Full-automatic drilling anchor hydraulic driving system and drill rod active vibration suppression control method

Abstract

The invention belongs to the technical field of coal mine underground roadway supporting, and particularly relates to a full-automatic drilling anchor hydraulic driving system and a drill rod active vibration suppression control method. According to the full-automatic drilling and anchoring hydraulic driving system and the drill rod active vibration suppression control method, vibration generated by pressure fluctuation of the hydraulic driving system is eliminated through the independent drill rod rotation driving subsystem, meanwhile, operation parameters are reasonably controlled, when the drilling process is not in the limit load state, the feeding motion is constant-speed motion, and the working efficiency is greatly improved. The operation efficiency is ensured; in the limit load state, the feeding speed is reduced through overflow of the feeding loop, so that the cutting resistance is reduced, the limit load protection effect can be achieved, particularly, vibration is controlled in the limit load state, vibration is restrained from the source, the vibration intensity is reduced, only one step length is adjusted in each control period, and the control efficiency is improved. And the drilling process of the anchor rod drill carriage keeps good stability, and high drilling efficiency is kept as much as possible.

Description

Technical Field

[0001] The invention belongs to the technical field of underground tunnel support in coal mines, and in particular relates to a full-automatic drilling and anchoring hydraulic driving system and a drill rod active vibration suppression control method. Background Art

[0002] The fully automatic anchor drilling vehicle is a new type of automated equipment used for underground tunnel support in coal mines. The entire equipment consists of a chassis, a drill arm and a drilling rig. It can realize the automation of a full set of processes including vehicle driving, automatic positioning of the anchor drilling rig, drilling, delivering anchoring agents, installing anchors and tightening anchors, which significantly improves the efficiency of anchor support and reduces the labor intensity of operators.

[0003] The drilling rig is the main drilling device of the anchor drilling vehicle. After the drill arm positions the drill rig to the target position of the anchor hole through telescopic movement, the drill rod in the drill rig rotates and drills the surrounding rock of the coal roadway under the power provided by the drive system to drill a qualified anchor hole. In the process of high-speed rotation and rock breaking, the drill rod is subjected to axial thrust and periodic alternating cutting load. Since the surrounding rock of the roadway is usually hard, the drill rod will inevitably produce complex vibrations during the drilling process, including lateral, longitudinal and torsional vibrations, and the nonlinear coupling of each vibration component may cause drill bit bounce, drill rod sticking and other phenomena. The vibration and deviation during the feeding process of the drill rod seriously affect the stability of the drill rig and the drilling positioning accuracy. At the same time, the vibration of the drill rod is transmitted to the connection base along the drill arm, which not only causes the drill arm to vibrate violently, but also causes the drill rig to deviate from its position to varying degrees in severe cases, thereby affecting the hole alignment accuracy when delivering the anchoring agent in the next construction link, resulting in a decrease in the success rate of fully automatic anchor support.

[0004] In the current anchor drilling vehicle products, the vibration suppression of the drill rod during the drilling process is mainly achieved by installing a vibration isolation device to attenuate the energy during the vibration transmission process, but this measure cannot suppress the vibration from the source, and can often only reduce the vibration in a single direction. However, when the anchor drilling rig is actually drilling, the vibration state of the drill rod is not only affected by the characteristics of the rock, but is also closely related to the rationality of the drilling rig hydraulic drive system and the real-time control of operating parameters such as the feed and rotation speed of the drill rod, and severe vibration often occurs under extreme load conditions with extremely high rock hardness. Therefore, it is necessary to design a drilling rig hydraulic drive system so that the drill rod can suppress vibration from the source during drilling operations and reduce vibration intensity in multiple directions. At the same time, a control method that can be used in conjunction with the drilling rig hydraulic drive system is designed to reasonably control the operating parameters of the drilling rig hydraulic drive system to avoid excessive vibration intensity under extreme load conditions. Summary of the invention

[0005] In order to solve at least one of the above technical problems existing in the prior art, the present invention provides a fully automatic drilling and anchoring hydraulic drive system and a drill rod active vibration suppression control method.

[0006] According to a first aspect, the present invention provides a fully automatic drilling and anchoring hydraulic drive system, comprising: a drill rod feeding drive subsystem, a drill rod rotation drive subsystem and an oil tank shared by the two;

[0007] The drill pipe feed drive subsystem includes a load-sensitive pump, a load-sensitive multi-way valve, a feed hydraulic cylinder and a proportional electromagnetic relief valve; the proportional electromagnetic relief valve is connected to the feed hydraulic cylinder, and the feed circuit pressure is adjusted in real time according to the overflow pressure of the proportional electromagnetic relief valve; the load-sensitive pump draws hydraulic oil from the oil tank to supply oil to the above-mentioned components; the load-sensitive multi-way valve is connected to the feed hydraulic cylinder;

[0008] The drill rod rotation drive subsystem includes a closed two-way variable pump, an electric proportional servo valve, a variable hydraulic cylinder, an oil replenishment pump, a safety valve group, a drill box motor, an anchor box motor, a reversing valve group and an oil replenishment overflow valve; the oil replenishment pump provides control oil to the drill rod rotation drive subsystem and replenishes oil; the electric proportional servo valve controls the piston position of the variable hydraulic cylinder by controlling the current, and the oil replenishment overflow valve is used to control the hydraulic oil pressure passing through the electric proportional servo valve; the closed two-way variable pump supplies oil to the drill box motor and the anchor box motor separately, and adjusts the height of the internal pressure chamber and the hydraulic oil displacement according to the piston position of the variable hydraulic cylinder; the drill box motor drives the drill rod to perform drilling operations, and adjusts the feed direction and speed of the drill rod according to the height of the internal pressure chamber of the closed two-way variable pump and the hydraulic oil displacement. After drilling is completed, it is switched to the anchor box motor through the reversing valve group, and the anchor box motor controls the execution of the anchor rod upper action;

[0009] When its load-sensitive multi-way valve is in the lower position, the feed hydraulic cylinder extends, the drill rod performs the feeding action, and at the same time cooperates with the rotation of the drill box motor to perform rotary cutting and drilling during the feeding; when its load-sensitive multi-way valve is in the upper position, the feed hydraulic cylinder contracts, and at this time cooperates with the reverse rotation of the drill box motor, the drill rod is retracted, and at the same time switches to the anchor box motor to complete the anchor rod upper action.

[0010] Preferably, it also includes: a feed circuit pressure sensor, a rotation circuit pressure sensor and a controller;

[0011] The feed circuit pressure sensor is set in the circuit between the feed hydraulic cylinder and the load-sensitive multi-way valve. When overflow occurs, the detected feed circuit pressure is the overflow pressure of the current proportional electromagnetic overflow valve;

[0012] The rotary circuit pressure sensor is arranged on the circuit between the drill box motor and the reversing valve group, and is used to detect the rotary circuit pressure of the drill rod in real time when the drill rod is drilling;

[0013] The controller is used to adjust the control current of the proportional electromagnetic overflow valve according to the current overflow pressure of the proportional electromagnetic overflow valve.

[0014] Preferably, it also includes: a cooler; the cooler is installed in the drill rod rotation drive subsystem and is connected to the oil tank to reduce the temperature of the hydraulic oil.

[0015] Preferably, in the drill pipe rotation drive subsystem, the safety valve group includes a safety valve group I and a safety valve group II, which at least include a throttle hole, a safety valve and a one-way valve, and the reversing valve group includes a reversing valve I and a reversing valve II, which are specifically connected as follows:

[0016] The outlet of the closed two-way variable pump is connected to the reversing valve group, and the reversing valve I and reversing valve II in the reversing valve group are connected to the drilling box motor and the anchor box motor respectively. The electric proportional servo valve inside the closed two-way variable pump is connected to the variable hydraulic cylinder inside the closed two-way variable pump, and the variable hydraulic cylinder is connected to the swash plate control mechanism of the closed two-way variable pump. The oil replenishment pump is mechanically connected to the closed two-way variable pump through the shaft, and the outlet of the oil replenishment pump is connected to the one-way valve in the safety valve group. The outlet of the oil replenishment pump is also connected to the electric proportional servo valve inside the closed two-way variable pump through the throttle hole. The oil inlet of the oil replenishment overflow valve is connected to the oil tank, and the oil outlet of the oil replenishment overflow valve is connected to the oil replenishment pump. The oil outlet of the safety valve group is connected to the outlet of the closed two-way variable pump, and the cooler and oil filter are connected between the closed pump system and the oil tank.

[0017] According to a second aspect, the present invention provides a method for active vibration suppression control of a drill rod, which is applied to the fully automatic drilling and anchoring hydraulic drive system described in the first aspect and any one of the embodiments, and the specific steps are as follows:

[0018] S1: Set the initial maximum overflow pressure p of the proportional electromagnetic overflow valve s0 , the rotary circuit pressure limit p when the drilling operation reaches the limit load xm and control cycle, and obtain the real-time rotating circuit pressure p x and the overflow pressure p of the proportional solenoid overflow valve s ;

[0019] S2: Based on the real-time rotating circuit pressure p x and the rotating circuit pressure limit p xm , determine whether the drilling rig is in the limit load state: if it is in the non-limit load state, execute step S3; if it is in the limit load state, execute step S4;

[0020] S3: In one control cycle, the overflow pressure p of the proportional electromagnetic overflow valve s Maintain the initial maximum overflow pressure p s0 , after one control cycle ends, return to step S2;

[0021] S4: In the first control cycle, the proportional electromagnetic overflow valve overflow pressure p s Reduce the step size Δp s1, and then each control cycle repeats the judgment on whether the drilling rig is in the limit load state. If the limit load state is not relieved, each control cycle will reduce a step size Δp s1 , until the limit load state is released, step S5 is executed;

[0022] S5: In each subsequent control cycle, the overflow pressure of the proportional electromagnetic overflow valve gradually increases by another step length Δp s2 Restore to the initial setting value p s0 , wait for the overflow pressure of the proportional electromagnetic overflow valve to return to the initial setting value p s0 Then return to step S3.

[0023] Preferably, step S5 further includes: when the overflow pressure of the proportional electromagnetic overflow valve is equal to the minimum allowable pressure p smin When the difference between the two is less than one step, the overflow pressure of the proportional electromagnetic overflow valve is controlled to be the minimum allowable pressure p smin .

[0024] Preferably, step S5 further includes: when the overflow pressure of the proportional electromagnetic overflow valve is the minimum allowable pressure and the duration reaches a threshold time, it is determined that the fully automatic drilling and anchoring hydraulic drive system is stuck, and the stuck drill processing link is entered.

[0025] Preferably, within a control cycle, according to the adjusted overflow pressure p of the proportional electromagnetic overflow valve s The control current of the proportional electromagnetic relief valve is calculated, and the proportional electromagnetic relief valve adjusts the valve core opening according to the control current.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The fully automatic drilling and anchoring hydraulic drive system and drill rod active vibration suppression control method provided by the present invention eliminate the vibration caused by the pressure fluctuation of the hydraulic drive system through an independent drill rod rotation drive subsystem, and at the same time reasonably control the operating parameters, especially the vibration control under the extreme load state, so as to suppress the vibration from the source and reduce the vibration intensity, so that the drilling process of the anchor drilling vehicle maintains good stability and maintains as high a drilling efficiency as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 is a system principle diagram of a fully automatic drilling and anchoring hydraulic drive system according to an embodiment of the present invention;

[0030] Figure 2 is a flow chart of period determination of a method for active vibration suppression of a drill pipe according to an embodiment of the present invention;

[0031] Figure 3 It is a judgment flow chart of a single control cycle of the active vibration suppression control method during the drilling operation of the anchor drilling machine according to an embodiment of the present invention;

[0032] Figure 4 1 is a system principle diagram of a drill rod rotation drive subsystem according to an embodiment of the present invention.

[0033] Among them, 1-load sensitive pump, 2-load sensitive multi-way valve, 3-balancing valve, 4-unloading valve, 5-proportional electromagnetic relief valve, 6-closed two-way variable pump, 7-electric proportional servo valve, 8-variable hydraulic cylinder, 9-oil make-up pump, 10-safety valve group, 11-drill box motor, 12-anchor box motor, 13-reversing valve group, 14-oil make-up relief valve, 15-cooler, 16-feed circuit pressure sensor, 17-rotation circuit pressure sensor. DETAILED DESCRIPTION

[0034] In conjunction with the drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0035] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention. It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0036] During the rock-breaking drilling process of the drill rod rig, the increase in cutting resistance of the drill rod is the direct cause of the increased vibration, and the size of the cutting resistance is reflected in the pressure of the drill rod rotary hydraulic circuit. Therefore, the size of the cutting resistance, that is, the strength of the drill rod vibration, can be judged by detecting the pressure of the rotary circuit. In the actual working process, the size of the cutting resistance is not only related to the hardness of the rock formation, but also affected by the two operating parameters of the drill rod rotation speed and the feed speed. When the drill rod rotation speed reaches a certain value, the relationship between the cutting resistance and the feed speed is closer, and the two basically show a positive correlation. Therefore, it is necessary to adjust the corresponding parameters of the drill rod rotation speed and the feed speed in time, and the drill rod active vibration suppression control method provided by the present invention is applied to the fully automatic drilling and anchoring hydraulic drive system, and the pressure of the independent drill rod rotation drive subsystem is adjusted in time according to the vibration situation, so as to control the rotation speed of the drill rod and cooperate with the feed hydraulic cylinder to complete the drilling action of the drill rod.

[0037] The present invention provides an embodiment:

[0038] like Figure 1 As shown, the present invention provides a fully automatic drilling and anchoring hydraulic drive system, comprising: a drill rod feeding drive subsystem, a drill rod rotation drive subsystem and an oil tank shared by the two;

[0039] The drill pipe feeding subsystem includes a load-sensitive pump 1, a load-sensitive multi-way valve 2, a feeding hydraulic cylinder and a proportional electromagnetic relief valve 5; the proportional electromagnetic relief valve 5 is connected to the feeding hydraulic cylinder, and the feeding circuit pressure is adjusted in real time according to the overflow pressure of the proportional electromagnetic relief valve 5; the load-sensitive pump 1 draws hydraulic oil from the oil tank to supply oil to the above-mentioned components; the load-sensitive multi-way valve 2 is connected to the feeding hydraulic cylinder;

[0040] The drill rod rotation drive subsystem includes a closed two-way variable pump 6, an electric proportional servo valve 7, a variable hydraulic cylinder 8, an oil replenishment pump 9, a safety valve group 10, a drill box motor 11, an anchor box motor 12, a reversing valve group 13 and an oil replenishment relief valve 14; the oil replenishment pump 9 provides control oil to the drill rod rotation drive subsystem and replenishes oil; the electric proportional servo valve 7 controls the piston position of the variable hydraulic cylinder 8 by controlling the current, and the oil replenishment relief valve 14 is used to control the hydraulic oil pressure passing through the electric proportional servo valve 7; the closed two-way variable pump 6 supplies oil to the drill box motor 11 and the anchor box motor 12 separately, and adjusts the height of the internal pressure chamber and the hydraulic oil displacement according to the piston position of the variable hydraulic cylinder 8; the drill box motor 11 drives the drill rod to perform drilling operations, and adjusts the feed direction and speed of the drill rod according to the height of the internal pressure chamber of the closed two-way variable pump 6 and the hydraulic oil displacement. After drilling is completed, it is switched to the anchor box motor 12 through the reversing valve group 13, and the anchor box motor 12 controls the execution of the anchor rod upper action;

[0041] When its load-sensitive valve is in the lower position, the feed hydraulic cylinder extends, and the drill rod performs the feeding action. At the same time, in conjunction with the rotation of the drill box motor 11, rotary cutting and drilling are performed during the feeding; when its load-sensitive valve is in the upper position, the feed hydraulic cylinder contracts. At this time, in conjunction with the reverse rotation of the drill box motor 11, the drill rod is retracted and switched to the anchor box motor 12 to complete the anchor rod upper action.

[0042] In this embodiment, the fully automatic drilling and anchoring hydraulic drive system also includes a drill arm motion drive subsystem, specifically including: a boom left lifting hydraulic cylinder, a boom right lifting hydraulic cylinder, a boom telescopic hydraulic cylinder, a drill rack leveling hydraulic cylinder, a drill rack rotation hydraulic cylinder, a drill rack swing hydraulic cylinder, a drill rack lifting hydraulic cylinder and corresponding control valves, a balance valve 3, and an unloading valve 4. The load-sensitive pump 1 supplies oil to the above-mentioned components, and the load-sensitive multi-way valve 2 controls the motion of each actuator; the balance valve 3 is used to eliminate the problem of load acceleration caused by gravity negative load in the system; the unloading valve 4 is used for overload protection.

[0043] In this embodiment, when the load-sensitive multi-way valve 2 is in the lower position, the feed hydraulic cylinder extends to push the drill rod into the rock formation, and cooperates with the forward rotation of the drill box motor 11 in the drill rod rotation drive subsystem to perform rotary cutting and drilling during the feeding process; when the load-sensitive multi-way valve 2 is in the upper position, the feed hydraulic cylinder contracts, and at this time cooperates with the reverse rotation of the drill box motor 11 in the drill rod rotation drive subsystem to retract the drill rod.

[0044] In this embodiment, there are at least two safety valve groups 10, each of which includes at least a safety valve, a one-way valve and a throttle hole, but the present invention is not limited thereto, as long as the corresponding functions can be achieved.

[0045] Optionally, it also includes: a feed circuit pressure sensor 16, a rotation circuit pressure sensor 17 and a controller;

[0046] The feed circuit pressure sensor 16 is arranged on the circuit between the feed hydraulic cylinder and the load-sensing multi-way valve 2. When overflow occurs, the detected feed circuit pressure is the overflow pressure of the current proportional electromagnetic overflow valve 5;

[0047] The rotary circuit pressure sensor 17 is arranged on the circuit between the drill box motor 11 and the reversing valve group 13, and is used to detect the rotary circuit pressure when the drill rod is drilling in real time;

[0048] The controller is used to adjust the current of the proportional electromagnetic overflow valve 5 according to the current overflow pressure of the proportional electromagnetic overflow valve 5 .

[0049] In this embodiment, there are at least two reversing valve groups 13. A two-position three-way valve is used in this embodiment. The overflow pressure of the proportional electromagnetic overflow valve 5 is controlled by the power supply current of the electromagnetic coil. The present invention is not limited to this, and it is sufficient to achieve the corresponding function.

[0050] Optionally, it also includes: a cooler 15; the cooler 15 is installed in the drill pipe rotation drive subsystem and is connected to the oil tank to reduce the temperature of the hydraulic oil.

[0051] Optionally, in the drill pipe rotation drive subsystem, the safety valve group 10 includes a safety valve group I and a safety valve group II, which at least include a throttle hole, a safety valve and a one-way valve, and the reversing valve group 13 includes a reversing valve I and a reversing valve II, which are specifically connected as follows:

[0052] The outlet of the closed two-way variable pump 6 is connected to the reversing valve group 13, and the reversing valve I and the reversing valve II in the reversing valve group 13 are respectively connected to the drilling box motor 11 and the anchor box motor 12; the electric proportional servo valve 7 inside the closed two-way variable pump 6 is connected to the variable hydraulic cylinder 8 inside the closed two-way variable pump 6, and the variable hydraulic cylinder 8 is connected to the swash plate control mechanism of the closed two-way variable pump 6. By changing the control current of the electric proportional servo valve 7, the piston rod of the variable hydraulic cylinder 8 can move in both directions, thereby changing the swing direction and swing angle of the swash plate of the closed two-way variable pump 6, and then changing the oil supply direction and oil supply amount of the closed two-way variable pump 6; the oil replenishment pump 9 is mechanically connected to the closed two-way variable pump 6 through the shaft, and the outlet of the oil replenishment pump 9 is connected to the one-way valve in the safety valve group 10. The oil replenishment pump 9 pumps out oil through the one-way valve, and then passes through the safety valve to replenish the low-pressure side of the drill pipe rotation drive subsystem. The outlet of the oil replenishment pump 9 is also connected to the electric proportional servo valve 7 inside the closed two-way variable pump 6 through the throttle hole. The oil pumped out by the oil replenishment pump 9 provides control oil for the swash plate of the closed two-way variable pump 6 after passing through the electric proportional servo valve 7 and the variable hydraulic cylinder 8; the oil inlet of the oil replenishment relief valve 14 is connected to the oil tank, and the oil outlet of the oil replenishment relief valve 14 is connected to the oil replenishment pump 9, thereby limiting the maximum oil replenishment pressure; the oil outlet of the safety valve group 10 is connected to the outlet of the closed two-way variable pump 6, which plays a two-way pressure limiting protection role when the system pressure is too high; the cooler 15 and the oil filter are connected between the closed pump system and the oil tank to play a cooling role.

[0053] Working principle:

[0054] like Figure 1As shown, when the feed drilling action is performed, the hydraulic oil in the drill rod rotation drive subsystem starts from the A port of the closed two-way variable pump 6 and flows through the reversing valve group 13. When the reversing valve I and the reversing valve II in the reversing valve group 13 are both in the right position function, the oil flows through the drill box motor 11, drives the drill box motor 11 to rotate, and the oil flows back to the closed two-way variable pump 6 after passing through the drill box motor 11. When the reversing valve I and the reversing valve II in the reversing valve group 13 are both in the left position function, the oil flows through the anchor box motor 12, drives the anchor box motor 12 to rotate, and flows back to the closed two-way variable pump 6 after passing through the anchor box motor 12. When the high-pressure oil starts from the B port of the closed two-way variable pump 6 and flows through the drill box motor 11 or the anchor box motor 12 through the reversing valve group 13, the rotation direction of the drill box motor 11 or the anchor box motor 12 is opposite to the above rotation direction.

[0055] like Figure 2 As shown, the present invention provides a method for active vibration suppression control of a drill rod, which is applied to the fully automatic drilling and anchoring hydraulic drive system described in any of the above embodiments, and the specific steps are as follows:

[0056] S1: Set the initial maximum overflow pressure p of the proportional electromagnetic overflow valve 5 s0 , the rotary circuit pressure limit p when the drilling operation reaches the limit load xm and control cycle, and obtain the real-time rotating circuit pressure p x and the overflow pressure p of the proportional electromagnetic overflow valve 5 s ;

[0057] S2: Based on the real-time rotating circuit pressure p x and the rotating circuit pressure limit p xm , determine whether the drilling rig is in the limit load state: if it is in the non-limit load state, execute step S3; if it is in the limit load state, execute step S4;

[0058] S3: The overflow pressure p of the proportional electromagnetic overflow valve 5 is increased within one control cycle. s Maintain the initial maximum overflow pressure p s0 , after one control cycle ends, return to step S2;

[0059] S4: In the first control cycle, the proportional electromagnetic relief valve 5 overflow pressure p s Reduce the step size Δp s1 , and then each control cycle repeats the judgment on whether the drilling rig is in the limit load state. If the limit load state is not relieved, each control cycle will reduce a step size Δp s1 , until the limit load state is released, step S5 is executed;

[0060] S5: In each subsequent control cycle, the overflow pressure of the proportional electromagnetic overflow valve 5 is gradually increased by another step length Δps2 Restore to the initial setting value p s0 , wait for the overflow pressure of the proportional electromagnetic overflow valve 5 to return to the initial setting value p s0 Then return to step S3.

[0061] In this embodiment, the feed circuit pressure sensor 16 and the rotary circuit pressure sensor 17 connected to the proportional electromagnetic overflow valve 5 are used to detect the feed circuit pressure and the rotary circuit pressure in real time. When the load is not extreme, the constant feed speed control is adopted, the proportional electromagnetic overflow valve 55 is not opened, there is no overflow, and the feed speed of the drill rod is kept constant. This constant speed can be a higher allowable speed to ensure higher operating efficiency, or it can be a specific ideal speed. Specifically, it can be achieved by setting the initial overflow pressure value of the proportional electromagnetic overflow valve 5, that is, when the initial overflow pressure value is set to the maximum overflow pressure of the proportional electromagnetic overflow valve 5, the corresponding feed speed is the maximum speed; after the extreme load occurs, the proportional electromagnetic overflow valve 5 of the feed circuit is automatically overflow controlled, and the overflow pressure is dynamically changed through the control algorithm. As long as overflow occurs, the pressure of the feed circuit is the overflow pressure of the current proportional electromagnetic overflow valve 5. In practical applications, the overflow pressure of the proportional electromagnetic overflow valve 5 can be set to an initial value according to the actual requirements of the vibration strength when drilling the rock formation hardness, and the overflow pressure of the proportional electromagnetic overflow valve 5 can be dynamically adjusted.

[0062] In this embodiment, the initial maximum overflow pressure p of the proportional electromagnetic overflow valve 5 is set to s0 , the rotary circuit pressure limit p when the drilling operation reaches the limit load xm , real-time rotating circuit pressure p x , overflow pressure p of proportional electromagnetic overflow valve 5 s , Minimum allowable overflow pressure p of proportional electromagnetic overflow valve 5 smin , the step length Δp of the reduction under the limit load state s1 , the step length Δp of growth after the limit state is released s2 , Drilling threshold duration T ε , proportional electromagnetic relief valve 5 control current I s .

[0063] When p x <p xm When the pressure is less than the limit load, the overflow pressure p of the proportional electromagnetic overflow valve 5 is s Maintain the initial maximum overflow pressure p s0 , the proportional electromagnetic overflow valve 5 does not overflow.

[0064] When p x ≥p xm When the limit load occurs, the overflow pressure p of the proportional electromagnetic overflow valve 5 starts to be dynamically adjusted. s, gradually increase the overflow pressure p s The initial maximum overflow pressure p s0 Dynamically reduce until the limit load condition is released.

[0065] Each control cycle repeatedly determines the real-time rotating circuit pressure p x The pressure limit p of the rotating circuit when the drilling operation reaches the limit load xm The size relationship is as long as p x ≥p xm , the next control cycle will be reduced by a step size Δp s1 , until the limit load state is released; after the limit load state is released, the overflow pressure p s In the next control cycle, gradually increase the step size Δp s2 , until it returns to the initial maximum overflow pressure p s0 .

[0066] Optionally, when the overflow pressure p of the proportional electromagnetic overflow valve 5 s When the pressure reaches the minimum allowable pressure and the duration reaches the threshold value, it is determined that the fully automatic drilling and anchoring hydraulic drive system is stuck and enters the stuck drill processing stage.

[0067] In this embodiment, if the overflow pressure p s Adjust to the minimum allowable overflow pressure p of the proportional electromagnetic overflow valve 5 smin If the limit load state is not released after a period of time, it is considered that the drill is stuck. At this time, the drill is stuck and the drill is reversed and retracted.

[0068] In this embodiment, when the system is in the extreme load state, the overflow pressure p of the proportional electromagnetic overflow valve 5 is reduced in the current control cycle. s Reduce the step size Δp s1 , if the overflow pressure p in the current control cycle s The pressure has been reduced to the minimum allowable overflow pressure p of the proportional electromagnetic overflow valve 5. smin If the difference between them is less than one step length, let p s =p smin If p s =p smin A certain threshold time T has been maintained ε , it is considered that the drill is stuck and the drill is stuck treatment phase is initiated; if p s =p smin Time before reaching the threshold T ε , then maintain the overflow pressure p s =p smin ; When the system is in a non-limit load state, p s <p s0, in the current control cycle, the overflow pressure p of the proportional electromagnetic overflow valve 5 s Increase the step size Δp s2 ; If the overflow pressure p in the current control cycle s Has increased to the initial maximum relief pressure p s0 If the difference between them is less than one step length, let p s =p s0 .

[0069] Optionally, within a control cycle, according to the adjusted overflow pressure p of the proportional electromagnetic overflow valve 5 s The control current of the proportional electromagnetic overflow valve 5 is calculated, and the proportional electromagnetic overflow valve 5 adjusts the valve core opening according to the control current.

[0070] In this embodiment, the above judgment step is executed by a controller, and the controller sets a control cycle of 10ms. The above judgment step is executed once in each 10ms cycle, and the cycle is repeated continuously.

[0071] The fully automatic drilling and anchoring hydraulic drive system and the drill rod active vibration suppression control method provided by the present invention eliminate the vibration caused by the pressure fluctuation of the hydraulic drive system through the drill rod rotation drive subsystem, and at the same time reasonably control the operation parameters. When the drilling process is not in the limit load state, the feed motion is a constant speed motion to ensure the operation efficiency; when it is in the limit load state, the feed speed is reduced by the overflow of the feed circuit, so that the cutting resistance is reduced, which can play a role in limit load protection, especially the vibration control under the limit load state, so as to suppress the vibration from the source and reduce the vibration intensity, and only one step length is adjusted in each control cycle, so that the drilling process of the anchor drilling vehicle maintains good stability and maintains as high a drilling efficiency as possible.

[0072] like Figure 3 As shown, an embodiment of the present invention provides a single control cycle judgment flow chart of an active vibration suppression control method during the drilling operation of an anchor drilling rig.

[0073] Read the real-time rotating circuit pressure p of the current cycle x , determine whether p is satisfied x >p xm When this condition is met, the current cycle is in the limit load state, and then it is determined again whether p is met. s -Δp s1 >p smin When this condition is met, the overflow pressure p of the proportional electromagnetic overflow valve 5 is controlled. s Reduce the step size Δp s1 ,definition is the updated overflow pressure, i.e. Then according to Calculate the control current I of the proportional electromagnetic overflow valve 5s , and finally output the control current to the proportional electromagnetic overflow valve 5, and then return to enter the next control cycle; when p is not satisfied s -Δp s1 >p smin When the overflow pressure p s is the minimum allowable pressure p smin , that is, p s =p smin , and then determine whether the duration meets the drill stuck threshold time T ε , when the stuck drill threshold is met, the time length T ε When the drill stuck processing phase is entered, the next control cycle is entered after the processing is completed. If the drill stuck threshold time T is not met ε When, according to p s =p smin , calculate the control current I of the proportional electromagnetic overflow valve 5 s , and then outputs the control current to the proportional electromagnetic overflow valve 5, and finally returns to enter the next control cycle.

[0074] When p is not satisfied x >p xm , the current cycle is in a non-limit load state, and then determine whether p s <p s0 , when p is satisfied s <p s0 When p is satisfied, s0 -p s ≥Δp s2 , when p is satisfied s0 -p s ≥Δp s2 When the overflow pressure p of the proportional electromagnetic overflow valve 5 is controlled s Increase the step size Δp s2 ,Right now Then according to Calculate the control current I of the proportional electromagnetic overflow valve 5 s , and finally output the control current to the proportional electromagnetic overflow valve 5, and then return to enter the next control cycle; when p is not satisfied s0 -p s ≥Δp s2 When the overflow pressure p of the proportional electromagnetic overflow valve 5 is controlled s is the initial maximum overflow pressure p s0 , that is, p s =p s0 , then according to Calculate the control current I of the proportional electromagnetic overflow valve 5 s , and finally output the control current to the proportional electromagnetic overflow valve 5, and then return to enter the next control cycle; when p is not satisfied s <ps0 At this time, the overflow pressure p of the proportional electromagnetic overflow valve 5 s Restore to the initial value, according to p s Calculate the control current I of the proportional electromagnetic overflow valve 5 s , and finally outputs the control current to the proportional electromagnetic overflow valve 5, and then returns to enter the next control cycle.

[0075] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A fully automatic drilling and anchoring hydraulic drive system, characterized in that: include: A drill pipe feed drive subsystem, a drill pipe rotation drive subsystem and a common oil tank for the two; The drill pipe feed drive subsystem comprises a load-sensitive pump (1), a load-sensitive multi-way valve (2), a feed hydraulic cylinder and a proportional electromagnetic relief valve (5); the proportional electromagnetic relief valve (5) is connected to the feed hydraulic cylinder and adjusts the feed circuit pressure in real time according to the relief pressure of the proportional electromagnetic relief valve (5); the load-sensitive pump (1) extracts hydraulic oil from the oil tank to supply oil to the above-mentioned components; the load-sensitive multi-way valve (2) is connected to the feed hydraulic cylinder; The drill rod rotation drive subsystem comprises a closed bidirectional variable pump (6), an electric proportional servo valve (7), a variable hydraulic cylinder (8), an oil replenishment pump (9), a safety valve group (10), a drill box motor (11), an anchor box motor (12), a reversing valve group (13) and an oil replenishment relief valve (14); the oil replenishment pump (9) provides control oil to the drill rod rotation drive subsystem and replenishes oil; the electric proportional servo valve (7) controls the piston position of the variable hydraulic cylinder (8) by controlling the current size, and the oil replenishment relief valve (14) is used to control the oil flow through the electric proportional servo valve. (7); the closed two-way variable pump (6) supplies oil to the drill box motor (11) and the anchor box motor (12) separately, and adjusts the height of the internal pressure chamber and the hydraulic oil displacement according to the piston position of the variable hydraulic cylinder (8); the drill box motor (11) drives the drill rod to perform drilling operations, and adjusts the feed direction and speed of the drill rod according to the height of the internal pressure chamber and the hydraulic oil displacement of the closed two-way variable pump (6). After the drilling is completed, it is switched to the anchor box motor (12) through the reversing valve group (13), and the anchor box motor (12) controls the execution of the anchor rod raising action; When the load-sensitive multi-way valve (2) is in the lower position, the feed hydraulic cylinder extends, the drill rod performs the feed action, and at the same time cooperates with the rotation of the drill box motor (11) to perform rotary cutting and drilling during the feed; when the load-sensitive multi-way valve (2) is in the upper position, the feed hydraulic cylinder contracts, and at this time cooperates with the reverse rotation of the drill box motor (11), the drill rod is retracted, and at the same time switches to the anchor box motor (12) to complete the anchor rod upper action.

2. The fully automatic drilling and anchoring hydraulic drive system according to claim 1 is characterized in that: Also includes: A feed circuit pressure sensor (16), a rotation circuit pressure sensor (17) and a controller; The feed circuit pressure sensor (16) is arranged on the circuit between the feed hydraulic cylinder and the load-sensitive multi-way valve (2). When overflow occurs, the detected feed circuit pressure is the overflow pressure of the current proportional electromagnetic overflow valve (5); The rotary circuit pressure sensor (17) is arranged on the circuit between the drill box motor (11) and the reversing valve group (13) and is used to detect the rotary circuit pressure of the drill rod in real time when the drill rod is performing a drilling operation; The controller is used to adjust the control current of the proportional electromagnetic overflow valve (5) according to the current overflow pressure of the proportional electromagnetic overflow valve (5).

3. The fully automatic drilling and anchoring hydraulic drive system according to claim 1 is characterized in that: It also includes a cooler (15); the cooler (15) is installed in the drill rod rotation drive subsystem and is connected to the oil tank to reduce the temperature of the hydraulic oil.

4. The fully automatic drilling and anchoring hydraulic drive system according to claim 3 is characterized in that: The drill pipe rotation drive subsystem, the safety valve group (10) includes a safety valve group I and a safety valve group II, which at least include a throttle hole, a safety valve and a one-way valve, and the reversing valve group (13) includes a reversing valve I and a reversing valve II, which are specifically connected as follows: The outlet of the closed two-way variable pump (6) is connected to the reversing valve group (13), the reversing valve I and the reversing valve II in the reversing valve group (13) are respectively connected to the drilling box motor (11) and the anchor box motor (12), the electric proportional servo valve (7) inside the closed two-way variable pump (6) is connected to the variable hydraulic cylinder (8) inside the closed two-way variable pump (6), the variable hydraulic cylinder (8) is connected to the swash plate control mechanism of the closed two-way variable pump (6), and the oil replenishing pump (9) is mechanically connected to the closed two-way variable pump (6). The oil supply pump (9) is connected to the oil supply shaft, the outlet of the oil supply pump (9) is connected to the one-way valve in the safety valve group (10), the outlet of the oil supply pump (9) is connected to the electric proportional servo valve (7) inside the closed two-way variable pump (6) through a throttle hole, the oil inlet of the oil supply overflow valve (14) is connected to the oil tank, the oil outlet of the oil supply overflow valve (14) is connected to the oil supply pump (9), the oil outlet of the safety valve group (10) is connected to the outlet of the closed two-way variable pump (6), and the cooler (15) and the oil filter are connected between the closed pump system and the oil tank.

5. A method for active vibration suppression control of a drill pipe, characterized in that: Applied in the fully automatic anchor drilling hydraulic drive system according to any one of claims 1 to 4 above, the specific steps are as follows: S1: Set the initial maximum overflow pressure p of the proportional electromagnetic overflow valve (5) s 0 , the rotary circuit pressure limit p when the drilling operation reaches the limit load xm and control cycle, and obtain the real-time rotating circuit pressure p x and the overflow pressure p of the proportional electromagnetic overflow valve (5) s ; S2: Based on the real-time rotating circuit pressure p x and the rotating circuit pressure limit p xm , determine whether the drilling rig is in the limit load state: if it is in the non-limit load state, execute step S3; if it is in the limit load state, execute step S4; S3: The overflow pressure p of the proportional electromagnetic overflow valve (5) is increased within one control cycle. s Maintain the initial maximum overflow pressure p s 0 , after one control cycle ends, return to step S2; S4: In the first control cycle, the overflow pressure p of the proportional electromagnetic overflow valve (5) is s Reduce the step size Δp s1 , and then each control cycle repeats the judgment on whether the drilling rig is in the limit load state. If the limit load state is not relieved, each control cycle will reduce a step size Δp s1 , until the limit load state is released, step S5 is executed; S5: In each subsequent control cycle, the overflow pressure p of the proportional electromagnetic overflow valve (5) s Step by step with another step size Δp s2 Restore to the initial setting value p s0 , wait for the overflow pressure of the proportional electromagnetic overflow valve (5) to return to the initial setting value p s 0 Then return to step S3.

6. The method according to claim 5, characterized in that Step S5 also includes: When the overflow pressure p of the proportional electromagnetic overflow valve (5) s With the minimum allowable pressure p smin When the difference between the two is less than one step, the overflow pressure of the proportional electromagnetic overflow valve (5) is controlled to be the minimum allowable pressure p smin .

7. The method according to claim 5, characterized in that Step S5 also includes: When the overflow pressure p of the proportional electromagnetic overflow valve (5) s When the pressure reaches the minimum allowable pressure and the duration reaches the threshold value, it is determined that the fully automatic drilling and anchoring hydraulic drive system is stuck and enters the stuck drill processing stage.

8. The method according to claim 5, characterized in that In a control cycle, according to the adjusted overflow pressure p of the proportional electromagnetic overflow valve (5), s The control current of the proportional electromagnetic overflow valve (5) is calculated, and the proportional electromagnetic overflow valve (5) adjusts the valve core opening according to the control current.

Images