A linkage control system and control method of a water exploration drill rig of a normally open type clamp

Abstract

The present application belongs to the field of hydraulic transmission and control technology. In order to solve the problem that the existing normally open type clamp does not have normally closed kinetic energy, so that the water exploration drilling machine has the risk of rod slipping in the inclined drilling working condition, a water exploration drilling machine linkage control system and control method of normally open type clamp are provided. The control system comprises a clamp, a chuck, a motor and a feeding oil cylinder, and further comprises a first electromagnetic reversing valve, a second electromagnetic reversing valve, a clamp normally closed valve group and a hydraulic pump station. The internal feeding and retraction switching control oil circuit, the forward and reverse rotation switching control oil circuit are formed. The clamp normally closed valve group is communicated with the feeding and retraction switching control oil circuit to realize the clamping and loosening of the clamp. The normally closed control of the normally open type clamp is realized, the rod slipping when drilling an inclined hole upward is avoided, the oil flow direction to the clamp and the chuck is controlled by controlling the state of the feeding oil cylinder to control different states, the drilling machine drilling, rod adding, rod collecting and rod unloading are realized, and the operation convenience is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of hydraulic transmission and control, and particularly relates to a linkage control system and control method for a water exploration drilling machine with a normally open clamp. BACKGROUND

[0002] The clamp of the current water exploration drilling machine is divided into normally closed and normally open types. The normally closed clamp is in a normally closed state under the action of a spring, and is applied to the working condition of drilling obliquely upward. When the water exploration drilling machine stops due to the increase of a drill rod or other reasons, the clamp can clamp the drill rod to prevent rod slipping. When the installation space of the whole machine is limited, in order to reduce the height of the whole machine, the clamp needs to be reduced in height, so that it is designed as a normally open clamp. There is no spring in the normally open clamp, and hydraulic control is needed to realize the normally closed function of the clamp.

[0003] The existing normally open clamp does not have a normally closed kinetic energy, so that the water exploration drilling machine has a risk of rod slipping in the working condition of drilling obliquely upward, and has a safety hazard. SUMMARY

[0004] In order to solve the above technical problems, the present application provides a linkage control system and control method for a water exploration drilling machine with a normally open clamp, which has a normally closed function and can avoid the occurrence of rod slipping in the working condition of drilling obliquely upward.

[0005] The first aspect of the present application provides a linkage control system for a water exploration drilling machine with a normally open clamp, which comprises a clamp, a chuck, a motor and a feeding oil cylinder, and further comprises a first electromagnetic reversing valve, a second electromagnetic reversing valve, a clamp normally closed valve group and a hydraulic pump station.

[0006] The first electromagnetic reversing valve is connected to the hydraulic pump station and the feeding oil cylinder, and the internal oil circuit of the first electromagnetic reversing valve and the feeding oil cylinder is combined to form a feeding and retraction switching control oil circuit. The clamp normally closed valve group is connected to the feeding oil cylinder, and the feeding and retraction switching control oil circuit is used to realize the clamping and loosening of the clamp.

[0007] The second electromagnetic reversing valve is connected to the hydraulic pump station and the motor, and the internal oil circuit of the second electromagnetic reversing valve and the motor is combined to form a forward rotation and reverse rotation switching control oil circuit. The chuck rotates synchronously with the forward rotation and reverse rotation switching control oil circuit, and the feeding and retraction switching control oil circuit is used to realize the loosening and clamping of the chuck.

[0008] The hydraulic pump station is used to provide fluid medium with a predetermined pressure and a predetermined flow rate for the water exploration drilling machine with a normally open clamp.

[0009] Optionally, the clamp normally closed valve group comprises a first check valve, a first hydraulic control check valve, a second check valve, a third check valve, a second hydraulic control check valve, a fourth check valve, a manual positioning reversing valve, a throttle valve, a hydraulic control reversing valve and a pressure reducing valve.

[0010] The oil inlet of the first one-way valve is communicated with the oil outlet of the pressure reducing valve, the control port of the first hydraulic control one-way valve is communicated with the control ports of the throttle valve and the hydraulic control reversing valve, the control port of the second hydraulic control one-way valve is communicated with the b3 port of the manual positioning reversing valve, the oil inlet of the fourth one-way valve is communicated with the a3 port of the manual positioning reversing valve, the a3 port of the manual positioning reversing valve is communicated with the control port of the hydraulic control reversing valve, and the oil outlet of the hydraulic control reversing valve is communicated with the oil inlet of the pressure reducing valve.

[0011] Optionally, the gripper normally closed valve group has nine interfaces, which are T2 port, P2 port, P port, E port, D port, C port, B port, A port and T port.

[0012] The T2 port is communicated with the c3 port of the manual positioning reversing valve, the P2 port is communicated with the d3 port of the manual positioning reversing valve, the P port is communicated with the oil inlet of the hydraulic control reversing valve, the E port is communicated with the clamping side B1 of the gripper, the oil outlet of the first one-way valve and the oil outlet of the first hydraulic control one-way valve, the D port is communicated with the release side A1 of the gripper and the a3 port of the manual positioning reversing valve, the C port is communicated with the clamping side A2 of the chuck, the oil outlet of the second one-way valve, the oil outlet of the third one-way valve and the oil outlet of the fourth one-way valve, the B port is communicated with the control port of the first hydraulic control one-way valve, the A port is communicated with the oil inlet of the third one-way valve, and the T port is communicated with the hydraulic pump station, the release side B2 of the chuck, the control port C3 of the motor and the throttle valve.

[0013] Optionally, the a1 port of the first electromagnetic reversing valve, the a2 port of the second electromagnetic reversing valve and the P port are connected in parallel with the oil outlet of the hydraulic pump station, and the d1 port of the first electromagnetic reversing valve and the d2 port of the second electromagnetic reversing valve are connected in parallel with the oil return port of the hydraulic pump station.

[0014] Optionally, the oil line led out from the b1 port of the first electromagnetic reversing valve is connected with the rod cavity of the feeding oil cylinder and the T2 port of the gripper normally closed valve group through two branches respectively.

[0015] The oil line led out from the c1 port of the first electromagnetic reversing valve is connected with the rodless cavity of the feeding oil cylinder and the P2 port of the gripper normally closed valve group through two branches respectively.

[0016] Optionally, the oil line led out from the b2 port of the second electromagnetic reversing valve is connected with the reverse side A3 of the motor and the B port through two branches respectively.

[0017] The oil line led out from the c2 port of the second electromagnetic reversing valve is connected with the forward side B3 of the motor and the A port through two branches respectively.

[0018] Optionally, the pressure gauge and the overflow valve are further included, the pressure gauge is connected with the oil inlet of the overflow valve, and the oil outlet of the overflow valve is connected with the hydraulic pump station.

[0019] The second aspect of the present application provides a linkage control method of a water exploration drilling rig with a normally open type clamp, which is completed based on the linkage control system of the water exploration drilling rig with the normally open type clamp, and comprises the following steps.

[0020] The feed and retraction switching control oil circuit comprises a feed oil circuit and a retraction oil circuit, and the forward and reverse switching control oil circuit comprises a forward drilling oil circuit and a reverse oil circuit;

[0021] S1, when drilling, the feed oil circuit and the forward drilling oil circuit are connected, and the manual positioning directional valve is switched to the parallel position, at this time, the clamp is loosened, the chuck clamps the drill rod, the feed oil cylinder drives the chuck to advance, and the motor rotates forward to drive the chuck and the drill rod to rotate forward for drilling;

[0022] S2, when adding a rod, the retraction oil circuit is connected, the second electromagnetic directional valve is switched to the middle position, the motor stops rotating, the clamp clamps the drill rod, the chuck is loosened, the feed oil cylinder drives the chuck to retract, the drill rod is installed, and the above step S1 is repeated to connect the new drill rod with the previous drill rod;

[0023] S3, when collecting a rod, the retraction oil circuit is connected, and the manual positioning directional valve is switched to the cross position, the clamp is loosened, the chuck clamps the drill rod, and the feed oil cylinder drives the chuck and the drill rod to retract;

[0024] S4, when disassembling a rod, the reverse oil circuit is connected, the motor reverses to drive the drill rod to reverse, and the drill rod is disassembled.

[0025] Optionally, the b1 port of the first electromagnetic directional valve is connected with the rod cavity of the feed oil cylinder in the feed oil circuit;

[0026] The c1 port of the first electromagnetic directional valve is connected with the rodless cavity of the feed oil cylinder in the retraction oil circuit;

[0027] The b2 port of the second electromagnetic directional valve is connected with the reverse side A3 of the motor in the forward oil circuit;

[0028] The c2 port of the second electromagnetic directional valve is connected with the forward side B3 of the motor in the reverse oil circuit.

[0029] Optionally, the pressure of the clamping side B1 of the clamp is released through the liquid control port of the first hydraulic control check valve through the throttle valve or the motor oil return pipeline;

[0030] The pressure at the control port and the liquid control directional valve control port of the first hydraulic control check valve is released through the oil return pipeline of the feed oil cylinder;

[0031] The pressure of the clamping side A2 of the chuck is released through the liquid control port of the second hydraulic control check valve through the manual positioning directional valve back to the hydraulic pump station.

[0032] Compared with the prior art, the technical scheme provided by the embodiment of the present application has the following beneficial effects:

[0033] The water exploration drilling machine linkage control system and control method of the open-type gripper provided by the embodiment of the application, the control system is connected with the hydraulic pump station and the feeding oil cylinder through the first electromagnetic reversing valve, the first electromagnetic reversing valve and the internal oil circuit of the feeding oil cylinder are combined to form the feeding and retraction switching control oil circuit, the second electromagnetic reversing valve is connected with the hydraulic pump station and the motor, the second electromagnetic reversing valve and the internal oil circuit of the motor are combined to form the forward rotation and reverse rotation switching control oil circuit, the gripper normally closed valve group is connected with the feeding oil cylinder, the feeding and retraction switching control oil circuit is used to realize the clamping and loosening of the gripper, so that the normally closed control of the open-type gripper is realized, and the drilling machine can keep the gripper clamping the drill rod when the drill rod is added, and the risk of rod slipping of the open-type gripper of the water exploration drilling machine when drilling an upward inclined hole is solved.

[0034] The control method is linkage control, and only the reversing of the first electromagnetic reversing valve needs to be controlled, that is, the state of the feeding oil cylinder is controlled, so that the oil flows into the gripper and the chuck, different states of the gripper and the chuck are controlled, the drilling, rod adding, rod collecting and rod unloading processes of the drilling machine are realized, and the convenience of operation is improved. BRIEF DESCRIPTION OF DRAWINGS

[0035] The drawings incorporated into the specification and constituting a part of the specification show embodiments consistent with the application and, together with the specification, serve to explain the principles of the application.

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below, and obviously, other drawings can be obtained by those skilled in the art without creative labor.

[0037] Fig. 1 The structure diagram of the water exploration drilling machine of the open-type gripper is shown in the embodiment of the application.

[0038] Fig. 2 The linkage control system diagram of the water exploration drilling machine of the open-type gripper is shown in the embodiment of the application.

[0039] Fig. 3 The control system diagram of the gripper normally closed valve group is shown in the embodiment of the application.

[0040] Wherein, 1, holder; 2, chuck; 3, motor; 4, feeding oil cylinder; 5, first electromagnetic reversing valve; 6, second electromagnetic reversing valve; 7, holder normally closed valve group; 7.1, first check valve; 7.2, first hydraulic control check valve; 7.3, second check valve; 7.4, third check valve; 7.5, second hydraulic control check valve; 7.6, fourth check valve; 7.7, manual positioning reversing valve; 7.8, throttle valve; 7.9, hydraulic control reversing valve; 7.10, pressure reducing valve; 8, pressure gauge; 9, overflow valve; 10, hydraulic pump station. DETAILED DESCRIPTION

[0041] In order to enable the above-mentioned objects, features and advantages of the present application to be more clearly understood, the following will further describe the solutions of the present application. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0042] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, but the present application can also be practiced in other different manners from those described herein; obviously, the embodiments described in the specification are only some embodiments of the present application, not all the embodiments.

[0043] Reference Figs. 1 to 3 As shown in the figure, the first aspect of the embodiment provides a normally open holder water drilling rig linkage control system, which comprises a holder 1, a chuck 2, a motor 3 and a feeding oil cylinder 4, and further comprises a first electromagnetic reversing valve 5, a second electromagnetic reversing valve 6, a holder normally closed valve group 7 and a hydraulic pump station 10.

[0044] Wherein, the first electromagnetic reversing valve 5 is connected with the hydraulic pump station 10 and the feeding oil cylinder 4, the internal oil circuit of the first electromagnetic reversing valve 5 and the feeding oil cylinder 4 is combined to form a feeding and retraction switching control oil circuit, the holder normally closed valve group 7 is connected with the feeding oil cylinder 4, and the feeding and retraction switching control oil circuit is used to realize the clamping and loosening of the holder 1; the second electromagnetic reversing valve 6 is connected with the hydraulic pump station 10 and the motor 3, the internal oil circuit of the second electromagnetic reversing valve 6 and the motor 3 is combined to form a forward rotation and reverse rotation switching control oil circuit, the chuck 2 rotates synchronously with the forward rotation and reverse rotation switching control oil circuit, and the feeding and retraction switching control oil circuit is used to realize the loosening and clamping of the chuck 2; the hydraulic pump station 10 is used to provide fluid medium with predetermined pressure and predetermined flow for the normally open holder water drilling rig.

[0045] Specifically, the normally open holder is controlled in the embodiment, which can make the drilling rig keep the holder 1 clamping the drill rod when the rod is added, and solve the risk of rod slipping when the normally open holder water drilling rig drills upward inclined hole.

[0046] Reference Fig. 3As shown, the gripper normally closed valve group 7 includes a first one-way valve 7.1, a first hydraulic control one-way valve 7.2, a second one-way valve 7.3, a third one-way valve 7.4, a second hydraulic control one-way valve 7.5, a fourth one-way valve 7.6, a manually positioned reversing valve 7.7, a throttle valve 7.8, a hydraulic control reversing valve 7.9, and a pressure reducing valve 7.10; the oil inlet of the first one-way valve 7.1 is in communication with the oil outlet of the pressure reducing valve 7.10, the control port of the first hydraulic control one-way valve 7.2 is in communication with the control ports of the throttle valve 7.8 and the hydraulic control reversing valve 7.9, the control port of the second hydraulic control one-way valve 7.5 is in communication with the b3 port of the manually positioned reversing valve 7.7, the oil inlet of the fourth one-way valve 7.6 is in communication with the a3 port of the manually positioned reversing valve 7.7, the a3 port of the manually positioned reversing valve 7.7 is in communication with the control port of the hydraulic control reversing valve 7.9, and the oil outlet of the hydraulic control reversing valve 7.9 is in communication with the oil inlet of the pressure reducing valve 7.10.

[0047] Referring to Fig. 2 As shown, the gripper normally closed valve group 7 has nine interfaces, which are T2 port, P2 port, P port, E port, D port, C port, B port, A port, and T port; the T2 port is in communication with the c3 port of the manually positioned reversing valve 7.7, the P2 port is in communication with the d3 port of the manually positioned reversing valve 7.7, the P port is in communication with the oil inlet of the hydraulic control reversing valve 7.9, the E port is in communication with the clamping side B1 of the gripper 1, the oil outlet of the first one-way valve 7.1, and the oil outlet of the first hydraulic control one-way valve 7.2, the D port is in communication with the relaxing side A1 of the gripper 1 and the a3 port of the manually positioned reversing valve 7.7, the C port is in communication with the clamping side A2 of the chuck 2, the oil outlet of the second one-way valve 7.3, the oil outlet of the third one-way valve 7.4, and the oil outlet of the fourth one-way valve 7.6, the B port is in communication with the control port of the first hydraulic control one-way valve 7.2, the A port is in communication with the oil inlet of the third one-way valve 7.4, and the T port is in communication with the hydraulic pump station 10, the relaxing side B2 of the chuck 2, the control port C3 of the motor 3, and the throttle valve 7.8.

[0048] Further, the a1 port of the first electromagnetic reversing valve 5, the a2 port of the second electromagnetic reversing valve 6, and the P port are connected in parallel with the oil outlet of the hydraulic pump station 10, and the d1 port of the first electromagnetic reversing valve 5 and the d2 port of the second electromagnetic reversing valve 6 are connected in parallel with the oil return port of the hydraulic pump station 10.

[0049] In some embodiments, the oil line led out from the b1 port of the first electromagnetic reversing valve 5 is connected to the rod cavity of the feeding oil cylinder 4 and the T2 port of the gripper normally closed valve group 7 through two branches respectively, and the oil line led out from the c1 port of the first electromagnetic reversing valve 5 is connected to the rodless cavity of the feeding oil cylinder 4 and the P2 port of the gripper normally closed valve group 7 through two branches respectively.

[0050] In other embodiments, the oil line led out from the b2 port of the second electromagnetic reversing valve 6 is connected with the reverse side A3 and B port of the motor 3 through two branches respectively; the oil line led out from the c2 port of the second electromagnetic reversing valve 6 is connected with the positive rotation side B3 and A port of the motor 3 through two branches respectively.

[0051] Of course, the control system also includes a pressure gauge 8 and an overflow valve 9, the pressure gauge 8 is connected with the oil inlet of the overflow valve 9, and the oil outlet of the overflow valve 9 is connected with the hydraulic pump station 10.

[0052] The second aspect of the embodiment provides a linkage control method of the water exploration drilling rig with the normally open type clamp, which is completed based on the linkage control system of the water exploration drilling rig with the normally open type clamp according to any one of the above, and includes the following steps.

[0053] The feeding and retraction switching control oil line includes a feeding oil line and a retraction oil line, and the positive rotation and reverse rotation switching control oil line includes a positive drilling oil line and a reverse rotation oil line;

[0054] S1, when drilling, the feeding oil line and the positive rotation oil line need to be connected, and the manual positioning reversing valve 7.7 is switched to the parallel position, at this time, the clamp 1 is loosened, the chuck 2 clamps the drill rod, the feeding oil cylinder 4 drives the chuck 2 to advance, the motor 3 rotates positively to drive the chuck 2 and the drill rod to rotate positively for drilling;

[0055] S2, when adding a rod, the retraction oil line needs to be connected, the second electromagnetic reversing valve 6 is switched to the middle position, the motor 3 stops rotating, the clamp 1 clamps the drill rod, the chuck 2 is loosened, the feeding oil cylinder 4 drives the chuck 2 to retract, a drill rod is installed, and the above step S1 is repeated to connect the new drill rod with the previous drill rod;

[0056] S3, when collecting a rod, the retraction oil line needs to be connected, and the manual positioning reversing valve 7.7 is switched to the cross position, the clamp 1 is loosened, the chuck 2 clamps the drill rod, and the feeding oil cylinder 4 drives the chuck 2 and the drill rod to retract;

[0057] S4, when disassembling a rod, the reverse rotation oil line needs to be connected, the motor 3 reverses to drive the drill rod to reverse, and the drill rod is disassembled.

[0058] In the feeding oil line, the b1 port of the first electromagnetic reversing valve 5 is connected with the rod cavity of the feeding oil cylinder 4; in the retraction oil line, the c1 port of the first electromagnetic reversing valve 5 is connected with the rodless cavity of the feeding oil cylinder 4; in the positive rotation oil line, the b2 port of the second electromagnetic reversing valve 6 is connected with the reverse side A3 of the motor 3; and in the reverse rotation oil line, the c2 port of the second electromagnetic reversing valve 6 is connected with the positive rotation side B3 of the motor 3.

[0059] The pressure of the clamping side B1 of the holder 1 is discharged through the throttle valve 7.8 or the return oil line of the motor 3 through the hydraulic control port of the first hydraulic control check valve 7.2; the pressure at the control port and the hydraulic control reversing valve 7.9 control port of the first hydraulic control check valve 7.2 is discharged through the return oil line of the feed oil cylinder 4; the pressure of the clamping side A2 of the chuck 2 is discharged back to the hydraulic pump station 10 through the manual positioning reversing valve 7.7 through the hydraulic control port of the second hydraulic control check valve 7.5.

[0060] Specifically, the following operations are needed. To drill a hole, only the motor 3 is rotated to drive the chuck 2 to rotate, and the drill rod is clamped by the chuck 2 and rotates together, and the drill rod drives the drill bit to drill a hole. Specifically, the hydraulic pump station 10 is started, the manual positioning reversing valve 7.7 is switched to the parallel position, the drill rod is installed, the first electromagnetic reversing valve 5 is switched to the cross position, the oil flows in from the a1 port of the first electromagnetic reversing valve 5, flows out from the b1 port of the first electromagnetic reversing valve 5, enters through the A4 port of the feed oil cylinder 4, pushes the piston rod of the feed oil cylinder 4 to extend, the oil flows out from the B4 port of the feed oil cylinder 4, enters the manual positioning reversing valve 7.7 through the P2 port and the d3 port of the manual positioning reversing valve 7.7, flows out from the a3 port of the manual positioning reversing valve 7.7, one way is to enter the A2 port of the chuck 2, i.e. the clamping side of the chuck 2, through the fourth check valve 7.6, so that the chuck 2 clamps the drill rod, and the other way is to enter the A1 port of the holder 1, i.e. the release side of the holder 1, in order to keep the holder 1 released, the B1 port of the holder 1 needs to be discharged, at this time, the oil at the a3 port of the manual positioning reversing valve 7.7 flows into the hydraulic control reversing valve 7.9 and the first hydraulic control check valve 7.2, the control port of the first hydraulic control check valve 7.2 has pressure to make the first hydraulic control check valve 7.2 open, and the hydraulic control reversing valve 7.9 is blocked on the right side, at this time, the pressure at the B1 port of the holder 1 is discharged through the first hydraulic control check valve 7.2 and the throttle valve 7.8, or through the E port, flows through the B port, and is discharged along the return oil line of the motor 3, at this time, the chuck 2 clamps the drill rod, and the holder 1 is released, the second electromagnetic reversing valve 6 is switched to the cross position, so that the oil enters the motor 3 through the b2 port of the second electromagnetic reversing valve 6 and the A3 port of the motor 3, the motor 3 rotates in the forward direction, and the drill rod drills a hole.

[0061] When a drill rod is fed into a hole, the second electromagnetic reversing valve 6 is switched to the neutral position, the motor 3 stops rotating, the first electromagnetic reversing valve 5 is switched to the parallel position, the oil flows through the c1 port of the first electromagnetic reversing valve 5 to the rodless cavity of the feeding oil cylinder 4, pushing the piston rod to retract, the oil flows out of the rod cavity of the feeding oil cylinder 4, enters the manual positioning reversing valve 7.7 through the T2 port, flows out of the b3 port of the manual positioning reversing valve 7.7, flows into the second hydraulic control check valve 7.5, the control port of the second hydraulic control check valve 7.5 has pressure, so that the second hydraulic control check valve 7.5 opens, the pressure of the clamping side A2 of the chuck 2 is discharged back to the hydraulic pump station 10 through the second hydraulic control check valve 7.5 and the T2 port, at this time the chuck 2 is loosened, there is no pressure at the P2 port, there is no pressure at the control port of the hydraulic control reversing valve 7.9 and the first hydraulic control check valve 7.2, the hydraulic control reversing valve 7.9 and the first hydraulic control check valve 7.2 reset, the oil in the hydraulic pump station 10 directly enters the clamping side B1 of the gripper 1 through the hydraulic control reversing valve 7.9 and the pressure reducing valve 7.10, the pressure at the loosening side A1 of the gripper 1 is discharged to the hydraulic pump station 10 through the D port and the P2 port, at this time the chuck 2 is loosened, the gripper 1 clamps the drill rod and does not move, the feeding oil cylinder 4 retracts, driving the chuck 2 to retract synchronously, when the chuck 2 and the feeding oil cylinder 4 retract to the installation position, the drill rod can be installed again, and the above steps are repeated to realize rod adding.

[0062] When the rod is collected, the chuck 2 clamps the drill rod, the gripper 1 is loosened, and the feeding oil cylinder 4 retracts, so as to bring back the drill rod. Specifically, the hydraulic pump station 10 is started, the second electromagnetic reversing valve 6 is still in the neutral position, the manual positioning reversing valve 7.7 is switched to the cross position, the first electromagnetic reversing valve 5 is switched to the parallel position, the oil flows through the c1 port of the first electromagnetic reversing valve 5 to the B4 port of the feeding oil cylinder 4, that is, the oil enters the rodless cavity of the feeding oil cylinder 4, pushing the piston rod to retract, the oil flows out of the A4 port of the feeding oil cylinder 4, flows out of the b3 port of the manual positioning reversing valve 7.7, flows to the A2 port of the chuck 2, that is, the clamping side of the chuck 2, flows into the hydraulic control reversing valve 7.9 and the first hydraulic control check valve 7.2, the control port of the first hydraulic control check valve 7.2 has pressure, so that the first hydraulic control check valve 7.2 opens, and the hydraulic control reversing valve 7.9 is blocked on the right, at this time the pressure at the B1 port of the gripper 1 is discharged through the first hydraulic control check valve 7.2 and the throttle valve 7.8, or through the E port, flows through the B port, and is discharged along the return oil pipe of the motor 3, at this time the gripper 1 is loosened, the chuck 2 clamps the drill rod, the feeding oil cylinder 4 retracts to drive the chuck 2 to retract, and the rod is collected, the drill rods are connected through threads, and the operation is repeated to collect all the drill rods.

[0063] When the rod is unloaded, the chuck 2 needs to clamp the drill rod, the clamp 1 clamps, the motor 3 reverses, so that the drill rod is removed, specifically, the hand positioning reversing valve 7.7 is still in the cross position, the second electromagnetic reversing valve 6 is switched to the parallel position, the oil flows out through the reverse side A3 of the motor 3, enters the clamping side A2 of the chuck 2 through the second one-way valve 7.3, at this time the chuck 2 clamps the drill rod, the motor 3 reverses to drive the chuck 2 to reverse, so that the drill rod clamped by the chuck 2 reverses, realizes the disengagement with the previous drill rod, the second electromagnetic reversing valve 6 is switched to the middle position, the motor 3 stops rotating, the first electromagnetic reversing valve 5 is switched to the cross position, the oil flows out through the rodless cavity of the feed oil cylinder 4, at this time the hand positioning reversing valve 7.7 is still in the cross position, so the oil enters the control port of the second hydraulic control one-way valve 7.5, the second hydraulic control one-way valve 7.5 is opened, the pressure of the clamping side A2 of the chuck 2 is relieved through the second hydraulic control one-way valve 7.5, at this time the chuck 2 is in a relaxed state, the pressure at the control port of the hydraulic control reversing valve 7.9 and the control port of the first hydraulic control one-way valve 7.2 is relieved through the positioning reversing valve 7.7 along the return line of the feed oil cylinder 4, the oil in the hydraulic pump station 10 directly enters the clamping side B1 of the clamp 1 through the hydraulic control reversing valve 7.9 and the pressure reducing valve 7.10, the clamp 1 clamps the drill rod, the feed oil cylinder 4 drives the chuck 2 in the relaxed state to move towards the clamp 1, one end of the drill rod clamped by the clamp 1 passes through the chuck 2, and the above steps are repeatedly performed, so that all the drill rods can be removed.

[0064] In the prior art, the clamp 1, the chuck 2, the motor 3 and the feed oil cylinder 4 need to be controlled separately, the control method provided in the embodiment is linkage control, only the reversing of the first electromagnetic reversing valve 5 needs to be controlled, that is, the state of the feed oil cylinder 4 is controlled, so that the oil flows into the clamp 1 and the chuck 2 to control different states of the clamp 1 and the chuck 2, thereby realizing the drilling, rod adding, rod collecting and rod unloading of the drilling machine, and improving the convenience of operation.

[0065] It should be noted that in this document, relational terms such as“first” and“second”, and the like, are used solely to distinguish one entity or action from another entity or action, without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms“comprises”,“comprising”, or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by“comprises... a” does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0066] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features of the invention herein.

Claims

1. A linkage control system for a normally open gripper for a water exploration drilling rig, comprising a gripper (1), a chuck (2), a motor (3), and a feed cylinder (4), characterized in that: It also includes a first solenoid directional valve (5), a second solenoid directional valve (6), a normally closed valve group for the clamp (7), and a hydraulic pump station (10). The first solenoid directional valve (5) is connected to the hydraulic pump station (10) and the feed cylinder (4). The internal oil circuit combination of the first solenoid directional valve (5) and the feed cylinder (4) forms the feed and retraction switching control oil circuit. The normally closed valve group (7) of the clamp is connected to the feed cylinder (4). The clamping and releasing of the clamp (1) is realized through the feed and retraction switching control oil circuit. The second electromagnetic reversing valve (6) connects the hydraulic pump station (10) and the motor (3). The internal oil circuit combination of the second electromagnetic reversing valve (6) and the motor (3) forms a forward and reverse rotation switching control oil circuit. The chuck (2) rotates synchronously with the forward and reverse rotation switching control oil circuit, and the chuck (2) is released and clamped through the feed and retraction switching control oil circuit. The hydraulic pump station (10) is used to provide a fluid medium with a predetermined pressure and a predetermined flow rate for the normally open clamping water exploration drilling rig; The normally closed valve group (7) of the clamp includes a first check valve (7.1), a first hydraulically controlled check valve (7.2), a second check valve (7.3), a third check valve (7.4), a second hydraulically controlled check valve (7.5), a fourth check valve (7.6), a manual positioning directional valve (7.7), a throttle valve (7.8), a hydraulically controlled directional valve (7.9), and a pressure reducing valve (7.10). The inlet of the first check valve (7.1) is connected to the outlet of the pressure reducing valve (7.10); the control port of the first hydraulic check valve (7.2) is connected to the control ports of the throttle valve (7.8) and the hydraulic directional valve (7.9); the control port of the second hydraulic check valve (7.5) is connected to the b3 port of the manual positioning directional valve (7.7); the inlet of the fourth check valve (7.6) is connected to the a3 port of the manual positioning directional valve (7.7); the a3 port of the manual positioning directional valve (7.7) is connected to the control port of the hydraulic directional valve (7.9); and the outlet of the hydraulic directional valve (7.9) is connected to the inlet of the pressure reducing valve (7.10). The normally closed valve group (7) of the clamp has 9 ports, namely: T2 port, P2 port, P port, E port, D port, C port, B port, A port and T port; Port T2 is connected to port c3 of the manual directional valve (7.7), port P2 is connected to port d3 of the manual directional valve (7.7), port P is connected to the inlet of the hydraulic directional valve (7.9), port E is connected to the clamping side B1 of the clamp (1), the outlet of the first check valve (7.1), and the outlet of the first hydraulic check valve (7.2), and port D is connected to the releasing side A1 of the clamp (1) and port a3 of the manual directional valve (7.7). Port C is connected to the clamping side A2 of the chuck (2), the oil outlet of the second check valve (7.3), the oil outlet of the third check valve (7.4), and the oil outlet of the fourth check valve (7.6). Port B is connected to the control port of the first hydraulic check valve (7.2). Port A is connected to the oil inlet of the third check valve (7.4). Port T is connected to the hydraulic pump station (10), the releasing side B2 of the chuck (2), the control port C3 of the motor (3), and the throttle valve (7.8).

2. The linkage control system for a normally open clamping device for a water exploration drilling rig according to claim 1, characterized in that, The a1 port of the first electromagnetic directional valve (5), the a2 port and the P port of the second electromagnetic directional valve (6) are connected in parallel and connected to the oil outlet of the hydraulic pump station (10). The d1 port of the first electromagnetic directional valve (5) and the d2 port of the second electromagnetic directional valve (6) are connected in parallel and connected to the oil return port of the hydraulic pump station (10).

3. The linkage control system for a normally open clamping device for a water exploration drilling rig according to claim 1, characterized in that, The oil circuit led out from port b1 of the first electromagnetic reversing valve (5) is connected to the rod chamber of the feed cylinder (4) and port T2 of the normally closed valve group (7) of the clamp via two branches. The oil path leading out from port c1 of the first electromagnetic directional valve (5) is connected to the rodless chamber of the feed cylinder (4) and port P2 of the normally closed valve group (7) of the clamp via two branches.

4. The linkage control system for a normally open clamping device for a water exploration drilling rig according to claim 1, characterized in that, The oil circuit led out from port b2 of the second electromagnetic reversing valve (6) is connected to port A3 and port B of the motor (3) via two branches respectively. The oil circuit from port c2 of the second electromagnetic directional valve (6) is connected to port B3 and port A of the motor (3) via two branches.

5. The linkage control system for a normally open clamping device for a water exploration drilling rig according to claim 1, characterized in that, It also includes a pressure gauge (8) and a relief valve (9). The pressure gauge (8) is connected to the oil inlet of the relief valve (9), and the oil outlet of the relief valve (9) is connected to the hydraulic pump station (10).

6. A method for linkage control of a normally open gripper for a water exploration drilling rig, based on the linkage control system of a normally open gripper for a water exploration drilling rig as described in any one of claims 1 to 5, characterized in that, Includes the following steps: The feed and retraction switching control circuit includes the feed circuit and the retraction circuit, and the forward and reverse rotation switching control circuit includes the forward drilling circuit and the reverse rotation circuit. S1. When drilling, the feed oil circuit and the forward rotation oil circuit need to be connected, and the manual positioning reversing valve (7.7) is switched to the parallel position. At this time, the chuck (1) is released, the chuck (2) clamps the drill rod, the feed cylinder (4) drives the chuck (2) to advance, and the motor (3) rotates forward to drive the chuck (2) and the drill rod to rotate forward to drill the hole. S2. When adding the drill rod, the retraction oil circuit needs to be connected. The second electromagnetic reversing valve (6) is switched to the neutral position, the motor (3) stops rotating, the clamp (1) clamps the drill rod, the chuck (2) is released, the feed cylinder (4) drives the chuck (2) to retract, install the drill rod, and repeat the above steps S1 to connect the new drill rod with the previous drill rod. S3. When retracting the rod, the retraction oil circuit needs to be connected, and the manual positioning directional valve (7.7) is switched to the cross position. The clamp (1) is released, the chuck (2) clamps the drill rod, and the feed cylinder (4) drives the chuck (2) and the drill rod to retract. S4. When removing the drill rod, the reverse oil circuit needs to be connected. The motor (3) reverses and drives the drill rod to reverse, and the drill rod is removed.

7. The method for linkage control of a normally open clamping device for a water exploration drilling rig according to claim 6, characterized in that, In the feed oil circuit, the b1 port of the first electromagnetic directional valve (5) is connected to the rod chamber of the feed oil cylinder (4); In the retraction oil circuit, the c1 port of the first electromagnetic directional valve (5) is connected to the rodless chamber of the feed cylinder (4); In the forward rotation oil circuit, port b2 of the second electromagnetic directional valve (6) is connected to port A3 of the reverse rotation side of the motor (3); In the reverse oil circuit, port C2 of the second solenoid directional valve (6) is connected to port B3 of the forward rotation side of the motor (3).

8. The method for linkage control of a normally open clamping device for a water exploration drilling rig according to claim 7, characterized in that, The pressure on the clamping side B1 of the clamp (1) is released through the hydraulic port of the first hydraulic check valve (7.2) via the throttle valve (7.8) or the return oil line of the motor (3); The pressure at the control port of the first hydraulic check valve (7.2) and the control port of the hydraulic directional valve (7.9) is relieved through the return oil line of the feed cylinder (4); The pressure on the clamping side A2 of the chuck (2) is discharged back to the hydraulic pump station (10) through the hydraulic port of the second hydraulic control check valve (7.5) and the manual positioning directional valve (7.7).

Images