Tension control system and method for hose reel of rotary drilling rig

Abstract

The invention relates to the field of engineering machinery, in particular to a tension control system and method for a hose reel of a rotary drilling rig. The hose is wound on the hose reel, and the hose reel is positioned at the rear part of the rotary drilling rig; comprising a constant-flow gear pump, a pilot electric proportional overflow valve group, a pressure sensor, a motor pump, a hydraulic oil tank, a hydraulic pipeline and a controller, the pressure sensor is used for detecting the overflow pressure of the pilot electric proportional overflow valve group; the pilot electric proportional overflow valve group consists of a main overflow valve and an electric proportional pilot overflow valve; the pilot electric proportional overflow valve is provided with a proportional electromagnet. By detecting the drilling depth of the drill rod and the hydraulic pressure applied by the reel motor, the tension added to the weight of the hose with any length is compensated, and it is guaranteed that a constant tension is added except the gravity.

Description

Technical Field

[0001] The invention belongs to the field of engineering machinery, and in particular relates to a tension control system and method for a hose reel of a rotary drilling rig. Background Art

[0002] The description of the background technology in the present invention belongs to the related technology related to the present invention and is only used to illustrate and facilitate the understanding of the content of the present invention. It should not be understood that the applicant explicitly believes or presumes that the applicant believes that it is the prior art of the present invention on the filing date of the first application.

[0003] The present invention relates to a tension control system for a hose reel of a rotary drilling rig, and belongs to the field of engineering machinery. A rotary drilling rig needs to be equipped with a hose reel in some application scenarios for winding a hydraulic hose or a cable. The hose needs to be wound on the reel or released from the reel as the drill rod working device is lifted and lowered. During the winding and releasing process, it is necessary to ensure a certain tension of the hose, which will not be too loose or too tight, so that the hose and the drill rod can have better synchronization, and at the same time, appropriate tension can increase the life of the hose. However, due to the large weight of the hose, it is necessary to consider the additional tension due to the weight of hoses of different lengths. Summary of the invention

[0004] The purpose of the embodiment of the present invention is to provide a tension control system and method for a rotary drilling rig hose reel. The present invention detects the drilling depth of the drill rod and the hydraulic pressure applied by the reel motor to compensate for the tension added by the weight of the hose at any length, thereby ensuring a constant tension added in addition to gravity.

[0005] The objective of the present invention is achieved through the following technical solutions:

[0006] A tension control system for a hose reel of a rotary drilling rig, wherein a hose is wound around the hose reel, and the hose reel is located at the rear of the rotary drilling rig; the system comprises a constant flow gear pump, a pilot electric proportional relief valve group, a pressure sensor, a motor pump, a hydraulic oil tank, a hydraulic pipeline and a controller; the pressure sensor is used to detect the relief pressure of the pilot electric proportional relief valve group; the pilot electric proportional relief valve group consists of a main relief valve and an electric proportional pilot relief valve; the pilot electric proportional relief valve is provided with a proportional electromagnet, which can continuously change the pilot relief pressure according to an analog signal output by the controller, thereby changing the relief pressure of the main relief valve and controlling the main oil circuit pressure of the system; the controller receives the pressure signal fed back by the pressure sensor, collects the drilling depth signal of the drilling depth sensor of the whole machine, calculates the size of the analog signal to be output through a preset program, and outputs it to the electric proportional pilot relief valve to control the size of the relief pressure, and then accurately controls the pressure value of the relief valve in a closed loop through the real-time pressure signal feedback comparison of the pressure sensor.

[0007] A method for controlling the tension of a hose reel of a rotary drilling rig comprises the following steps: a proportional electromagnet can continuously change the pilot relief pressure according to an analog signal output by a controller, thereby changing the relief pressure of a main relief valve and controlling the main oil circuit pressure of the system; the controller collects a drilling depth signal of a drilling depth sensor of the whole machine by receiving a pressure signal fed back by a pressure sensor, calculates the size of the analog signal to be output through a preset program, outputs it to an electric proportional pilot relief valve, controls the size of the relief pressure, and then accurately controls the pressure value of the relief valve in a closed loop through real-time pressure signal feedback comparison of the pressure sensor.

[0008] Furthermore, the main oil circuit pressure control is calculated as follows:

[0009] M / R=F1+m*L2-m*L1 (1)

[0010] Where, L1: The length of the hose from the hose reel to the top of the mast, the length is known;

[0011] L2: The length of the hose from the top of the mast to the top of the drill pipe is L2; ​​the length is known based on the drilling depth sensor parameters of the whole machine;

[0012] The constant tension that needs to be maintained in the F1 hose is the preset parameter;

[0013] R can be calculated based on the drilling depth sensor parameters of the whole machine.

[0014] M, the torque output by the motor, the motor output torque M of the drill pipe at any position can be calculated;

[0015] m, weight per unit length of hose, unit:

[0016] According to the force balance in the hose,

[0017] According to the hydraulic motor torque pressure calculation formula:

[0018]

[0019] Where, V: motor displacement, unit:;

[0020] ΔP——Motor pressure difference. In this scheme, the outlet pressure can be ignored and the pressure difference is equal to the motor inlet pressure P, unit:;

[0021] The motor inlet pressure P that needs to be controlled at any depth of the drill pipe can be obtained by formula (1) and formula (2), that is, the main oil circuit pressure controlled by the electric proportional servo valve group.

[0022] Furthermore, when the rotary drilling rig lifts the drill rod, the hose needs to be synchronously wound on the hose reel. At this time, the motor pump works in the motor working condition; the constant flow pump drives the motor pump to work after the pressure oil is adjusted by the pilot proportional relief valve group, driving the hose reel to roll up the pipe; at this time, the controller collects the data of the pressure sensor and the drilling depth sensor of the whole machine, and calculates the pressure P to be controlled in real time according to formulas (1) and (2), and converts it into an electric proportional signal to drive the proportional solenoid to control the pressure. At the same time, the pressure sensor data is collected in real time to adjust the output electric proportional signal to achieve closed-loop control.

[0023] Furthermore, when the rotary drilling rig lowers the drill rod, the hose reel needs to be released synchronously; at this time, the drill rod pulls the hose to drive the hose reel to rotate; at this time, the motor pump works in the pump working condition, rotates in the opposite direction, sucks oil from the oil tank, pumps the pressure oil into the main oil circuit through the pilot electric proportional relief valve group back to the oil tank; at this time, the electric proportional relief valve group provides back pressure, generates resistance in the motor pump, and thus generates additional tension in the hose; the controller collects data from the pressure sensor and the drilling depth sensor of the whole machine, calculates the pressure P to be controlled in real time according to formulas (1) and (2), converts it into an electric proportional signal to drive the proportional solenoid to control the pressure, and at the same time collects data from the pressure sensor in real time to adjust the output electric proportional signal to achieve closed-loop control.

[0024] By means of the above scheme, the present invention has at least the following beneficial effects:

[0025] The present invention adopts a motor pump to drive the hose reel. When the drill rod is lifted, the hose reel reels the pipe. At this time, the inlet pressure of the motor pump is controlled by the electric proportional relief valve, that is, the reel torque of the reel is controlled. At the same time, the weight of the extended part of the hose is pressure-compensated and calculated according to the drilling depth sensor parameters of the drill rod, so as to ensure that the tension in the hose remains almost unchanged. During the pipe release process, the drill rod moves downward, pulling the hose to drive the reel to rotate. At this time, the motor pump works in a pumping condition, and its rotation direction is opposite to that of the reel. Its oil suction port and oil outlet are also opposite to those of the reel. At this time, the outlet is still controlled by the above-mentioned electric proportional relief valve to control the pressure, that is, to control the reel resistance torque of the pipe release. At the same time, the weight of the extended part of the hose is pressure-compensated and calculated according to the drilling depth sensor parameters of the drill rod, so as to ensure that the tension in the hose remains almost unchanged. In this way, a constant tension can be added to the hose in addition to the tension generated by its own gravity at any depth of the drill rod rising and falling, thereby improving the service life of the hose and allowing the hose and the drill rod to achieve a good synchronous following effect without being too loose or too tight. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for describing the embodiments:

[0027] Figure 1It is a structural schematic diagram of a tension control system of a hose reel of a rotary drilling rig according to the present invention;

[0028] Figure 2 This is a schematic diagram of the hose state in an embodiment of the present invention;

[0029] Figure 3 It is the hydraulic principle diagram - the coil control schematic diagram;

[0030] Figure 4 It is the hydraulic principle diagram - pipe release control schematic diagram;

[0031] Figure 5 This is a control curve diagram of a certain type of electric proportional relief valve of the present invention. DETAILED DESCRIPTION

[0032] The present invention is further described in detail below in conjunction with the embodiments. It should be understood that the embodiments are for those skilled in the art to more easily understand the technical solutions of the present invention and cannot be used as a limitation on the protection scope of the present invention.

[0033] In the following description, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The following description provides multiple embodiments of the present invention, and different embodiments can be replaced or combined, so the present invention can also be considered to include all possible combinations of the same and / or different embodiments described. Therefore, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present invention should also be considered to include embodiments containing one or more of all other possible combinations of A, B, C, and D, even though the embodiment may not be clearly described in the following text.

[0034] A tension control system for a hose reel 9 of a rotary drilling rig, wherein the hose is wound around the hose reel 9, and the hose reel 9 is located at the rear of the rotary drilling rig; the system comprises a constant flow gear pump, a pilot electric proportional relief valve group 4, a pressure sensor 1, a motor pump 2, a hydraulic oil tank 6, a hydraulic pipeline 3 and a controller 7; the hydraulic oil tank 6 is connected to the constant flow gear pump through the pipeline 3 to supply oil to the constant flow gear pump; the constant flow gear pump is connected to the pilot electric proportional relief valve group 4 through the pipeline 3 to provide working pressure oil to the pilot electric proportional relief valve group 4; the high-pressure outlet of the pilot electric proportional relief valve group 4 is connected to one port of the motor pump 2 through the pipeline 3 to drive the motor pump 2 to work, and the low-pressure outlet is connected to the oil tank 6 through the pipeline 3 to return the hydraulic oil discharged by the relief valve to the oil tank 6; the other port of the motor pump 2 is connected to the hydraulic oil tank 6 through the hydraulic pipeline 3 to be used for oil suction and oil return of the motor pump 2.

[0035] Connection of electrical system: The electromagnet in the pilot electric proportional relief valve is connected to the controller 7 through a wire. The controller 7 outputs a proportional current signal through the wire to control the electromagnetic force of the electromagnet, thereby controlling the output pressure of the relief valve; the pressure sensor 1 is installed on the valve block of the pilot electric proportional relief valve through a thread. It is connected to the controller 7 through a wire and transmits a proportional electrical signal to the controller 7. The controller 7 identifies the pressure size of the system through the size of the electrical signal.

[0036] Mechanical connection: The motor pump 2 is mechanically connected to the hose reel 9. The motor pump 2 can drive the hose reel 9 to rotate. Similarly, the hose reel 9 can also drive the motor pump 2 to rotate. The pressure sensor 1 is used to detect the overflow pressure of the pilot electric proportional relief valve group 4; the pilot electric proportional relief valve group 4 is composed of a main relief valve and an electric proportional pilot relief valve; the pilot electric proportional relief valve is equipped with a proportional electromagnet 8, which can continuously change the pilot relief pressure according to the analog signal output by the controller 7, thereby changing the relief pressure of the main relief valve and controlling the main oil circuit pressure of the system; the controller 7 receives the pressure signal fed back by the pressure sensor 1, collects the drilling depth signal of the drilling depth sensor 1 of the whole machine, calculates the size of the analog signal to be output through a preset program, and outputs it to the electric proportional pilot relief valve to control the overflow pressure, and then accurately controls the pressure value of the relief valve in a closed loop through the real-time pressure signal feedback comparison of the pressure sensor 1.

[0037] 1. Calculate the pressure that needs to be controlled using formula (1) and formula (2).

[0038] 2. Set the output signal size according to the pressure to be controlled and the sample curve of the electric proportional pilot relief valve parameters. The output signal size and the control pressure size correspond to each other, and you can refer to the relevant curve provided by the manufacturer. Figure 5 This is the control curve of a certain type of electric proportional relief valve.

[0039] The figure shows the control current and pressure corresponding curves of three specifications of this series of electric proportional relief valves. The horizontal axis is the control current percentage and the vertical axis is the control pressure.

[0040] The preliminary analog control signal (including current signal and voltage signal) is obtained through the curve and output to the electric proportional pilot relief valve, thereby obtaining a preliminary control pressure. This control pressure is collected by the pressure sensor 1 and transmitted to the controller 7. The controller 7 compares this pressure with the target pressure to be controlled, and determines whether to increase or decrease the control signal by calculating the difference between the two. This process is repeated rapidly until the pressure signal fed back by the pressure sensor 1 and the pressure signal to be controlled are within the control error (determined by experience and debugging).

[0041] A tension control method for a rotary drilling rig hose reel 9 comprises the following steps: a proportional solenoid 8 can continuously change a pilot relief pressure according to an analog signal output by a controller 7, thereby changing the relief pressure of a main relief valve and controlling the main oil circuit pressure of the system; the controller 7 receives a pressure signal fed back by a pressure sensor 1, collects a drilling depth signal from a drilling depth sensor 1 of the whole machine, calculates the size of an analog signal to be output through a preset program, outputs the analog signal to an electric proportional pilot relief valve, controls the size of the relief pressure, and then accurately controls the pressure value of the relief valve in a closed loop through a comparison of the real-time pressure signal feedback from the pressure sensor 1.

[0042] Furthermore, the main oil circuit pressure control is calculated as follows:

[0043] M / R=F1+m*L2-m*L1 (1)

[0044] Where, L1: the length of the hose from the hose reel 9 to the top of the mast, the length is known, unit: m;

[0045] L2: The length of the hose from the top of the mast to the top of the drill pipe is L2; ​​the length is known based on the parameters of the drilling depth sensor 1 of the whole machine, unit: m;

[0046] The constant tension that needs to be maintained in the F1 hose is a preset parameter, unit: N;

[0047] R can be calculated based on the drilling depth sensor 1 parameters of the whole machine, unit: m.

[0048] M, the torque output by the motor. The motor output torque M of the drill pipe at any position can be calculated, in Nm;

[0049] m, weight per unit length of hose, unit: N / m

[0050] According to the force balance in the hose,

[0051] According to the hydraulic motor torque pressure calculation formula:

[0052]

[0053] Where, V: motor displacement, unit: ml / r;

[0054] ΔP——Motor pressure difference. In this solution, the outlet pressure can be ignored and the pressure difference is equal to the motor inlet pressure P, unit: bar;

[0055] The motor inlet pressure P that needs to be controlled at any depth of the drill pipe can be obtained by formula (1) and formula (2), that is, the main oil circuit pressure controlled by the electric proportional servo valve group.

[0056] Furthermore, when the rotary drilling rig lifts the drill rod, the hose needs to be synchronously wound on the hose reel 9. At this time, the motor pump 2 works in the motor working state, and the hydraulic oil flows in the direction shown in FIG. Figure 3 The constant flow pump 5 adjusts the pressure oil through the pilot proportional relief valve group 4 and then drives the motor pump 2 to work, driving the hose reel 9 to reel the hose; at this time, the controller 7 collects the data of the pressure sensor 1 and the drilling depth sensor 1 of the whole machine, calculates the pressure P to be controlled in real time according to formulas (1) and (2), converts it into an electric proportional signal to drive the proportional solenoid 8 to control the pressure, and at the same time collects the data of the pressure sensor 1 in real time to adjust the output electric proportional signal to achieve closed-loop control.

[0057] Furthermore, when the rotary drilling rig lowers the drill rod, the hose reel 9 needs to be released synchronously; at this time, the drill rod pulls the hose to drive the hose reel 9 to rotate; at this time, the motor pump 2 works in the pump working condition, rotates in the opposite direction, sucks oil from the oil tank 6, and pumps the pressure oil into the main oil circuit through the pilot proportional relief valve group 4 back to the oil tank 6. The hydraulic oil flows in the direction shown in FIG. Figure 4 At this time, the electric proportional relief valve group provides back pressure, generating resistance in the motor pump 2, thereby generating additional tension in the hose; the controller 7 collects data from the pressure sensor 1 and the drilling depth sensor 1 of the whole machine, calculates the pressure P to be controlled in real time according to formulas (1) and (2), converts it into an electric proportional signal to drive the proportional solenoid 8 to control the pressure, and at the same time collects data from the pressure sensor 1 in real time to adjust the output electric proportional signal to achieve closed-loop control.

[0058] 1. The system adopts a constant flow pump, a pilot proportional relief valve, and a motor pump system that can work in both directions, with a simple structure.

[0059] 2. The reel winding is controlled by the hydraulic system pressure, and real-time closed-loop control is achieved based on the pressure sensor and controller, which can meet the needs of different winding forces at any position.

[0060] 3. Collect the parameters of the drilling depth sensor of the whole machine, calculate the hose release length, the weight of the hose, and the real-time winding diameter of the reel through conversion. Calculate the tension generated by the weight of the hose, and get the tension that needs to be compensated at any position.

[0061] The drilling depth data of the drill pipe is collected, and the gravity parameters of the hose extension are calculated to calculate the tension generated by gravity that needs to be compensated in real time. The working pressure of the reel motor pump is controlled by the controller, and the winding tension of the reel is controlled in real time to achieve a constant tension control purpose.

[0062] Simple example of pressure control process:

[0063] The hose has an outer diameter of 80 mm and a weight of 40 N / m.

[0064] The hose reel can wind up to 10 layers. The hose median diameter and hose length of each layer are as follows:

[0065] Number of layers 1 2 3 4 5 6 7 8 9 10 The middle diameter of the hose in this layer (m) 1.44 1.6 1.76 1.92 2.08 2.24 2.4 2.56 2.72 2.88 Rope capacity (m) 4.5 5 5.5 6 6.5 7 7.5 8 8.5 9

[0066] like Figure 2 In the example, assuming that L2 = 5 meters, the hose reel is fully wound, and the drilling depth sensor reports a drilling depth of 0 meters, then the corresponding relationship between the drilling depth and the number of hose reel layers is as follows:

[0067]

[0068] Assuming the drilling depth is 35 meters, the parameters in formula (1) can be obtained:

[0069] L2 = 35 + 5 = 40 meters

[0070] L1 can be regarded as a fixed value, which is determined according to the mechanical structure of the drilling rig. In this example, L1 = 20 meters.

[0071] At this time, the hose reel is located at the 6th layer, and the median diameter of the 6th layer hose R = 2.24 meters.

[0072] m=40N / m

[0073] Preset tension F1 = 600N (can be adjusted according to actual conditions)

[0074] According to formula (1), the torque that the motor pump needs to output at this time is 3136 Nm.

[0075] According to formula (2), the total displacement of the motor pump (including the reduction mechanism) is V = 1514.7 ml / r, and the pressure to be controlled is calculated to be P = 130.0 bar;

[0076] According to the relevant curve of the pilot proportional relief valve sample, the corresponding analog signal is output to control the inlet pressure of the pump. The pressure signal is collected in real time through the pressure sensor and fed back to the controller for closed-loop control.

[0077] Similarly, when the drilling depth is 15 meters, L2 = 20 meters, L1 = 20 meters, the hose is at the 9th layer, the middle diameter of the hose in the reel is 2.88 meters, m = 40N / m, the preset tension force F1 = 600N, and the calculated torque that the motor pump needs to output at this time is 1728Nm. According to formula (2), the pressure that needs to be controlled is calculated to be P = 71.6bar.

[0078] Similarly, when the drilling depth is 65 meters, L2 = 70 meters, L1 = 20 meters, the hose is located at the first layer, the middle diameter of the hose in the reel is 1.44 meters, m = 40N / m, the preset tension force F1 = 600N, and the calculated torque that the motor pump needs to output at this time is 3744Nm. According to formula (2), the pressure that needs to be controlled is calculated to be P = 155.2bar.

[0079] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A tension control system for a hose reel of a rotary drilling rig, wherein a hose is wound around the hose reel, and the hose reel is located at the rear of the rotary drilling rig; characterized in that: It includes a constant flow gear pump, a pilot electric proportional relief valve group, a pressure sensor, a motor pump, a hydraulic oil tank, a hydraulic pipeline and a controller; the pressure sensor is used to detect the relief pressure of the pilot electric proportional relief valve group; the pilot electric proportional relief valve group consists of a main relief valve and an electric proportional pilot relief valve; the pilot electric proportional relief valve is provided with a proportional solenoid.

2. A method for controlling the tension of a hose reel of a rotary drilling rig, implemented by the system of claim 1, characterized in that: The invention comprises the following steps: the proportional solenoid can continuously change the pilot relief pressure according to the analog signal output by the controller, thereby changing the relief pressure of the main relief valve and controlling the main oil circuit pressure of the system; the controller collects the drilling depth signal of the drilling depth sensor of the whole machine by receiving the pressure signal fed back by the pressure sensor, calculates the size of the analog signal to be output through a preset program, outputs it to the electric proportional pilot relief valve, controls the size of the relief pressure, and then accurately controls the pressure value of the relief valve in a closed loop through the real-time pressure signal feedback comparison of the pressure sensor.

3. The method for controlling the tension of a rotary drilling rig hose reel according to claim 2, characterized in that: The main oil circuit pressure control is calculated as follows: M / R=F1+m*L2-m*L1 (1) Where, L1: The length of the hose from the hose reel to the top of the mast, the length is known; L2: The length of the hose from the top of the mast to the top of the drill pipe is L2; ​​the length is known based on the drilling depth sensor parameters of the whole machine; The constant tension that needs to be maintained in the F1 hose is the preset parameter; R can be calculated based on the drilling depth sensor parameters of the whole machine. M, the torque output by the motor, the motor output torque M of the drill pipe at any position can be calculated; m, weight per unit length of hose, unit: According to the force balance in the hose, According to the hydraulic motor torque pressure calculation formula: Where, V: motor displacement, unit:; ΔP——Motor pressure difference. In this scheme, the outlet pressure can be ignored and the pressure difference is equal to the motor inlet pressure P, unit:; The motor inlet pressure P that needs to be controlled at any depth of the drill pipe can be obtained by formula (1) and formula (2), that is, the main oil circuit pressure controlled by the electric proportional servo valve group.

4. The method for controlling the tension of a rotary drilling rig hose reel according to claim 3, characterized in that: When the rotary drilling rig lifts the drill rod, the hose needs to be synchronously wound on the hose reel. At this time, the motor pump works in the motor working condition; the constant flow pump drives the motor pump to work after the pressure oil is adjusted by the pilot proportional relief valve group, driving the hose reel to roll up the pipe; at this time, the controller collects the data of the pressure sensor and the drilling depth sensor of the whole machine, and calculates the pressure P to be controlled in real time according to formulas (1) and (2), and converts it into an electric proportional signal to drive the proportional solenoid to control the pressure. At the same time, the pressure sensor data is collected in real time to adjust the output electric proportional signal to achieve closed-loop control.

5. The method for controlling the tension of a rotary drilling rig hose reel according to claim 4, characterized in that: When the rotary drilling rig lowers the drill rod, the hose reel needs to be released synchronously; at this time, the drill rod pulls the hose to drive the hose reel to rotate; at this time, the motor pump works in the pumping condition, rotates in the opposite direction, sucks oil from the oil tank, and pumps the pressure oil into the main oil circuit and returns to the oil tank through the pilot proportional relief valve group; At this time, the electric proportional relief valve group provides back pressure, generating resistance in the motor pump, thereby generating additional tension in the hose; the controller collects data from the pressure sensor and the drilling depth sensor of the whole machine, calculates the pressure P to be controlled in real time according to formulas (1) and (2), and converts it into an electric proportional signal to drive the proportional solenoid to control the pressure. At the same time, the pressure sensor data is collected in real time to adjust the output electric proportional signal to achieve closed-loop control.

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