series with output shafts extending from both ends of the power head motor, one end of the output shaft is connected to the power head reducer 3, and the other end of the output shaft is connected to the power head hydraulic motor 6 through a coupling.

[0030] Embodiment 7: This embodiment is a further limitation of Embodiment 5. Figure 4As shown, the power head motor and the power head hydraulic motor 6 are connected in series so that the power head motor and the power head hydraulic motor 6 share a shaft, which extends from the power head hydraulic motor 6, passes through the power head motor, and is connected to the power head reducer 3.

[0031] Based on the control method of a new energy electric rotary drilling rig soil-knocking device in Example 1, soil-knocking in pure electric drive mode (speed control method) is adopted. In step (1), a positive rotational force is applied to control the speed of the power head motor, and a target speed command of 2500 rpm is sent to make the speed reach a certain forward value (2500±100) rpm; in step (2), the positive rotational force is canceled to control the power head motor to stop at 0 speed. When the speed of the motor system reaches 50 rpm, a target speed command of -2500 rpm is sent to make the speed reach a certain reverse value -(2500±100) rpm; in step (3), the reverse rotational force is canceled to control the power head motor to stop at 0 speed, and then the speed of the motor system gradually returns to zero, and the above steps are repeated.

[0032] More specifically, the control method is as follows: Figure 5 As shown, when the operator operates the power head to enter the soil knocking mode, the power head hydraulic motor 6 enters the follow-up state (output is closed), and the VCU sends a target speed command of 2500rpm forward to the power head motor controller, and the motor system will rotate rapidly. When the feedback speed of the motor system reaches (2500±100)rpm, the VCU sends a 0 speed shutdown command to the power head motor controller. When the motor speed reaches less than 50rpm, the VCU sends a target speed command of 2500rpm reverse to the power head motor controller. When the feedback speed of the motor system reaches (2500±100)rpm, the VCU sends a 0 speed shutdown command to the power head motor controller. When the motor speed is ≤50rpm, the VCU sends a target speed command of 2500rpm forward to the power head motor controller. According to the above actions, the forward-stop-reverse-stop action cycle of the drill rod is realized to knock the soil. The above speed and torque values ​​need to be calibrated and determined in combination with the actual situation of the system.

[0033] Based on the control method of a new energy electric rotary drilling rig soil-knocking device in Example 1, soil-knocking in pure electric drive mode (torque control method) is adopted. In step (1), the forward rotational force is applied to control the power head motor to apply a forward torque of 1500N.m. When the feedback torque of the motor system reaches (1500±100)Nm, the torque of the power head motor is controlled to be 0, until the motor system speed reaches a determined forward value of 3000rpm; in step (2), the reverse rotational force is applied to control the power head motor to apply a reverse torque of -1500N.m. When the feedback torque of the motor system reaches -(1500±100)Nm, the torque of the power head motor is controlled to be 0, until the motor system speed reaches a determined reverse value of -3000rpm; in step (3), the reverse rotational force is canceled to control the power head motor to apply a forward torque of 1500N.m, and then the motor system speed gradually returns to zero, and the above steps are repeated.

[0034] More specifically, the control method is as follows: Figure 6 As shown, when the operator operates the power head to enter the soil knocking mode, the power head hydraulic motor 6 enters the follow-up state (output is closed), and the VCU sends a forward target torque instruction of 1500N.m to the power head motor controller. After the motor system feedback torque reaches (1500±100)Nm, the VCU sends a 0 torque target instruction to the motor controller; when the motor system speed is ≥3000rpm, the VCU sends a reverse target torque instruction of 1500N.m to the power head motor controller. After the motor system feedback torque reaches (1500±100)Nm, the VCU sends a 0 torque target instruction to the motor controller. When the motor system speed is ≥3000rpm, the VCU sends a forward target torque instruction of 1500N.m to the power head motor controller. According to the above actions, the forward-stop-reverse-stop action cycle of the drill rod is realized to knock the soil. The above speed value and torque value need to be calibrated and determined in combination with the actual situation of the system.

[0035] Based on the control method of a new energy electric rotary drilling rig soil-knocking device in Example 1, soil is knocked in a hydraulic drive mode. In step (1), a positive rotational force is applied to control the power head motor to enter a zero torque control mode, and the forward rotation target speed of the power head hydraulic motor is controlled to be n1, until the motor system speed reaches a determined positive value n1; in step (2), the positive rotational force is canceled to control the power head hydraulic motor to stop. When the speed of the power head hydraulic motor is close to 0, a reverse rotational force is applied to control the power head hydraulic motor to rotate at a reverse speed of -n1 until the motor system speed reaches a determined reverse value -n1; in step (3), the reverse rotational force is canceled to control the power head hydraulic motor to stop, and then the motor system speed gradually returns to zero, and the above steps are repeated.

[0036] More specifically, the control method is as follows: Figure 7As shown in the figure, when the operator operates the power head to enter the hydraulic soil knocking mode, the VCU first controls the power head motor controller to enter the 0 torque control mode. When the motor system feedback enters the 0 torque control mode, the VCU controls the hydraulic system controller to make the power head hydraulic pump rotate forward with a target speed of n1. When the hydraulic pump feedback actual speed reaches n1 (a deviation range can be set considering the speed control accuracy), the VCU controls the hydraulic controller to stop the power head hydraulic pump. When the actual speed of the hydraulic pump reaches a certain value (for example, <30rpm), the VCU controls the hydraulic controller to stop the hydraulic pump of the power head. When the actual speed of the hydraulic pump reaches n1 (a deviation range can be set considering the speed control accuracy), the VCU controls the hydraulic controller to stop the hydraulic pump of the power head. When the actual speed of the hydraulic pump reaches a certain value (for example, <30rpm), the VCU controls the hydraulic controller to stop the hydraulic pump of the power head. When the actual speed of the hydraulic pump reaches a certain value (for example, <30rpm), the VCU controls the hydraulic controller to stop the hydraulic pump of the power head. The target speed of the forward rotation of the hydraulic pump is n1, and the power head hydraulic motor drives the drill rod to realize rapid forward and reverse rotation and stop to realize the soil knocking function. The speed value and torque value in the figure need to be calibrated and determined in combination with the actual situation of the system.

[0037] Based on the control method of a new energy electric rotary drilling power head soil knocking device in Example 1, the hydraulic + motor hybrid drive mode is used to knock soil, accelerate the speed change rate of the dynamic transformation process, and improve the efficiency of knocking soil. In step (1), the positive rotation force is applied to control the power head motor to output a forward rotation torque T1, and a forward rotation pre-torque is established in advance for the power head system, and then the forward rotation target speed of the power head hydraulic motor is controlled to be n1, until the motor system speed reaches a determined positive value n1; in step (2), the positive rotation force is canceled to enter the power head motor into 0 torque control, and the power head hydraulic motor is controlled to stop at the same time. When the speed of the power head hydraulic motor is close to 0, the power head motor is controlled to apply a reverse rotation force T1, and a reverse rotation pre-torque is established in advance for the power head system, and then the reverse rotation target speed of the power head hydraulic motor is controlled to be -n1, until the motor system speed reaches a determined reverse value -n1; in step (3), the reverse rotation force is canceled to enter the power head motor into 0 torque control, and the power head hydraulic motor is controlled to stop at the same time, and then the power head motor system speed gradually returns to zero, and the above steps are repeated.

[0038] More specifically, the control method is as follows: Figure 8As shown, when the operator operates the power head to enter the hydraulic + motor hybrid drive soil-breaking mode, the VCU first controls the power head motor controller to output positive torque T1, and establishes a forward rotation pre-torque for the power head system in advance. When the motor system feedback outputs positive torque T1, the VCU controls the hydraulic system controller to make the power head hydraulic pump forward rotation target speed n1. When the hydraulic pump feedback actual speed reaches n1 (a deviation range can be set considering the speed control accuracy), the VCU controls the power head motor to withdraw torque and enter the 0 torque control state. At the same time, the VCU controls the hydraulic controller to stop the power head hydraulic pump. When the actual speed of the hydraulic pump reaches a certain value (for example, <30rpm), the VCU controls the power head motor controller to output reverse torque T1 to give the power head system in advance. The head system establishes a reverse rotation pre-torque. When the motor system feedback outputs reverse torque T1, VCU controls the hydraulic system controller to make the power head hydraulic pump reverse rotation target speed n1. When the hydraulic pump feedback actual speed reaches n1 (a deviation range can be set considering the speed control accuracy), VCU controls the power head motor to withdraw torque and enter the 0 torque control state. At the same time, VCU controls the hydraulic controller to stop the power head hydraulic pump. When the actual speed of the hydraulic pump reaches a certain value (for example, <30rpm), VCU controls the power head motor controller to output positive torque T1, and establishes a forward rotation pre-torque for the power head system in advance. The power head hydraulic motor and motor hybrid drive drill rod in turn to achieve rapid forward and reverse rotation and stop to achieve the function of knocking soil. The speed value and torque value in the figure need to be calibrated and determined in combination with the actual situation of the system.

[0039] During the drilling process of the drill bit (bucket), the pure electric drive mode is still used. After the high-speed rotation of the power head motor is reduced by the reducer, the power of the reducer is input to the small gear shaft in the reduction box. The small gear shaft is reduced by meshing with the large gear ring. The large gear fixing ring fixed with the inner key sleeve is driven to rotate under the support of the slewing bearing. The inner key sleeve drives the drill rod to rotate through the key bar fixed thereon, realizing the rotary motion of the drilling rig. In this process, the power head hydraulic motor 6 is in a follow-up state (no power output).

[0040] Pure electric drive is also used in the normal soil knocking mode (such as dry hole construction), and the power transmission process is the same as above. In this process, the power head hydraulic motor 6 is in a follow-up state (no power output). During the process, the power head motor system can adopt the speed control mode, at which time the VCU (vehicle controller) sends the speed control mode and the corresponding target speed to the motor controller to achieve forward and reverse rotation and stop; the torque control mode can also be used, at which time the VCU sends the torque control mode and the corresponding target torque to the motor controller to drive the transmission system to achieve forward and reverse rotation and stop.

[0041] When high-efficiency soil knocking is required (such as clay layer), the power head hydraulic motor 6 drives the drill rod to achieve rapid forward and reverse rotation and stop. The power head hydraulic motor 6 is provided with hydraulic power by the vehicle hydraulic main pump, and the hydraulic main pump is driven by the pure electric rotary drilling rig main pump motor. This process requires controlling the power head motor to output 0 torque, or controlling the power head motor output driving force to superimpose the driving force of the power head hydraulic motor 6 to accelerate the speed change rate during the dynamic transformation process.

[0042] When knocking soil in the hydraulic + motor hybrid drive mode, the power head motor applies a pre-torque with the same target rotation direction at the next moment before the power head hydraulic system is turned on. When the hydraulic pressure is turned on, the torque will be superimposed on the hydraulic output power, which can ensure that the speed change rate is greater at the moment of hydraulic opening, and the speed impact is more obvious, which helps to improve the soil knocking effect.

[0043] The above is only a preferred embodiment of the present invention. It should be pointed out that for those skilled in the art, several changes and improvements can be made without departing from the overall concept of the present invention, which should also be regarded as the scope of protection of the present invention.

Claims

1. A new energy electric rotary drilling power head soil knocking device, including a power head motor, the power head motor drives the drill rod to rotate through the power head reducer, characterized in that: A drill rod emergency stop device is set up so that the drill rod can stop rotating quickly when the power head motor stops working.

2. The soil knocking device of a new energy electric rotary drilling power head according to claim 1 is characterized in that: The drill pipe emergency stop device is at least two power head motors.

3. The soil knocking device of a new energy electric rotary drilling power head according to claim 1 is characterized in that: The emergency stop device is a power head motor and a power head hydraulic motor connected in series.

4. The soil knocking device of a new energy electric rotary drilling power head according to claim 3 is characterized in that: The power head motor and the power head hydraulic motor are connected in series so that the power head motor and the power head hydraulic motor share a shaft.

5. The soil knocking device of a new energy electric rotary drilling power head according to claim 3 is characterized in that: The power head motor and the power head hydraulic motor are connected in series with output shafts extending from both ends of the power head motor, one end of the output shaft is connected to the power head reducer, and the other end of the output shaft is connected to the power head hydraulic motor through a coupling.

6. The soil knocking device of a new energy electric rotary drilling power head according to claim 1 is characterized in that: The emergency stop device is a brake arranged on the power head motor.

7. The soil knocking device of a new energy electric rotary drilling power head according to claim 6 is characterized in that: The brake is arranged on the power head motor as output shafts extending from both ends of the power head motor, one end of the output shaft is connected to the power head reducer, and the other end of the output shaft is connected to the brake.

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