A full-automatic drilling anchor hydraulic drive system and a drilling rod active vibration suppression control method

Abstract

The present application belongs to the technical field of roadway support in coal mine, in particular to a full-automatic drilling and anchoring hydraulic drive system and a drill rod active vibration suppression control method. The full-automatic drilling and anchoring hydraulic drive system and the drill rod active vibration suppression control method provided by the present application eliminate the vibration caused by pressure fluctuation of the hydraulic drive system through an independent drill rod rotation drive subsystem, and reasonably control the operation parameters. In the drilling process, when not in the limit load state, the feeding motion is constant speed motion, which ensures the operation efficiency; when in the limit load state, the feeding speed is reduced through overflow of the feeding circuit, so that the cutting resistance is reduced, which can play a limit load protection role, especially in the vibration control under the limit load state, the vibration is suppressed from the source, the vibration intensity is reduced, and in each control cycle, only one step is adjusted, so that the drilling process of the anchor rod drilling rig maintains good stability and the drilling efficiency is as high as possible.

Description

Technical Field

[0001] The present invention belongs to the technical field of underground coal mine tunnel support, and in particular relates to a fully automatic drill-anchor hydraulic drive 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 device 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, significantly improving the efficiency of anchor support while reducing the labor intensity of operators.

[0003] The drill rig is the primary drilling device of the anchor drilling rig. After the drill boom telescopes to position the drill rig at the target anchor hole location, the drill rod inside the rig, powered by the drive system, rotates and drills into the surrounding rock of the coal roadway, producing a qualified anchor hole. During this high-speed rock-breaking process, the drill rod is subjected to axial thrust and cyclically alternating cutting loads. Due to the typically high hardness of the surrounding rock, the drill rod inevitably experiences complex vibrations during drilling, including lateral, longitudinal, and torsional vibrations. These vibration components are nonlinearly coupled, potentially leading to drill bit bounce and stick-slip. Vibration and deflection during drill rod feeding significantly impact the stability of the drill rig and the accuracy of drilling positioning. Furthermore, drill rod vibration is transmitted along the drill boom to the connecting base, causing not only violent vibration but also, in severe cases, varying degrees of positional deviation in the drill rig. This, in turn, affects the hole alignment accuracy during the subsequent construction phase of anchoring agent delivery, reducing the success rate of fully automated anchor support.

[0004] In current anchor drilling rigs, drill rod vibration suppression during the drilling process is primarily achieved by installing vibration isolation devices to attenuate the energy transmitted during vibration. However, this measure cannot suppress vibration at the source and often only reduces vibration in a single direction. However, during actual drilling operations, the vibration state of the drill rod is not only affected by rock properties, but is also closely related to the rationality of the drill rig's hydraulic drive system and the real-time control of operating parameters such as drill rod feed and rotation speed. Severe vibration often occurs under extreme load conditions with extremely hard rock. Therefore, it is necessary to design a drill rig hydraulic drive system that can suppress drill rod vibration at the source during drilling operations and reduce vibration intensity in multiple directions. At the same time, it is necessary to design a control method that can be used in conjunction with the drill rig hydraulic drive system to reasonably control the operating parameters of the drill 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 feed drive subsystem, a drill rod rotation drive subsystem, and a common oil tank for the two;

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

[0008] After derrick hoists and puts in place, stamp fixedly derrick of derrick pin, make hydraulic oil lead to the base hydraulic oil cylinder, hoist that base puts in place and fixing with same control mode.

[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. At this time, in conjunction with the reverse rotation of the drill box motor, the drill rod is retracted and switched to the anchor box motor to complete the anchor rod raising action.

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

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

[0012] The rotary circuit pressure sensor is installed in 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 during the drilling operation;

[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, 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 bidirectional variable pump is connected to the reversing valve group. Reversing valves I and II in the reversing valve group are connected to the drill box motor and anchor box motor, respectively. The electric proportional servo valve inside the closed bidirectional variable pump is connected to the variable hydraulic cylinder inside the closed bidirectional variable pump. The variable hydraulic cylinder is connected to the swash plate control mechanism of the closed bidirectional variable pump. The charge pump and the closed bidirectional variable pump are mechanically connected through the shaft. The charge pump outlet is connected to the check valve in the safety valve group. The charge pump outlet is also connected to the electric proportional servo valve inside the closed bidirectional variable pump through a throttle orifice. The oil inlet of the charge relief valve is connected to the fuel tank, and the oil outlet of the charge relief valve is connected to the charge pump. The oil outlet of the safety valve group is connected to the outlet of the closed bidirectional variable pump. A cooler and oil filter are connected between the closed pump system and the fuel 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 ultimate load xm and control cycle, and obtain the real-time rotary circuit pressure p x and the overflow pressure p of the proportional electromagnetic 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 is increased. s Maintain at 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 released, the step size Δp is reduced in each control cycle. s1 , until the limit load state is released and 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 Calculate the control current of the proportional electromagnetic overflow valve, and the proportional electromagnetic overflow 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 pressure fluctuations in 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 extreme load conditions, so as to suppress vibration from the source and reduce vibration intensity, so that the anchor drilling vehicle maintains good stability during the drilling process and maintains as high 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 following briefly introduces the drawings required for use in the embodiments. 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 any creative work.

[0029] Figure 1 This 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 This is a flow chart of period determination of a drill rod active vibration suppression method according to an embodiment of the present invention;

[0031] Figure 3 This 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 4 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 sensing pump, 2-load sensing 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 supply pump, 10-safety valve group, 11-drill box motor, 12-anchor box motor, 13-reversing valve group, 14-oil supply relief valve, 15-cooler, 16-feed circuit pressure sensor, 17-rotation circuit pressure sensor. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present invention are clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other implementations derived by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts 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 for people familiar with this technology to understand and read, and are not used to limit the conditions under which the present invention can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should fall within the scope of the technical content disclosed in the present invention without affecting the efficacy and purpose 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 and drilling process of the drill rod rig, the increase in the cutting resistance experienced by the drill rod is the direct cause of the increased vibration, and the magnitude of the cutting resistance is reflected in the pressure of the drill rod rotary hydraulic circuit. Therefore, the magnitude of the cutting resistance, that is, the strength of the drill rod vibration, can be determined by detecting the pressure of the rotary circuit. In the actual working process, the magnitude of the cutting resistance is not only related to the hardness of the rock formation, but also affected by two operating parameters, 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 becomes 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 a timely manner. The active vibration suppression control method for the drill rod 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, thereby controlling the rotation speed of the drill rod and cooperating 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 rotating drive subsystem and a shared oil tank for the two;

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

[0040] The drill rod rotation drive subsystem includes a closed bidirectional variable pump 6, an electric proportional servo valve 7, a variable hydraulic cylinder 8, an oil supply 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 supply relief valve 14. The oil supply pump 9 provides control oil and oil supply to the drill rod rotation drive subsystem. The electric proportional servo valve 7 controls the piston position of the variable hydraulic cylinder 8 by controlling the current. The oil supply relief valve 14 is used to control the hydraulic oil pressure passing through the electric proportional servo valve 7. The closed bidirectional variable pump 6 supplies oil to the drill box motor 11 and the anchor box motor 12 separately, and adjusts the internal pressure chamber height and 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 drill rod feed direction and speed according to the internal pressure chamber height and hydraulic oil displacement of the closed bidirectional variable pump 6. After drilling is completed, the reversing valve group 13 switches to the anchor box motor 12, and the anchor box motor 12 controls the execution of the anchor rod raising action.

[0041] When its load-sensing 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 11 to perform rotary cutting and drilling during the feeding; when its load-sensing 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 11 to retract the drill rod and switch 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 boom motion drive subsystem, specifically comprising: a boom left-lift hydraulic cylinder, a boom right-lift hydraulic cylinder, a boom extension and retraction hydraulic cylinder, a drill mast leveling hydraulic cylinder, a drill mast rotation hydraulic cylinder, a drill mast swing hydraulic cylinder, and a drill mast lift hydraulic cylinder, as well as corresponding control valves, a counterbalance valve 3, and an unloading valve 4. A load-sensing pump 1 supplies oil to each of these components, while a load-sensing multi-way valve 2 controls the motion of each actuator. The counterbalance valve 3 eliminates the problem of accelerated load drop caused by gravity-induced negative loads in the system. The unloading valve 4 provides 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 group 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 further includes: a feed circuit pressure sensor 16, a rotation circuit pressure sensor 17 and a controller;

[0046] The feed circuit pressure sensor 16 is set in 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 current overflow pressure of the proportional electromagnetic overflow valve 5;

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

[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 groups of reversing valve groups 13. This embodiment uses a two-position three-way valve. 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 further 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.

[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, 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 bidirectional variable pump 6 is connected to the reversing valve group 13, and the reversing valve I and reversing valve II in the reversing valve group 13 are connected to the drill box motor 11 and the anchor box motor 12 respectively; the electric proportional servo valve 7 inside the closed bidirectional variable pump 6 is connected to the variable hydraulic cylinder 8 inside the closed bidirectional variable pump 6, and the variable hydraulic cylinder 8 is connected to the swash plate control mechanism of the closed bidirectional 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 be made to move in both directions, thereby changing the swing direction and swing angle of the swash plate of the closed bidirectional variable pump 6, and then changing the oil supply direction and oil supply amount of the closed bidirectional variable pump 6; the oil replenishment pump 9 is mechanically connected to the closed bidirectional 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 oil on 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, during feed drilling, hydraulic oil in the drill rod rotation drive subsystem originates from port A of the closed two-way variable pump 6 and flows through the reversing valve assembly 13. When both reversing valves I and II in the reversing valve assembly 13 are in the right position, the oil flows through the drill box motor 11, driving the drill box motor 11 to rotate. After passing through the drill box motor 11, the oil flows back to the closed two-way variable pump 6. When both reversing valves I and II in the reversing valve assembly 13 are in the left position, the oil flows through the anchor box motor 12, driving the anchor box motor 12 to rotate. After passing through the anchor box motor 12, the oil flows back to the closed two-way variable pump 6. When high-pressure oil originates from port B of the closed two-way variable pump 6, flows through the reversing valve assembly 13 and flows through the drill box motor 11 or the anchor box motor 12, the rotation direction of the drill box motor 11 or the anchor box motor 12 is opposite to the above-described 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 ultimate load xm and control cycle, and obtain the real-time rotary 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: In one control cycle, the overflow pressure p of the proportional electromagnetic overflow valve 5 is increased. s Maintain at 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 released, the step size Δp is reduced in each control cycle. s1 , until the limit load state is released and 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 until the overflow pressure of the proportional electromagnetic overflow valve 5 returns to the initial setting value p s0 Then return to step S3.

[0061] In this embodiment, the feed circuit pressure and rotary circuit pressure are monitored in real time by the feed circuit pressure sensor 16 and the rotary circuit pressure sensor 17 connected to the proportional electromagnetic relief valve 5. When the load is not extreme, a constant feed speed control is adopted. The proportional electromagnetic relief valve 55 does not open, there is no overflow, and the feed speed of the drill rod remains constant. This constant speed can be a higher allowable speed to ensure high operating efficiency, or it can be a specific ideal speed. Specifically, this can be achieved by setting the initial overflow pressure value of the proportional electromagnetic relief valve 5. That is, when the initial overflow pressure value is set to the maximum overflow pressure of the proportional electromagnetic relief valve 5, the corresponding feed speed is the maximum speed. After the extreme load occurs, the proportional electromagnetic relief valve 5 in the feed circuit is automatically overflowed. The overflow pressure is dynamically changed by the control algorithm. Whenever overflow occurs, the feed circuit pressure is the current overflow pressure of the proportional electromagnetic relief valve 5. In practical applications, the overflow pressure of the proportional electromagnetic relief valve 5 can be set to an initial value based on the actual requirements of the vibration intensity during drilling of the rock formation hardness, and the overflow pressure of the proportional electromagnetic relief 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 ultimate 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 size Δp of the reduction under the extreme load state s1 , the step length Δp of growth after the limit state is released s2 , stuck drill threshold time T ε , proportional electromagnetic overflow valve 5 control current I s .

[0063] When p x <p xm When the load is not at the limit, 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 From the initial maximum overflow pressure p s0 Dynamically reduce until the extreme load condition is released.

[0065] Each control cycle repeatedly determines the real-time rotation circuit pressure p x The pressure limit p of the rotating circuit when the drilling operation reaches the limit load xm The size relationship, as long as p x ≥p xm , the next control cycle will reduce the 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, it is determined that the fully automatic drilling and anchoring hydraulic drive system is stuck and enters the stuck drill processing link.

[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 extreme 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 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 a 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 and the process begins; 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 is s Increase the step size Δp s2 ; If the overflow pressure p in the current control cycle s Increased to the initial maximum relief pressure p s0 If the difference between them is less than a 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-mentioned determination step is executed by a controller. The controller sets a control period of 10 ms, and executes the above-mentioned determination step once in each 10 ms period, 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 extreme load state, the feed motion is a constant speed motion to ensure the operation efficiency; when it is in the extreme load state, the feed speed is reduced by the overflow of the feed circuit, thereby reducing the cutting resistance and playing a role in extreme load protection. Especially the vibration control under the extreme load state can achieve the purpose of suppressing vibration from the source and reducing the vibration intensity. Moreover, only one step size is adjusted in each control cycle, so that the anchor drilling vehicle drilling process maintains good stability and maintains as high drilling efficiency as possible.

[0072] like Figure 3 As shown, an embodiment of the present invention provides a judgment flow chart of a single control cycle of an active vibration suppression control method during 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 stuck drill threshold time T ε , when the stuck drill threshold is met, the time is T ε When the stuck drill threshold is not met, the drill will be processed. After the processing is completed, the next control cycle will be entered. ε When, according to p s =p smin , calculate the control current I of the proportional electromagnetic overflow valve 5 s , 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 When the current cycle is in a non-limit load state, 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 foregoing description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be readily conceived by a person skilled in the art within the technical scope disclosed herein should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A fully automatic drilling and anchoring hydraulic drive system, characterized in that: include: Drill pipe feed drive subsystem, drill pipe rotation drive subsystem and the oil tank shared by the two; The drill pipe feed drive subsystem comprises a load-sensing pump (1), a load-sensing 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-sensing pump (1) draws hydraulic oil from the oil tank to supply oil to the above-mentioned components; the load-sensing 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 supply 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 supply overflow valve (14); the oil supply pump (9) provides control oil to the drill rod rotation drive subsystem and performs oil supply; the electric proportional servo valve (7) controls the piston position of the variable hydraulic cylinder (8) by controlling the current size, and the oil supply overflow valve (14) is used to control the oil supply through the electric proportional servo valve. (7) hydraulic oil pressure; 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 size of 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 the drilling operation, and adjusts the feed direction and speed of the drill rod according to the height of the internal pressure chamber and the size of 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 operation; 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), rotary cutting and drilling are performed 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), completing the anchor rod raising action.

2. The fully automatic drilling and anchoring hydraulic drive system according to claim 1, 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-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); 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, characterized in that: The invention 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 bidirectional 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 connected to the drill box motor (11) and the anchor box motor (12) respectively. The electric proportional servo valve (7) inside the closed bidirectional variable pump (6) is connected to the variable hydraulic cylinder (8) inside the closed bidirectional variable pump (6), and the variable hydraulic cylinder (8) is connected to the swash plate control mechanism of the closed bidirectional variable pump (6). The oil supply pump (9) is mechanically connected to the closed bidirectional variable pump (6). The oil supply pump (9) is connected to the one-way valve in the safety valve group (10), and 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 drill pipe active vibration suppression control method, characterized in that: The fully automatic drilling and anchoring hydraulic drive system according to any one of claims 1 to 4 is applied thereto, and 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 ultimate load xm and control cycle, and obtain the real-time rotary 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 at 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 released, the step size Δp is reduced in each control cycle. s1 , until the limit load state is released and 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 further 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 further 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, it is determined that the fully automatic drilling and anchoring hydraulic drive system is stuck and enters the stuck drill processing link.

8. The method according to claim 5, characterized in that In one 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.

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