Rock drilling boom reducer anti-stall control method, system, device and storage medium

Abstract

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

Description

Technical Field

[0001] This invention relates to the field of rock drilling control technology, specifically to a method, system, equipment, and storage medium for preventing stall of a rock drilling boom reducer. Background Technology

[0002] A speed reducer is a power transmission mechanism that uses gears to reduce the rotational speed of a motor or hydraulic motor to the desired speed while obtaining a larger torque. Currently, the rotational motion of engineering machinery such as rock drilling booms and rock drilling propulsion beams is generally achieved by rotary speed reducers because they are used frequently, especially during startup or shutdown when they experience large impact loads. Therefore, if the brake of a rotary speed reducer is not properly designed, problems such as inability to brake properly, excessive opening pressure, and inability to rotate the machine may occur during operation.

[0003] Specifically, when the reducer is used for the boom's vertical rotation, the boom moves upwards without load inertia, and the start-up is relatively smooth as it only needs to overcome the weight of the actuator, eliminating the risk of stalling. However, when the boom moves downwards, the load inertia due to the structural weight causes the load inertia to do work simultaneously, resulting in a resistance difference of twice the load inertia. The instant the brake is released, the reducer experiences a significant impact on the internal gears, affecting its lifespan and stability, leading to vibrations and, in severe cases, internal damage. This can also cause injury to people or property during rotation. Summary of the Invention

[0004] To address the shortcomings of the prior art, this invention provides a method, system, device, and storage medium for preventing stall of a rock drilling boom reducer. By adding an auxiliary brake, the resistance difference during the movement of the rock drilling boom is adjusted, making the resistance difference between the upward and downward movements of the rock drilling boom closer, and the mechanical movement more stable.

[0005] To achieve the above objectives, the present invention provides a method for preventing stall of a rock drilling boom reducer, wherein an auxiliary brake is installed on the slewing reducer of the rock drilling boom, which has a main brake.

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

[0007] When the rock drilling boom moves downward, the auxiliary brake is normally closed, 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 a set range.

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

[0009] When the rock drilling boom begins to move downward, the initial auxiliary braking torque is calculated based on 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.

[0010] The required hydraulic oil pressure for the auxiliary brake is calculated based on the initial auxiliary braking torque.

[0011] The real-time angular acceleration of the rock drilling boom is obtained, and it is determined whether the real-time angular acceleration of the rock drilling boom is within a preset acceleration range:

[0012] If so, maintain the given hydraulic oil pressure;

[0013] Otherwise, increase the hydraulic oil pressure until the real-time angular acceleration of the rock drilling boom decreases to the preset acceleration range.

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

[0015]

[0016] Among them, T break For the initial auxiliary braking torque, T drive α is the driving torque of the rotary reducer, I is the angular acceleration of the rock drilling boom, m is the mass of the rock drilling boom, g is the gravitational acceleration, 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.

[0017] In one embodiment, the hydraulic oil pressure required for the auxiliary brake is specifically as follows:

[0018]

[0019] Where P is the hydraulic oil pressure, and T is the hydraulic oil pressure. break Let A be the initial auxiliary braking torque, A be the piston area of ​​the auxiliary brake, and L2 be the distance between the auxiliary brake and the center of rotation.

[0020] In one embodiment, when the main brake fails, the auxiliary brake is activated in an emergency to protect the boom and surrounding personnel.

[0021] In one embodiment, when the main brake fails, the auxiliary brake is activated in an emergency, and the braking torque it provides is greater than or equal to T. drive , among which, T drive This is the driving torque of the rotary reducer.

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

[0023] An auxiliary brake, located on the slewing reducer of the rock drilling boom, is used to provide auxiliary braking force.

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

[0025] An auxiliary braking pressure control valve is provided on the hydraulic system of the auxiliary brake and is used to control the magnitude of the auxiliary braking force.

[0026] The data acquisition unit, located on the rock drilling boom, 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 to perform anti-stall control on the slewing reducer of the rock drilling boom using the above-mentioned method.

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

[0029] Memory, used to store programs;

[0030] A processor is configured to execute the program stored in the memory, and when the program is executed, the processor is configured to perform the method as described above.

[0031] To achieve the above objectives, the present invention provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method described above.

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

[0033] 1. This 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. This adjusts the resistance difference when the rock drilling boom moves, making the resistance difference between the upward and downward movements of the rock drilling boom closer. With the input power of the rotary reducer remaining constant, the movement speed is more uniform. This avoids the impact of the reducer stalling when the main brake is opened, which could cause impact on the internal gears of the reducer. This effectively improves 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 kept within a set range, thereby maximizing the use of the reducer driving force for the reducer rotational motion without changing the size of the reducer specifications;

[0035] 3. This 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 high, thus avoiding serious accidents. It has a high degree of automation and strong adaptability. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0037] Figure 1 This is a flowchart 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 This is a structural block diagram of the terminal device in an embodiment of the present invention.

[0040] Reference numerals: 1. Gearbox; 2. Main brake; 3. Auxiliary brake; 4. Multi-way valve; 5. Balance valve; 6. Pressure reducing valve; 7. Auxiliary brake switch control valve; 8. Auxiliary brake pressure control valve.

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

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

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

[0044] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0045] Example 1

[0046] This embodiment discloses a stall prevention control method for a rock drilling boom reducer. Based on the main brake of the rock drilling boom's slewing reducer, an auxiliary brake is installed 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 rock drilling boom moves upward, the auxiliary brake is in a normally loose state and does not provide auxiliary braking force, so as to ensure that the power of the rotary 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 normally closed, providing auxiliary braking force. The auxiliary braking force is dynamically adjusted according to the angle and angular acceleration of the rock drilling boom to keep the angular acceleration of the rock drilling boom within a set range. That is, during the downward movement of the rock drilling boom, the auxiliary brake reduces the impact of the slewing reducer and improves the smoothness of the reducer's operation. 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 speed of the reducer more uniform. This avoids the impact of the reducer stalling when the main brake is opened, which could cause impact on the internal gears of the reducer. In this way, the service life, smoothness and safety of the reducer are effectively improved.

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

[0050] When the rock drilling boom begins to move downwards, the initial auxiliary braking torque is calculated based on 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.

[0051] The required hydraulic oil pressure for the auxiliary brake is calculated based on the initial auxiliary braking torque.

[0052] Obtain 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 so, maintain the set hydraulic oil pressure;

[0054] Otherwise, increase the hydraulic oil pressure until the real-time angular acceleration of the rock drilling boom decreases to the preset acceleration range;

[0055] When the rock drilling boom stops, release the auxiliary brake and engage the main brake.

[0056] In this embodiment, the initial auxiliary braking torque of the auxiliary brake is calculated using the inherent properties of the drilling boom and the slewing reducer, as well as the angle and angular acceleration of the drilling boom. The inherent properties of the drilling boom and the slewing reducer include the driving torque T of the slewing reducer. drive The inherent properties of the drilling boom—I (moment of inertia), m (mass), and L1 (distance between the center of mass and the center of rotation)—are determined in the initial boom design and brake selection and remain constant during boom movement. The angle θ and angular acceleration α between the boom and the horizontal plane during boom movement can be measured using angle sensors, angular velocity sensors, and other signal acquisition devices mounted on the boom. After measuring the angle θ and angular acceleration α at the instant of the boom's downward movement, the initial auxiliary braking torque can be calculated as follows:

[0057]

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

[0059] After obtaining the initial auxiliary braking torque T break Then, the required hydraulic oil pressure for the auxiliary brake can be obtained as follows:

[0060]

[0061] Where P is the hydraulic oil pressure, and T is the hydraulic oil pressure. break Let A be the initial auxiliary braking torque, A be the piston area of ​​the auxiliary brake, and L2 be the distance between the auxiliary brake and the center of rotation.

[0062] Subsequently, during the downward movement of the drilling boom, the angular acceleration of the boom is collected at a pre-set frequency, 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 pressure P of the auxiliary brake remains unchanged, regardless of its magnitude. If the collected angular acceleration is outside the acceleration range [0, β], the current hydraulic oil pressure P of the auxiliary brake is immediately increased until the next collected angular acceleration is within the acceleration range [0, β]. Here, β is the preset maximum angular velocity, and the value of β can be adjusted appropriately according to different drilling boom movement scenarios and working conditions.

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

[0064] It is worth noting that, although this embodiment Figure 1 The steps are shown sequentially as indicated by the arrows, but they are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order in which these steps are performed; they can be executed in other orders. Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed 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 some 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 Embodiment 1, this embodiment discloses an anti-stall control system for the rock drilling boom reducer. This anti-stall control system 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. (Reference) Figure 2 The hydraulic control principle diagram of the auxiliary brake in this embodiment is as follows: the reducer 1 is connected to the multi-way valve 4 through the balance valve 5, the auxiliary brake 3 is connected in parallel with the main brake 2 in an oil circuit with a pressure reducing valve 6, and the auxiliary brake switch control valve 7 and the auxiliary brake pressure control valve 8 are connected in series on the branch of the auxiliary brake 3.

[0067] Specifically, the auxiliary brake is installed on the slewing reducer of the drilling boom, and its structure is basically the same as that of the main brake, used to provide auxiliary braking force for the slewing reducer. The data acquisition unit consists of sensing devices such as angle sensors and angular velocity sensors fixedly installed on the drilling boom, used to measure the angle and angular acceleration of the drilling boom, and send the collected signals to the anti-stall central control unit. The auxiliary brake switch control valve is located on the hydraulic system of the auxiliary brake, used to control the closing or releasing of the auxiliary brake. The auxiliary brake pressure control valve is also located on the hydraulic system of the auxiliary brake, used to control the magnitude 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, used to issue control commands to the auxiliary brake switch control valve and the auxiliary brake pressure control valve based on the data collected in real time by the data acquisition unit, so that they perform anti-stall control on the slewing reducer of the drilling boom according to the method of Example 1.

[0068] In this embodiment, the specific working process and working principle of the auxiliary brake, auxiliary brake switch control valve, auxiliary brake pressure control valve, data acquisition unit, and anti-stall central control unit are the same as those in Embodiment 1, and therefore will not be described again in this embodiment. The anti-stall central control unit can be implemented entirely or partially through software, hardware, or a combination thereof. The anti-stall central control unit can be embedded in or independent of the processor in a computer device in hardware form, or it can be stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of the anti-stall central control unit.

[0069] Example 3

[0070] like Figure 3 The diagram illustrates a terminal device disclosed in this embodiment, comprising a transmitter, a receiver, a memory, and a processor. The transmitter transmits instructions and data, the receiver receives instructions and data, the memory stores computer-executed instructions, and the processor executes the computer-executed instructions stored in the memory to implement the method described in Embodiment 1 above.

[0071] It is important to note that the aforementioned memory can be either standalone or integrated with the processor. When the memory is set up independently, the terminal device also includes a bus for connecting the memory and the processor.

[0072] Example 4

[0073] This embodiment discloses a computer-readable storage medium storing computer-executable instructions. When a processor executes the computer-executable instructions, it implements the method in Embodiment 1 above.

[0074] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, 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. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0075] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A method for preventing stall in a rock drilling boom reducer, characterized in that, Based on the main brake of the rotary reducer of the rock drilling boom, an auxiliary brake is installed on the rotary reducer. When the rock drilling boom moves upward or stops, the auxiliary brake is in a normally relaxed state and does not provide auxiliary braking force. When the rock drilling boom moves downward, the auxiliary brake is normally closed, 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 a set range. When the rock drilling boom moves downward, the auxiliary brake provides auxiliary braking force in the following process: At the start of the downward movement of the rock drilling boom, the initial auxiliary braking torque is calculated based on 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. The calculation process of the initial auxiliary braking torque is as follows: in, For initial auxiliary braking torque, The driving torque of the rotary reducer, The angular acceleration of the rock drilling boom, The moment of inertia of the rock drilling boom. For the quality of the rock drilling boom, It is the acceleration due to gravity. Let be the distance between the center of mass and the center of rotation of the rock drilling boom. The angle between the rock drilling boom and the horizontal plane; The required hydraulic oil pressure for the auxiliary brake is calculated based on the initial auxiliary braking torque. The real-time angular acceleration of the rock drilling boom is obtained, and it is determined whether the real-time angular acceleration of the rock drilling boom is within a preset acceleration range: If so, maintain the given hydraulic oil pressure; Otherwise, increase the hydraulic oil pressure until the real-time angular acceleration of the rock drilling boom decreases to the preset acceleration range.

2. The anti-stall control method for the rock drilling boom reducer according to claim 1, characterized in that, The specific hydraulic oil pressure required for the auxiliary brake is as follows: in, Set the pressure for the hydraulic oil. For initial auxiliary braking torque, For the piston area of ​​the auxiliary brake, This refers to the distance between the auxiliary brake and the center of rotation.

3. The anti-stall control method for the rock drilling boom reducer according to any one of claims 1 to 2, characterized in that, When the main brake fails, the auxiliary brake is activated in an emergency to protect the boom and surrounding personnel.

4. The anti-stall control method for the rock drilling boom reducer according to claim 3, characterized in that, When the main brake fails, the auxiliary brake is activated in an emergency, and the braking torque it provides is greater than or equal to... ,in, This is the driving torque of the rotary reducer.

5. A stall prevention control system for a rock drilling boom reducer, characterized in that, The control system employs the method described in any one of claims 1 to 4 to perform anti-stall control on the slewing reducer of the rock drilling boom.

6. The anti-stall control system for the rock drilling boom reducer according to claim 5, characterized in that, The control system includes: An auxiliary brake, located on the slewing reducer of the rock drilling boom, is used to provide auxiliary braking force. An auxiliary brake switch control valve is located on the hydraulic system of the auxiliary brake and is used to control the closing or releasing of the auxiliary brake. An auxiliary braking pressure control valve is provided on the hydraulic system of the auxiliary brake and is used to control the magnitude of the auxiliary braking force. The data acquisition unit, located on the rock drilling boom, 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 slewing reducer of the rock drilling boom.

7. A terminal device, characterized in that, The terminal device is equipped with: Memory, used to store programs; A processor for executing the program stored in the memory, wherein when the program is executed, the processor is configured to perform the method as described in any one of claims 1 to 4.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 4.

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