Anti-stall control method, system and equipment for speed reducer of rock drilling boom and storage medium

Abstract

The invention discloses an anti-stall control method, system and equipment for a speed reducer of a rock drilling boom and a storage medium. An auxiliary brake is arranged on a rotary speed reducer of the rock drilling boom; when the rock drilling boom moves upwards or stops, the auxiliary brake is in a normally-loose state and does not provide auxiliary braking force; when the rock drilling boom moves downwards, the auxiliary brake is in a normally-closed state, provides auxiliary braking force and dynamically adjusts the auxiliary braking force according to the angle and the angular acceleration of the rock drilling boom, so that the angular acceleration of the rock drilling boom is kept within a set range. The auxiliary brake is applied to the field of rock drilling control, the resistance difference value of the rock drilling boom during movement is adjusted through the auxiliary brake, the resistance difference value of upward movement and downward movement of the rock drilling boom is closer, and the movement speed is more average under the condition that the input power of the rotary speed reducer is not changed; impact on internal gears caused by speed reducer impact stall at the moment when the main brake is opened is avoided, and the service life and stability of the speed reducer are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of rock drilling control, and in particular to a method, system, device and storage medium for preventing stall control of a rock drilling boom reducer. Background Art

[0002] The reducer is a power transmission mechanism that uses the speed conversion of gears to reduce the number of revolutions of the motor or hydraulic motor to the desired number of revolutions and obtain a larger torque. At present, the rotary motion of engineering machinery such as rock drilling booms and rock drilling propulsion beams is generally achieved by rotary reducers. Because it works frequently, especially when the impact load at the moment of starting or stopping is large, if the brake of the rotary reducer is not designed properly, the rotary brake cannot be stopped, the opening pressure is too large, and the rotary motion cannot be turned during operation.

[0003] In particular, when the reducer is used for the up and down rotation of the boom component, when the boom moves upward, there is no load inertia, so the actuator's own weight can be overcome at the start, without the risk of stalling, and the start is relatively smooth. However, when the boom moves downward, due to the influence of the load inertia of the structure's own weight, the load inertia also does work, resulting in a resistance difference of twice the load inertia. The impact stall of the reducer at the moment the brake is opened has a greater impact on the gears inside the reducer, affecting the life of the reducer. At the same time, it will also affect the stability of the reducer, causing jitter in movement, and in severe cases, it can also cause damage to the reducer's internal parts, injuring people or objects when rotating. Summary of the invention

[0004] In view of the deficiencies in the above-mentioned prior art, the present invention provides a rock drilling boom reducer anti-stall control method, system, equipment and storage medium, which adjusts the resistance difference during the movement of the rock drilling boom by adding an auxiliary brake, so that the resistance difference between the upward movement and the downward movement of the rock drilling boom is closer and the mechanical movement is more stable.

[0005] To achieve the above object, the present invention provides a rock drilling boom reducer anti-stall control method, on the basis of the rock drilling boom's rotary reducer having a main brake, an auxiliary brake is arranged on the rotary reducer;

[0006] When the rock drilling boom moves upward or stops, the auxiliary brake is in a normally loose state and does not provide auxiliary braking force;

[0007] When the rock drilling boom moves downward, the auxiliary brake is in a normally closed state, providing auxiliary braking force, and dynamically adjusting the auxiliary braking force according to the angle and angular acceleration of the rock drilling boom, so that the angular acceleration of the rock drilling boom is maintained within a set range.

[0008] In one embodiment, when the rock drilling boom moves downward, the auxiliary brake provides auxiliary braking force in the following process:

[0009] When the rock drilling boom starts to move downward, an initial auxiliary braking torque is calculated based on the inherent properties of the rock drilling boom and the slewing reducer and the angle and angular acceleration of the rock drilling boom;

[0010] Calculating a given pressure of hydraulic oil required by the auxiliary brake according to the initial auxiliary braking torque;

[0011] Obtaining the real-time angular acceleration of the rock drilling boom, and determining whether the real-time angular acceleration of the rock drilling boom is within a preset acceleration range:

[0012] If yes, maintaining the given pressure of the hydraulic oil;

[0013] Otherwise, the given pressure of the hydraulic oil is increased until the real-time angular acceleration of the drilling boom decreases to within a preset acceleration range.

[0014] In one embodiment, the calculation process of the initial auxiliary braking torque is:

[0015]

[0016] Among them, T break is the initial auxiliary braking torque, T drive is the driving torque of the rotary reducer, α is the angular acceleration of the rock drilling boom, I is the moment of inertia of the rock drilling boom, m is the mass of the rock drilling boom, g is the gravitational acceleration, L 1 is the distance between the center of mass and the rotation center of the rock drilling boom, and θ is the angle between the rock drilling boom and the horizontal plane.

[0017] In one embodiment, the given pressure of the hydraulic oil required by the auxiliary brake is specifically:

[0018]

[0019] Where P is the given pressure of hydraulic oil, T break is the initial auxiliary braking torque, A is the piston area of ​​the auxiliary brake, L 2 is the distance between the auxiliary brake and the center of rotation.

[0020] In one of the embodiments, when the main brake fails, the auxiliary brake is activated urgently to protect the boom and surrounding operators.

[0021] In one embodiment, when the main brake fails, the auxiliary brake is activated urgently and the braking torque provided by the auxiliary brake is greater than or equal to T drive , where T drive is the driving torque of the rotary reducer.

[0022] To achieve the above object, the present invention further provides a rock drilling boom reducer anti-stall control system, the control system comprising:

[0023] Auxiliary brake, installed on the rotary reducer of the rock drilling boom, used to provide auxiliary braking force;

[0024] An auxiliary brake switch control valve is provided on the hydraulic system of the auxiliary brake and is used to control the closing or releasing of the auxiliary brake;

[0025] An auxiliary brake pressure control valve, provided on the hydraulic system of the auxiliary brake, for controlling the magnitude of the auxiliary brake force;

[0026] A data acquisition unit is provided on the rock drilling boom and is used to measure the angle and angular acceleration of the rock drilling boom;

[0027] The anti-stall central control unit is electrically connected to the auxiliary brake switch control valve, the auxiliary brake pressure control valve, and the data acquisition unit, and is used for anti-stall control of the rotary reducer of the rock drilling boom using the above method.

[0028] To achieve the above object, the present invention provides a terminal device, wherein the terminal device is provided with:

[0029] Memory, used to store programs;

[0030] The processor is used to execute the program stored in the memory. When the program is executed, the processor is used to execute the method as described above.

[0031] To achieve the above object, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to implement the above method when executed by a processor.

[0032] Compared with the prior art, the present invention has the following beneficial technical effects:

[0033] 1. The present invention adds an auxiliary brake to the rotary reducer of the rock drilling boom, and uses the auxiliary brake to provide auxiliary braking force when the rock drilling boom moves downward, so as to adjust the resistance difference when the rock drilling boom moves upward and downward, so that the resistance difference between the rock drilling boom and the rock drilling boom is closer, and the movement speed is more uniform when the input power of the rotary reducer remains unchanged, so as to avoid the impact of the reducer stalling at the moment when the main brake is turned on, which will cause the impact on the internal gears of the reducer, thereby effectively improving the service life, stability and safety of the reducer;

[0034] 2. The present invention can dynamically adjust the auxiliary braking force according to the angle and angular acceleration of the rock drilling boom, so that the angular acceleration of the rock drilling boom is maintained within a set range, thereby enabling the driving force of the reducer to be used for the rotary motion of the reducer to the maximum extent while the size of the reducer remains unchanged;

[0035] 3. The present invention adds an auxiliary brake to the rotary reducer of the rock drilling boom, which can directly lock the auxiliary brake when the main brake fails, when there is no rotation signal output or the speed is too fast, so as to avoid serious accidents, with a high degree of automation and strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0037] Figure 1 Flow chart of the anti-stall control method for the rock drilling boom reducer in an embodiment of the present invention;

[0038] Figure 2 This is a schematic diagram of the hydraulic control principle of the auxiliary brake in an embodiment of the present invention;

[0039] Figure 3 4 is a structural block diagram of a terminal device in an embodiment of the present invention.

[0040] Figure numbers: reducer 1, main brake 2, auxiliary brake 3, multi-way valve 4, balance valve 5, pressure reducing valve 6, auxiliary brake switch control valve 7, auxiliary brake pressure control valve 8.

[0041] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0044] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0045] Example 1

[0046] The present embodiment discloses a method for anti-stall control of a rock drilling boom reducer. On the basis that the rock drilling boom's slewing reducer has a main brake, an auxiliary brake is provided on the slewing reducer. The auxiliary brake can be closed or released by an external control signal, and the braking force can also be adjusted by an external control signal.

[0047] refer to Figure 1 When the drilling boom moves upward, the auxiliary brake is in a normally loose state and does not provide auxiliary braking force to ensure that the power of the slewing reducer is used to the maximum extent for the operation of the reducer.

[0048] refer to Figure 1 When the rock drilling boom moves downward, the auxiliary brake is in a normally closed state, providing auxiliary braking force, and dynamically adjusting the auxiliary braking force according to the angle and angular acceleration of the rock drilling boom, so that the angular acceleration of the rock drilling boom is kept within the set range, that is, the auxiliary brake reduces the impact of the slewing reducer and improves the running stability of the reducer during the downward movement of the rock drilling boom. At the same time, on the one hand, it reduces the speed difference between the upward and downward movements of the rock drilling boom, and on the other hand, it ensures that the input power difference of the reducer is as small as possible, making the movement speed of the reducer more uniform, avoiding the impact of the reducer stalling at the moment the main brake is opened, causing impact on the internal gears of the reducer, thereby effectively improving the service life, stability and safety of the reducer.

[0049] refer to Figure 1 When the rock drilling boom moves downward, the process in which the auxiliary brake provides auxiliary braking force is:

[0050] When the rock drilling boom starts to move downward, the initial auxiliary braking torque is calculated based on the inherent properties of the rock drilling boom and the rotary reducer and the angle and angular acceleration of the rock drilling boom;

[0051] The required hydraulic oil pressure of the auxiliary brake is calculated according to the initial auxiliary braking torque;

[0052] Get the real-time angular acceleration of the rock drilling boom, and determine whether the real-time angular acceleration of the rock drilling boom is within the preset acceleration range:

[0053] If yes, maintain the given pressure of hydraulic oil;

[0054] Otherwise, the given pressure of the hydraulic oil is increased until the real-time angular acceleration of the rock drilling boom is reduced to within the preset acceleration range;

[0055] When the drilling boom stops, the auxiliary brake is released and the main brake is turned on.

[0056] In this embodiment, the initial auxiliary braking torque of the auxiliary brake is calculated by the inherent properties of the rock drilling boom and the rotary reducer, as well as the angle and angular acceleration of the rock drilling boom. Among them, the inherent properties of the rock drilling boom and the rotary reducer include the driving torque T of the rotary reducer drive , the moment of inertia of the rock drilling boom I, the mass of the rock drilling boom m, the distance between the center of mass of the rock drilling boom and the center of rotation L 1 The above inherent properties are determined in the early boom design and brake selection, and remain unchanged during the movement of the rock drilling boom. The angle θ and angular acceleration α of the rock drilling boom with the horizontal plane during the movement can be measured by arranging angle sensors, angular velocity sensors and other signal acquisition equipment on the rock drilling boom. After measuring the angle θ and angular acceleration α of the rock drilling boom at the beginning of the downward movement, the initial auxiliary braking torque can be calculated as:

[0057]

[0058] Among them, T break is the initial auxiliary braking torque, and g is the gravitational acceleration.

[0059] After obtaining the initial auxiliary braking torque T break After that, the hydraulic oil given pressure currently required by the auxiliary brake can be obtained, which is:

[0060]

[0061] Where P is the given pressure of hydraulic oil, T break is the initial auxiliary braking torque, A is the piston area of ​​the auxiliary brake, L 2 is the distance between the auxiliary brake and the center of rotation.

[0062] Subsequently, the angular acceleration of the rock drilling boom is collected at a preset frequency during the downward movement of the rock drilling boom, and it is determined in real time whether the collected angular acceleration is within the set acceleration range [0, β]. If the collected angular acceleration is within the acceleration range [0, β], the current hydraulic oil given pressure P of the auxiliary brake is kept unchanged regardless of its size. If the collected angular acceleration is outside the acceleration range [0, β], the current hydraulic oil given pressure P of the auxiliary brake is immediately increased until the next collected angular acceleration is within the acceleration range [0, β]. Among them, β is the preset maximum angular velocity value, and the value of β can be appropriately adjusted according to different rock drilling boom movement scenes and working conditions.

[0063] It is worth noting that when the main brake fails, the auxiliary brake is activated urgently and the braking torque it provides is greater than or equal to T drive , to protect the boom and surrounding operators.

[0064] It is worth noting that although this embodiment Figure 1 The steps in the process are shown in sequence as indicated by the arrows, but the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of the steps, and the steps can be executed in other orders. Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0065] Example 2

[0066] Based on the anti-stall control method for the rock drilling boom reducer in Example 1, this embodiment discloses an anti-stall control system for the rock drilling boom reducer, which includes an auxiliary brake, an auxiliary brake switch control valve, an auxiliary brake pressure control valve, a data acquisition unit, and an anti-stall central control unit. Figure 2 This is the hydraulic control schematic diagram of the auxiliary brake in this embodiment. The reducer 1 is connected to the multi-way valve 4 through the balancing valve 5, the auxiliary brake 3 and the main brake 2 are connected in parallel on an oil circuit with a pressure reducing valve 6, and at the same time, the auxiliary brake switch control valve 7 and the auxiliary brake pressure control valve 8 are arranged in series on the branch line of the auxiliary brake 3.

[0067] Specifically, the auxiliary brake is arranged on the rotary reducer of the rock drilling boom, and its implementation structure is basically the same as that of the main brake, and is used to provide auxiliary braking force for the rotary reducer. The data acquisition unit is a sensor device such as an angle sensor and an angular velocity sensor fixedly arranged on the rock drilling boom, which is used to measure the angle and angular acceleration of the rock drilling boom, and send the collected signals to the anti-stall central control unit. The auxiliary brake switch control valve is arranged on the hydraulic system of the auxiliary brake, and is used to control the closing or release of the auxiliary brake. The auxiliary brake pressure control valve is also arranged on the hydraulic system of the auxiliary brake, and is used to control the size of the auxiliary braking force. The anti-stall central control unit is electrically connected to the auxiliary brake switch control valve, the auxiliary brake pressure control valve, and the data acquisition unit, and is used to send control instructions to the auxiliary brake switch control valve and the auxiliary brake pressure control valve according to the data collected in real time by the data acquisition unit, so that the auxiliary brake switch control valve and the auxiliary brake pressure control valve perform anti-stall control on the rotary reducer of the rock drilling boom according to the method of Example 1.

[0068] In this embodiment, the specific working process and working principle of the auxiliary brake, the auxiliary brake switch control valve, the auxiliary brake pressure control valve, the data acquisition unit and the anti-stall central control unit are the same as those in the method of embodiment 1, so they are not described in detail in this embodiment. The anti-stall central control unit can be implemented in whole or in part by software, hardware and a combination thereof. The anti-stall central control unit can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the corresponding operation of the anti-stall central control unit.

[0069] Example 3

[0070] like Figure 3 The terminal device disclosed in this embodiment includes a transmitter, a receiver, a memory, and a processor. The transmitter is used to send instructions and data, the receiver is used to receive instructions and data, the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions stored in the memory to implement the method in the above-mentioned embodiment 1.

[0071] It should be noted that the above memory can be independent or integrated with the processor. When the memory is independently provided, the terminal device further includes a bus for connecting the memory and the processor.

[0072] Example 4

[0073] This embodiment discloses a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the method in the above-mentioned embodiment 1 is implemented.

[0074] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0075] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A method for preventing stall control of a rock drilling boom reducer, characterized in that: On the basis that the rotary reducer of the rock drilling boom has a main brake, an auxiliary brake is arranged on the rotary reducer; When the rock drilling boom moves upward or stops, the auxiliary brake is in a normally loose state and does not provide auxiliary braking force; When the rock drilling boom moves downward, the auxiliary brake is in a normally closed state, providing auxiliary braking force, and dynamically adjusting the auxiliary braking force according to the angle and angular acceleration of the rock drilling boom, so that the angular acceleration of the rock drilling boom is maintained within a set range.

2. The anti-stall control method for a rock drilling boom reducer according to claim 1, characterized in that: When the rock drilling boom moves downward, the process in which the auxiliary brake provides auxiliary braking force is as follows: When the rock drilling boom starts to move downward, an initial auxiliary braking torque is calculated based on the inherent properties of the rock drilling boom and the slewing reducer and the angle and angular acceleration of the rock drilling boom; Calculating a given pressure of hydraulic oil required by the auxiliary brake according to the initial auxiliary braking torque; Obtaining the real-time angular acceleration of the rock drilling boom, and determining whether the real-time angular acceleration of the rock drilling boom is within a preset acceleration range: If yes, maintaining the given pressure of the hydraulic oil; Otherwise, the given pressure of the hydraulic oil is increased until the real-time angular acceleration of the drilling boom decreases to within a preset acceleration range.

3. The anti-stall control method for a rock drilling boom reducer according to claim 2, characterized in that: The calculation process of the initial auxiliary braking torque is: Among them, T break is the initial auxiliary braking torque, T drive is the driving torque of the slewing reducer, α is the angular acceleration of the rock drilling boom, I is the moment of inertia of the rock drilling boom, m is the mass of the rock drilling boom, g is the acceleration of gravity, L1 is the distance between the center of mass and the center of rotation of the rock drilling boom, and θ is the angle between the rock drilling boom and the horizontal plane.

4. The anti-stall control method for a rock drilling boom reducer according to claim 2, characterized in that: The hydraulic oil given pressure required by the auxiliary brake is specifically: Where P is the given pressure of hydraulic oil, T break is the initial auxiliary braking torque, A is the piston area of ​​the auxiliary brake, and L2 is the distance between the auxiliary brake and the rotation center.

5. The anti-stall control method for a rock drilling boom reducer according to any one of claims 1 to 4, characterized in that: When the main brake fails, the auxiliary brake is activated urgently to protect the boom and surrounding operators.

6. The anti-stall control method for a rock drilling boom reducer according to claim 5, characterized in that: When the main brake fails, the auxiliary brake is activated urgently and the braking torque it provides is greater than or equal to T drive , where T drive is the driving torque of the rotary reducer.

7. A rock drilling boom speed reducer anti-stall control system, characterized in that: The control system adopts the method described in any one of claims 1 to 6 to perform anti-stall control on the rotary reducer of the rock drilling boom.

8. The anti-stall control system for the rock drilling boom reducer according to claim 7, characterized in that: The control system comprises: Auxiliary brake, installed on the rotary reducer of the rock drilling boom, used to provide auxiliary braking force; An auxiliary brake switch control valve is provided on the hydraulic system of the auxiliary brake and is used to control the closing or releasing of the auxiliary brake; An auxiliary brake pressure control valve, provided on the hydraulic system of the auxiliary brake, for controlling the magnitude of the auxiliary brake force; A data acquisition unit is provided on the rock drilling boom and is used to measure the angle and angular acceleration of the rock drilling boom; The anti-stall central control unit is electrically connected to the auxiliary brake switch control valve, the auxiliary brake pressure control valve, and the data acquisition unit, and is used to perform anti-stall control on the rotary reducer of the rock drilling boom according to the method described in any one of claims 1 to 6.

9. A terminal device, characterized in that: The terminal device is provided with: Memory, used to store programs; A processor, configured to execute the program stored in the memory; when the program is executed, the processor is configured to execute the method according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

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