Drilling machine propulsion compound control system and control method

Abstract

The invention discloses a drilling machine propulsion compound control system and a control method, and solves the problems that a drilling machine propulsion system in the prior art cannot meet the large-flow differential function and is poor in integration and locking performance. The drilling machine propelling compound control system comprises a large-flow integrated valve set unit and N propelling oil cylinders, N is larger than or equal to 2, and one-way locking valve sets are arranged between the N propelling oil cylinders and the large-flow integrated valve set unit. A rodless cavity of the thrust oil cylinder is communicated with an oil port A of the large-flow integrated valve set unit, and the rodless cavity of the thrust oil cylinder is communicated with an oil port B of the large-flow integrated valve set unit. The large-flow integrated valve group unit comprises an electromagnetic directional valve, a cartridge logic valve group and a propulsion regeneration valve group; and a one-way balance valve is arranged between the plug-in logic valve group and the propulsion regeneration valve group. According to the drilling machine propulsion compound control system and control method, the functions of large-flow reversing of a propulsion hydraulic system and differential regeneration of a propulsion oil cylinder can be achieved, rapid and stable operation is achieved, the performance of a differential rapid loop is improved, and the construction efficiency is improved advantageously.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic control for shaft boring machines in mines, and particularly refers to a composite control system for the propulsion of a drilling rig Background Art

[0002] With the continuous expansion of the scale of infrastructure construction, the demand for shaft boring machines in fields such as urban rail transit, underground utility tunnels, and water conservancy projects is increasing. Using a raise boring machine for the pilot shaft construction of vertical shafts and inclined shafts has significant advantages. The reciprocating up and down movement of the power head of the raise boring machine is driven by a hydraulic cylinder, also known as a propulsion cylinder. For the pilot hole drilling, reaming drilling, and rapid lifting or lowering of the drill string of the raise boring machine, the propulsion of the propulsion cylinder is required. Generally, a raise boring machine consists of at least two cylinders, and the number of propulsion cylinders of some large raise boring machines can reach 3 - 6

[0003] To achieve the highest drilling efficiency, the drilling process requirements of the raise boring machine are to achieve rapid lifting when the drill pipe is replaced on the drilling rig to reduce the auxiliary time of drilling. For the propulsion hydraulic system, due to the large cylinder diameter of its cylinders, it should first meet the demand for flow capacity under rapid tunneling conditions, and secondly, it should also simultaneously meet the multi-functional requirements such as large flow rapid lifting, good locking performance, and the actions of the actuating mechanism under different working conditions. According to the conventional method, it is necessary to increase the number and power of the motor pump units, which will increase the cost and resource waste of the equipment. In addition, it will also increase the occupied space of the equipment and make the later maintenance difficult. For example, the hydraulic differential circuit, hydraulic control system, and work vehicle disclosed in the Chinese patent with the publication number CN218479982U only achieve the differential function of the cylinder and thus large flow by increasing the loop control valve. This solution only realizes the differential function passively by hydraulic control and cannot actively control the rapid extension of the cylinder. And the large flow differential function hydraulic circuit disclosed in the Chinese patent with the publication number CN14909348A, although solving the above problems, only integrates the differential function module, and the rest of the control valve groups are arranged outside, with weak anti-pollution ability. Moreover, it uses a traditional spool valve structure to connect the oil supply source and the actuating mechanism, with limited flow capacity compared to the cartridge logic valve, and is prone to problems such as valve jamming and slow response speed. When the reversing spool valve is in the middle position, there will inevitably be a small amount of oil leakage in the actuating mechanism, and the good locking function of the cylinder cannot be achieved

[0004] Therefore, to meet the requirements of large flow through-flow, high integration level, fast response level, and good locking performance of the raise boring machine, it is very necessary to design a large flow differential hydraulic circuit for the raise boring machine Summary of the Invention

[0005] Aiming at the deficiencies in the above background art, the present invention proposes a composite control system and control method for the propulsion of a drilling rig, which solves the problems in the prior art that the drilling rig propulsion system cannot meet the large flow differential function, and has poor integration and locking performance

[0006] The technical solution of the present invention is implemented as follows: A drilling rig propulsion composite control system includes a large-flow integrated valve group unit and N propulsion cylinders, where N≥2. One-way locking valve groups are respectively provided between the N propulsion cylinders and the large-flow integrated valve group unit; the rodless cavity of the propulsion cylinder is connected to the oil port A of the large-flow integrated valve group unit, and the rodless cavity of the propulsion cylinder is connected to the oil port B of the large-flow integrated valve group unit; the large-flow integrated valve group unit includes an electromagnetic directional valve, a cartridge logic valve group, and a propulsion regeneration valve group; a one-way balance valve is provided between the cartridge logic valve group and the propulsion regeneration valve group. The electromagnetic directional valve is connected to an external control oil source and forms a pilot oil circuit with the cartridge logic valve group. The propulsion regeneration valve group acts on the pipelines where the rodless cavity and the rod cavity of the propulsion cylinder are located and controls the differential action of the propulsion cylinder. The large-flow integrated valve group unit has a high integration degree, can realize large-flow commutation of the propulsion hydraulic system and the differential regeneration function of the propulsion cylinder. The cooperation between the large-flow integrated valve group unit and the one-way locking valve group can realize the locking function of the propulsion cylinder, ensure that the main drive does not fall during standby or shutdown, and improve the safety performance.

[0007] Further preferably, for the drilling rig propulsion composite control system, N = 2. The two propulsion cylinders are respectively the first propulsion cylinder and the second propulsion cylinder. The one-way locking valve group between the first propulsion cylinder and the large-flow integrated valve group unit is the first one-way locking valve group, and the one-way locking valve group between the second propulsion cylinder and the large-flow integrated valve group unit is the second one-way locking valve group. The propulsion cylinders and the one-way locking valves are arranged in one-to-one correspondence, enabling the actuator to move quickly and smoothly, with good locking performance and overall higher safety and reliability.

[0008] Further preferably, the first one-way locking valve group includes a first pilot-operated check valve. The oil inlet of the first pilot-operated check valve is correspondingly connected to the V1 port of the first one-way locking valve group, the oil return port of the first pilot-operated check valve is correspondingly connected to the C1 port of the first one-way locking valve group, and the control oil port of the first pilot-operated check valve is correspondingly connected to the X1 port of the first one-way locking valve group; the C1 port of the first one-way locking valve group is connected to the rodless cavity of the first propulsion cylinder, and the C2 port of the first one-way locking valve group is connected to the rod cavity of the first propulsion cylinder; the V2 port of the first one-way locking valve group is connected to the B port of the large-flow integrated valve group unit.

[0009] Further preferably, the second one-way locking valve group includes a second pilot-operated check valve. The oil inlet of the second pilot-operated check valve is correspondingly connected to the V1 port of the second one-way locking valve group, the oil return port of the second pilot-operated check valve is correspondingly connected to the C1 port of the second one-way locking valve group, and the control oil port of the second pilot-operated check valve is correspondingly connected to the X1 port of the second one-way locking valve group. The C1 port of the second one-way locking valve group is connected to the rodless cavity of the second propulsion cylinder, the C2 port of the second one-way locking valve group is connected to the rod cavity of the second propulsion cylinder, and the V2 port of the second one-way locking valve group is connected to the B port of the large-flow integrated valve group unit.

[0010] Further preferably, the X1 ports of the first one-way locking valve group and the second one-way locking valve group are both connected to the external control oil source II. A third pressure sensor is provided on the pipeline where the first one-way locking valve group is connected to the rodless cavity of the first propulsion cylinder, and a fourth pressure sensor is provided on the pipeline where the second one-way locking valve group is connected to the rodless cavity of the second propulsion cylinder.

[0011] Further preferably, the large-flow integrated valve group unit is also provided with an oil port M and an oil port N, and the oil port M and the oil port N are externally connected to a high-pressure oil supply source; thus, multi-functional high-low pressure switching operation can be achieved.

[0012] Further preferably, the cartridge logic valve group includes a first cartridge logic valve, a second cartridge logic valve, and a third cartridge logic valve. The a ports of the first cartridge logic valve and the second cartridge logic valve are both connected to the a port of the one-way balance valve. The b port of the first cartridge logic valve is connected to the system main oil return. The c ports of the first cartridge logic valve and the third cartridge logic valve are both connected to the A port of the electromagnetic directional valve; the c port of the second cartridge logic valve is connected to the B port of the electromagnetic directional valve. The b ports of the second cartridge logic valve and the third cartridge logic valve are both connected to the supply oil source. The a port of the third cartridge logic valve is connected to the propulsion regeneration valve group; the P port of the electromagnetic directional valve is connected to the external control oil source I.

[0013] Further preferably, the pipeline between the a port of the third cartridge logic valve and the propulsion regeneration valve group is the first pipeline. A first hydraulic damper is provided on the oil path between the first pipeline and the control port of the one-way balance valve; a second pressure sensor is connected to the first pipeline.

[0014] Further preferably, the propulsion regeneration valve group includes a shuttle valve, a regeneration switch valve, and a fourth cartridge logic valve. The left comparison oil ports of the shuttle valve are respectively connected to the B port of the one-way balance valve, the A port of the large-flow integrated valve group unit, and the b port of the fourth cartridge logic valve; the right comparison oil ports of the shuttle valve are respectively connected to the a port of the fourth cartridge logic valve, the B port of the large-flow integrated valve group unit, and the cartridge logic valve group; the a port of the regeneration switch valve is connected to the middle oil port of the shuttle valve. The b port of the regeneration switch valve is connected to the system main oil drain and the T oil port of the electromagnetic directional valve. The c port of the regeneration switch valve is connected to the c port of the fourth cartridge logic valve.

[0015] Further preferably, a second hydraulic damper is provided between the regeneration switch valve and the fourth cartridge logic valve. One end of the second hydraulic damper is connected to the c port of the regeneration switch valve, and the other end is connected to the c port of the fourth cartridge logic valve; a first pressure sensor is provided on the pipeline connected to the left comparison oil port of the shuttle valve.

[0016] A control method for the described drilling rig propulsion composite control system. The drilling rig propulsion composite control system has N propulsion cylinders, where N≥2. The propulsion cylinders perform actions in the following three states: The propulsion cylinders extend differentially, and the main drive of the drilling rig is in the upward lifting state. The specific process is as follows: 1.1 The left position of the electromagnetic directional valve is energized, the first cartridge logic valve and the third cartridge logic valve are closed, the c port of the second cartridge logic valve is connected to the main drain of the system, and the second cartridge logic valve is opened. 1.2 The high-pressure oil of the system enters the rodless chambers of the corresponding propulsion cylinders through the a port of the second cartridge logic valve, the one-way balance valve, the A port of the large-flow integrated valve group unit, and the one-way locking valve group respectively, causing the cylinders to extend. 1.3 The regeneration switch valve of the propulsion regeneration valve group is energized, its ports b and c are connected, and the a port and b port of the fourth cartridge logic valve are connected. At this time, the oil in the rod chambers of the propulsion cylinders passes through the corresponding one-way locking valve groups, the B port of the large-flow integrated valve group unit, the fourth cartridge logic valve, and reaches the left comparison port of the shuttle valve, and finally returns to the rodless chambers of the propulsion cylinders, thus realizing the differential function of the propulsion cylinders. The propulsion cylinders retract normally, and the main drive of the drilling rig is in the downward propulsion state. The specific process is as follows: 2.1 The right position of the electromagnetic directional valve is energized, the first cartridge logic valve and the third cartridge logic valve are opened, and the second cartridge logic valve is closed. 2.2 The regeneration switch valve of the propulsion regeneration function module is de-energized, its ports a and c are connected, port b is closed and connected to the main drain of the system. At this time, the a port and b port of the fourth cartridge logic valve are disconnected, and there is no oil exchange between the rodless and rod chambers of the propulsion cylinders. 2.3 The high-pressure oil of the system passes through the a port of the third cartridge logic valve. One path of oil reaches the control port of the one-way balance valve and opens the one-way balance valve, and the other path of oil passes through the B port of the large-flow integrated valve group unit, the one-way locking valve group, and reaches the rod chambers of the corresponding propulsion cylinders. The oil in the rodless chambers of the propulsion cylinders passes through the corresponding one-way locking valve groups, the A port of the large-flow integrated valve group unit, the one-way balance valve, and the first cartridge logic valve and then flows back to the main return oil of the system. The propulsion cylinders are locked, and the main drive of the drilling rig remains in the current state. The specific process is as follows: 3.1 The electromagnetic directional valve is not energized and is in the middle position, and the first cartridge logic valve, the second cartridge logic valve, and the third cartridge logic valve are closed. 3.2 The regeneration switch valve of the propulsion regeneration function module is de-energized, the ports a and c of the regeneration switch valve are connected, port b is closed and connected to the main drain of the system. At this time, the a port and b port of the fourth cartridge logic valve are disconnected, and there is no oil exchange between the rodless and rod chambers of the propulsion cylinders, realizing the function of locking the propulsion cylinders and keeping them stationary.

[0017] The beneficial effects of the present invention are as follows: The propulsion composite control system of the present invention realizes the differential function of the propulsion cylinder through the conditional triggering of the propulsion regeneration function module; the one-way locking valve group can control the locking and release of the propulsion cylinder, thereby realizing the function of maintaining the pressure in the rodless cavity of the propulsion cylinder and preventing leakage when the system is shut down or under maintenance; by setting a one-way balance valve in the oil circuit of the rodless cavity of the propulsion cylinder, the propulsion cylinder can run quickly and smoothly during the retraction action, improving the overall reliability; through the combination of an electromagnetic directional valve and three cartridge logic valves, the oil flow capacity is greatly improved, the commutation speed is fast, and the overall integration level is high.

[0018] In the present invention, an external oil source is connected to a three-position four-way electromagnetic directional valve and forms a pilot oil circuit with the cartridge logic valve, and then the main supply oil source directly acts on the cartridge logic valve, which can achieve the purpose of fast commutation of large flow in the hydraulic system, and the flow applicable range is further improved. The present invention integrates the differential function module, the large-flow commutation module and the pressure-holding function module together, with a high degree of integration, and can be externally connected to a high-pressure supply oil source, having a compact structure, small occupied space, strong anti-oil pollution ability, and reducing the pressure loss of the hydraulic circuit. The present invention sets a one-way locking valve group and a one-way balance valve in the hydraulic system circuit, making the actuator move quickly and smoothly, and having good locking performance, and the whole is safer and more reliable.

[0019] The propulsion composite control system and control method of the present invention can realize large-flow commutation of the propulsion hydraulic system, the differential regeneration function of the propulsion cylinder, run quickly and smoothly, improve the performance of the differential fast circuit, and is beneficial to improving the construction efficiency. Moreover, it can realize the locking function of the propulsion cylinder, ensure the anti-falling of the main drive when standby or shut down, and improve the safety performance. In addition, all the control valve group unit components of this hydraulic system are mature and common parts, with a high degree of integration, a compact structure, a simple control logic, and a high safety and reliability; the cost is low, the universality is strong, and it can be popularized and used in the fields of shaft boring machines and raiseboring machines, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0021] Figure 1 It is a schematic diagram of the principle of the propulsion composite control system of the drilling rig when the present invention adopts 2 propulsion cylinders.

[0022] Figure 2 It is a schematic diagram of the principle of the propulsion composite control system of the drilling rig in Embodiment 5 of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0024] Embodiment 1, a composite control system for a drill rig propulsion, includes a large-flow integrated valve group unit 3 and N propulsion cylinders, where N≥2; at least 2 propulsion cylinders are used for the drilling operation of the drill rig propulsion system. Generally, a raise boring machine has at least two cylinders, and the number of propulsion cylinders of some large raise boring machines can reach 3 to 6. One-way locking valve groups are respectively provided between the N propulsion cylinders and the large-flow integrated valve group unit 3; the propulsion cylinders correspond to the one-way locking valve groups one by one, enabling the actuator to move quickly and smoothly, having good locking performance, and being more safe and reliable as a whole. The rodless cavity of the propulsion cylinder is connected to the oil port A of the large-flow integrated valve group unit 3, and the rodless cavity of the propulsion cylinder is connected to the oil port B of the large-flow integrated valve group unit 3; to conduct the oil circulation of the propulsion cylinder. The oil port P of the large-flow integrated valve group unit is connected to the fast confluence supply oil source 1, the oil port LS is connected to the external control oil source 2, the oil port T is connected to the system main return oil 9, and the oil port L is connected to the system main drain oil 10.

[0025] In this embodiment, the large-flow integrated valve group unit 3 includes an electromagnetic directional valve 301, a cartridge logic valve group, and a propulsion regeneration valve group 4. The electromagnetic directional valve 301 can be a three-position four-way electromagnetic directional valve as required. The external oil source is connected to the three-position four-way electromagnetic directional valve and forms a pilot oil circuit with the cartridge logic valve group, and then the main supply oil source directly acts on the cartridge logic valve, which can achieve the purpose of rapid large-flow commutation of the hydraulic system, and the flow application range is further improved. A one-way balance valve 305 is provided between the cartridge logic valve group and the propulsion regeneration valve group 4. The electromagnetic directional valve 301 is connected to the external control oil source 1 and forms a pilot oil circuit with the cartridge logic valve group, and then the main supply oil source directly acts on the cartridge logic valve, which can achieve the purpose of rapid large-flow commutation of the hydraulic system, forming the large-flow commutation module of the present invention. The propulsion regeneration valve group 4 acts on the pipelines where the rod chamber and the rodless chamber of the propulsion cylinder are located and controls the differential action of the propulsion cylinder. The propulsion regeneration valve group 4 is the main component for realizing the differential function of the propulsion cylinder and also forms the differential function module of the present invention. The electromagnetic directional valve of the large-flow integrated valve group unit cooperates with the cartridge logic valve group and the propulsion regeneration valve group, and can realize the functions of large-flow commutation of the propulsion hydraulic system, differential regeneration of the propulsion cylinder, rapid and stable operation, and improve the performance of the differential fast circuit. The present invention integrates the differential function module, the large-flow commutation module and the pressure-holding and locking module together, with a high degree of integration, and can be externally connected to a high-pressure supply oil source, with a compact structure, small occupied space, strong anti-oil pollution ability, and reduced hydraulic circuit pressure loss. By setting a one-way balance valve in the middle of the rodless chamber oil circuit of the propulsion cylinder, the propulsion cylinder can run quickly and smoothly during the retraction action, improving the overall reliability. In order to make the equipment run quickly and smoothly during the drilling operation, the one-way balance valve has a wide-range pressure adjustable function.

[0026] Embodiment 2. A composite control system for a drill rig propulsion. On the basis of Embodiment 1, this embodiment is further optimized. The cartridge logic valve group includes a first cartridge logic valve 302, a second cartridge logic valve 303, and a third cartridge logic valve 304. The port a of the first cartridge logic valve 302 and the port a of the second cartridge logic valve 303 are both connected to the port a of the one-way balance valve 305. The port b of the first cartridge logic valve 302 is connected to the main oil return 9 of the system. The port c of the first cartridge logic valve 302 and the port c of the third cartridge logic valve 304 are both connected to the port A of the electromagnetic directional control valve 301. The port c of the second cartridge logic valve 303 is connected to the port B of the electromagnetic directional control valve 301. The port b of the second cartridge logic valve 303 and the port b of the third cartridge logic valve 304 are both connected to the supply oil source 1. The port a of the third cartridge logic valve 304 is connected to the propulsion regeneration valve group 4. The port P of the electromagnetic directional control valve 301 is connected to the external control oil source 1. The two working ports A and B and one control port of the first cartridge logic valve 302 can be defined as 2a, 2b, and 2c. The two working ports A and B and one control port of the second cartridge logic valve 303 can be defined as 3a, 3b, and 3c. The two working ports A and B and one control port of the third cartridge logic valve 304 can be defined as 4a, 4b, and 4c. It should be noted that in actual work, the on-off state of the two working ports A and B is determined by the oil supply mode of the control port C. If the port C of the cartridge logic valve is connected to the external control oil source 1, the valve port is closed at this time, that is, there is no oil flow between the working ports A and B. If the port C of the cartridge logic valve is connected to the T port of the three-position four-way electromagnetic directional control valve, the valve port is opened at this time, that is, a passage is formed between the working ports A and B.

[0027] The pipeline between the port a of the third cartridge logic valve 304 and the propulsion regeneration valve group 4 is the first pipeline. A first hydraulic damping member 306 is provided on the oil path between the first pipeline and the control port of the one-way balance valve 305. The first hydraulic damping member 306 can adopt a damping hole. The damping hole uses the resistance of liquid flow to achieve shock absorption and speed control. A second pressure sensor 308 is connected to the first pipeline. The second pressure sensor 308 is used to detect the pressure in the rod chamber of the propulsion cylinder. By combining the three-position four-way electromagnetic directional control valve and the three cartridge logic valves, the oil flow capacity is greatly improved, the commutation speed is fast, and the overall integration degree is high.

[0028] In this embodiment, as a preferred solution, the propulsion regeneration valve group 4 includes a shuttle valve 401, a regeneration switch valve 402, and a fourth cartridge logic valve 404. The left comparison oil port of the shuttle valve 401 is respectively connected to the B port of the one-way balance valve 305, the A port of the large-flow integrated valve group unit 3, and the b port of the fourth cartridge logic valve 404; the right comparison oil port of the shuttle valve 401 is respectively connected to the a port of the fourth cartridge logic valve 404, the B port of the large-flow integrated valve group unit 3, and the cartridge logic valve group; the a port of the regeneration switch valve 402 is connected to the middle oil port of the shuttle valve 401, the b port of the regeneration switch valve 402 is connected to the system main drain 10 and the T oil port of the electromagnetic directional valve 301, and the c port of the regeneration switch valve 402 is connected to the c port of the fourth cartridge logic valve 404.

[0029] As a preferred implementation, a second hydraulic damping member 403 is provided between the regeneration switch valve 402 and the fourth cartridge logic valve 404, and the second hydraulic damping member 403 can also adopt a damping orifice. One end of the second hydraulic damping member 403 is connected to the c port of the regeneration switch valve 402, and the other end is connected to the c port of the fourth cartridge logic valve 404. A first pressure sensor 307 is provided on the pipeline connected to the left comparison oil port of the shuttle valve 401, and the first pressure sensor 307 is used to detect the total balance pressure of the rodless cavity of the propulsion cylinder. Through the condition trigger of the propulsion regeneration valve group, the differential function of the propulsion cylinder is realized.

[0030] Embodiment 3, a control method of a drilling rig propulsion composite control system as described in Embodiment 2, the drilling rig propulsion composite control system has N propulsion cylinders, N≥2; the propulsion cylinders perform actions in the following three states: The propulsion cylinder extends differentially, and the main drive of the drilling rig is in the upward lifting state; the specific process is as follows: 1.1. The electromagnetic directional valve 301 is energized in the left position, the first cartridge logic valve 302 and the third cartridge logic valve 304 are closed, the c port of the second cartridge logic valve 303 is connected to the system main drain 10, and the second cartridge logic valve 303 is opened. 1.2. The system high-pressure oil enters the corresponding rodless cavities of the propulsion cylinders through the a port of the second cartridge logic valve 303, the one-way balance valve 305, the A port of the large-flow integrated valve group unit 3, and the one-way locking valve group, causing the cylinders to extend. 1.3. The regeneration switch valve 402 of the propulsion regeneration valve group 4 is energized, its oil ports b and c are connected, and the a port and b port of the fourth cartridge logic valve 404 are connected. At this time, the oil in the rod cavity of the propulsion cylinder passes through the corresponding one-way locking valve group, the B port of the large-flow integrated valve group unit 3, the fourth cartridge logic valve 404 to reach the left comparison oil port of the shuttle valve 401, and finally returns to the rodless cavity of the propulsion cylinder, thereby realizing the differential function of the propulsion cylinder.

[0031] The propulsion cylinder retracts normally, and the main drive of the drilling rig is in the downward propulsion state; the specific process is as follows: 2.1. When the right position of the electromagnetic directional control valve 301 is energized, the first cartridge logic valve 302 and the third cartridge logic valve 304 open, and the second cartridge logic valve 303 closes. 2.2. The regeneration switch valve 402 of the propulsion regeneration function module 4 is de-energized, and its ports a and c are connected, port b is closed and connected to the main drain 10 of the system. At this time, ports a and b of the fourth cartridge logic valve 404 are disconnected, and there is no oil exchange between the rodless cavity and the rod cavity of the propulsion cylinder. 2.3. The high-pressure oil of the system passes through port a of the third cartridge logic valve 304. One way of the oil reaches the control port of the one-way balance valve 305 and opens the one-way balance valve 305. The other way of the oil passes through port B of the large-flow integrated valve group unit 3, the one-way locking valve group and reaches the rod cavity of the corresponding propulsion cylinder. The oil in the rodless cavity of the propulsion cylinder passes through the corresponding one-way locking valve group, port A of the large-flow integrated valve group unit 3, the one-way balance valve 305, and the first cartridge logic valve 302 and then flows back to the main return oil 9 of the system.

[0032] The propulsion cylinder is locked, and the main drive of the drill rig remains in its state; the specific process is as follows: 3.1. The electromagnetic directional control valve 301 is not energized and is in the middle position. The first cartridge logic valve 302, the second cartridge logic valve 303, and the third cartridge logic valve 304 close. 3.2. The regeneration switch valve 402 of the propulsion regeneration function module 4 is de-energized. Ports a and c of the regeneration switch valve 402 are connected, port b is closed and connected to the main drain 10 of the system. At this time, ports a and b of the fourth cartridge logic valve 404 are disconnected, and there is no oil exchange between the rodless cavity and the rod cavity of the propulsion cylinder, realizing the function of locking the propulsion cylinder and keeping it stationary.

[0033] Embodiment 4, a drill rig propulsion composite control system, as Figure 1 shown. In this embodiment, N = 2 is taken as an example, and other structures are the same as those in Embodiment 2. In this embodiment, the two propulsion cylinders are the first propulsion cylinder 6 and the second propulsion cylinder 8 respectively. The one-way locking valve group between the first propulsion cylinder 6 and the large-flow integrated valve group unit 3 is the first one-way locking valve group 5, and the one-way locking valve group between the second propulsion cylinder 8 and the large-flow integrated valve group unit 3 is the second one-way locking valve group 7. The one-way locking valve group corresponds to the propulsion cylinder one by one. Through the one-way locking valve group, the locking and release of the propulsion cylinder can be controlled, and thus the functions of maintaining pressure in the rodless cavity of the propulsion cylinder and preventing leakage when the system is shut down or under maintenance can be realized. The first pressure sensor 307 and the second pressure sensor 308 are respectively arranged at the interfaces MA and MB of the large-flow integrated valve group unit 3; two ports A1\A2 can be correspondingly arranged at port A of the large-flow integrated valve group unit 3, and two ports B1\B2 can be correspondingly arranged at port B of the large-flow integrated valve group unit 3. The oil ports A (A1, A2) are connected to the rodless cavity of the propulsion cylinder after passing through the one-way locking valve group in sequence, and the oil ports B (B1, B2) are connected to the rod cavity of the propulsion cylinder after passing through the one-way locking valve group in sequence.

[0034] Among them, the first one-way locking valve group 5 includes a first pilot-operated check valve 501. The oil inlet of the first pilot-operated check valve 501 is correspondingly connected to the V1 port of the first one-way locking valve group 5. The oil return port of the first pilot-operated check valve 501 is correspondingly connected to the C1 port of the first one-way locking valve group 5. The control oil port of the first pilot-operated check valve 501 is correspondingly connected to the X1 port of the first one-way locking valve group 5. The C1 port of the first one-way locking valve group 5 is connected to the rodless cavity of the first propulsion cylinder 6. The C2 port of the first one-way locking valve group 5 is connected to the rod cavity of the first propulsion cylinder 6. The V2 port of the first one-way locking valve group 5 is connected to the 3B port of the large-flow integrated valve group unit.

[0035] Similarly, the second one-way locking valve group 7 includes a second pilot-operated check valve 701. The oil inlet of the second pilot-operated check valve 701 is correspondingly connected to the V1 port of the second one-way locking valve group 7. The oil return port of the second pilot-operated check valve 701 is correspondingly connected to the C1 port of the second one-way locking valve group 7. The control oil port of the second pilot-operated check valve 701 is correspondingly connected to the X1 port of the second one-way locking valve group 7. The C1 port of the second one-way locking valve group 7 is connected to the rodless cavity of the second propulsion cylinder 8. The C2 port of the second one-way locking valve group 7 is connected to the rod cavity of the second propulsion cylinder 8. The V2 port of the second one-way locking valve group 7 is connected to the 3B port of the large-flow integrated valve group unit.

[0036] Preferably, the X1 port of the first one-way locking valve group 5 and the X1 port of the second one-way locking valve group 7 are both connected to the external control oil source two 11, that is, the X1 and X2 ports of the one-way locking valve group are connected to the external control oil source two 11 to control the locking and release of the propulsion cylinder. A third pressure sensor 502 is provided on the pipeline where the first one-way locking valve group 5 is connected to the rodless cavity of the first propulsion cylinder 6. A fourth pressure sensor 702 is provided on the pipeline where the second one-way locking valve group 7 is connected to the rodless cavity of the second propulsion cylinder 8. The third pressure sensor 502 is used to detect the real-time pressure of the rodless cavity of the first propulsion cylinder. The fourth pressure sensor 702 is used to detect the real-time pressure of the rodless cavity of the second propulsion cylinder. To ensure smooth oil flow, under normal operation, the external control oil source two 11 always provides control oil for the X1 port of the first one-way locking valve group and the X1 port of the second one-way locking valve group 7. When the equipment stops or is under maintenance, the first pilot-operated check valve 501 and the second pilot-operated check valve 701 are closed to prevent oil leakage from the large cavity of the cylinder. The one-way valve has a small opening pressure and little pressure disturbance. The one-way locking valve group is of a cone valve structure or can also be of a ball valve structure. The present invention sets a one-way locking valve group and a one-way balance valve in the hydraulic system loop, making the actuator operate quickly and smoothly, with good locking performance and being more safe and reliable as a whole.

[0037] Example 5, as Figure 2As shown in the figure, for a composite control system for a drill rig propulsion, the large-flow integrated valve block unit 3 is also provided with an oil port M and an oil port N, and the oil port M and the oil port N are externally connected to a high-pressure oil supply source. This solution takes into account the applicability of the hydraulic system under different working conditions of the raise boring machine. Two additional oil ports M and N are provided on the large-flow integrated valve block unit, and both are externally connected to a high-pressure oil supply source, thereby enabling multi-functional high-low pressure switching operation.

[0038] Embodiment 6, a control method for a composite control system for a drill rig propulsion as described in Embodiment 4, the drill rig propulsion composite control system has 2 propulsion cylinders; the 2 propulsion cylinders perform actions in the following three states: The propulsion cylinder extends differentially, and the main drive of the drill rig is in an upward pulling state; the specific process is as follows: 1.1 The solenoid directional valve 301 is energized in the left position, and the control pressures of the first cartridge logic valve 302 and the third cartridge logic valve 304 are the pressures provided by the external control oil source 1, so the valve ports are closed. The 3c port of the second cartridge logic valve 303 is connected to the main drain 10 of the system, and the second cartridge logic valve 303 is opened.

[0039] 1.2 The high-pressure oil of the system enters the rodless chambers of the corresponding propulsion cylinders through the 3a port of the second cartridge logic valve 303, the one-way balance valve 305, the A1 and A2 ports of the large-flow integrated valve block unit 3, the first one-way locking valve group, and the second one-way locking valve group respectively, causing the cylinders to extend; 1.3 The regeneration switch valve 402 of the propulsion regeneration valve group 4 is energized, its oil ports b and c are connected, and the a port is closed. The c port of the fourth cartridge logic valve 404 is connected to the main drain 10 of the system through the damper 403, the c port of the regeneration switch valve 402, and the b port. The a port and the b port of the fourth cartridge logic valve 404 are connected. At this time, the oil in the rod chambers of the first propulsion cylinder and the second propulsion cylinder passes through the corresponding first one-way locking valve group, the second one-way locking valve group, the B1 and B2 ports of the large-flow integrated valve block unit 3, the fourth cartridge logic valve 404, and reaches the left comparison oil port of the shuttle valve 401, and finally returns to the rodless chambers of the propulsion cylinders, thereby realizing the differential function of the propulsion cylinders; The propulsion cylinder retracts normally, and the main drive of the drill rig is in a downward propulsion state; the specific process is as follows: 2.1 The solenoid directional valve 301 is energized in the right position, and the control pressures of the first cartridge logic valve 302 and the third cartridge logic valve 304 are zero, so the valve ports are opened. The 3c port of the second cartridge logic valve 303 is the pressure provided by the external control oil source 1, and the valve port is closed.

[0040] 2.2 The regeneration switch valve 402 of the propulsion regeneration function module 4 is de-energized, and its oil ports a and c are connected, the b port is closed and connected to the main drain 10 of the system. At this time, the a port and the b port of the fourth cartridge logic valve 404 are disconnected, and there is no oil exchange between the rodless chamber and the rod chamber of the propulsion cylinder; no differential action is performed.

[0041] 2.3 The high-pressure oil of the system passes through port a of the third cartridge logic valve 304. One way of the oil reaches the control port of the one-way balance valve 305 and opens the one-way balance valve 305. The other way of the oil passes through ports B1 and B2 of the large-flow integrated valve group unit 3, the first one-way locking valve group, and the second one-way locking valve group to reach the rod chambers of the corresponding propulsion cylinders. The oil in the rodless chambers of the propulsion cylinders passes through the corresponding one-way locking valve groups, port A of the large-flow integrated valve group unit 3, the one-way balance valve 305, and the first cartridge logic valve 302 and then flows back to the main return oil 9 of the system.

[0042] The propulsion cylinders are locked and the main drive of the drill rig maintains its state. The specific process is as follows: 3.1 The electromagnetic directional valve 301 is not energized and is in the middle position. The control pressures of the first cartridge logic valve 302, the second cartridge logic valve 303, and the third cartridge logic valve 304 are all the pressures provided by the external control oil source 2, and the valve ports are closed.

[0043] 3.2 The regeneration switch valve 402 of the propulsion regeneration function module 4 is de-energized. The oil ports a and c of the regeneration switch valve 402 are connected, port b is closed and connected to the main drain oil 10 of the system. At this time, ports a and b of the fourth cartridge logic valve 404 are disconnected, and there is no oil exchange between the rodless chamber and the rod chamber of the propulsion cylinder, realizing the function of locking the propulsion cylinder immobile.

[0044] A drill rig propulsion composite control system and control method of the present invention have simple control logic, low cost, and strong versatility, and can be popularized and used in the fields of shaft boring machines and raise boring machines, etc. It should be noted that, different from the working modes of most hydraulic cylinders, according to the working principle of the raise boring machine, it adopts the method of fixing the piston rod and moving the cylinder barrel. The cylinder barrel is connected to the main drive power head, and the pulling and pressing forces are transmitted through the bearing ring. When the raise boring machine drills the pilot hole downward or lowers the drill tool, the piston rod chamber is filled with oil and the piston chamber returns oil; when drilling the reaming hole upward or lifting the drill tool, the piston chamber is filled with oil and the piston rod chamber returns oil.

[0045] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A drilling rig propulsion composite control system, characterized in that: The invention comprises a large flow integrated valve group unit (3) and N propulsion oil cylinders, N≥2, and one-way locking valve groups are respectively arranged between the N propulsion oil cylinders and the large flow integrated valve group unit (3); the rodless chamber of the propulsion oil cylinder is connected to the oil port A of the large flow integrated valve group unit (3), and the rodless chamber of the propulsion oil cylinder is connected to the oil port B of the large flow integrated valve group unit (3); the large flow integrated valve group unit (3) comprises an electromagnetic reversing valve (301), a plug-in logic valve group and a propulsion regeneration valve group (4); a one-way balancing valve (305) is arranged between the plug-in logic valve group and the propulsion regeneration valve group (4); the electromagnetic reversing valve (301) is connected to an external control oil source (2) and forms a pilot oil circuit with the plug-in logic valve group; the propulsion regeneration valve group (4) acts on the pipeline where the rod chamber and the rodless chamber of the propulsion oil cylinder are located and controls the differential action of the propulsion oil cylinder.

2. The drilling rig propulsion composite control system according to claim 1, characterized in that: N=2, the two propulsion cylinders are respectively a first propulsion cylinder (6) and a second propulsion cylinder (8), the one-way locking valve group between the first propulsion cylinder (6) and the large-flow integrated valve group unit (3) is a first one-way locking valve group (5), and the one-way locking valve group between the second propulsion cylinder (8) and the large-flow integrated valve group unit (3) is a second one-way locking valve group (7).

3. The drilling rig propulsion composite control system according to claim 2, characterized in that: The first one-way locking valve group (5) comprises a first hydraulically controlled one-way valve (501); an oil inlet of the first hydraulically controlled one-way valve (501) is connected to a V1 port of the first one-way locking valve group (5); an oil return port of the first hydraulically controlled one-way valve (501) is connected to a C1 port of the first one-way locking valve group (5); a control oil port of the first hydraulically controlled one-way valve (501) is connected to a X1 port of the first one-way locking valve group (5); the C1 port of the first one-way locking valve group (5) is connected to a rodless chamber of the first propulsion cylinder (6); the C2 port of the first one-way locking valve group (5) is connected to a rod chamber of the first propulsion cylinder (6); and the V2 port of the first one-way locking valve group (5) is connected to a B port of the large-flow integrated valve group unit (3).

4. The drilling rig propulsion composite control system according to claim 3, characterized in that: The second one-way locking valve group (7) comprises a second hydraulically controlled one-way valve (701), the oil inlet of the second hydraulically controlled one-way valve (701) is connected to the V1 port of the second one-way locking valve group (7), the oil return port of the second hydraulically controlled one-way valve (701) is connected to the C1 port of the second one-way locking valve group (7), the control oil port of the second hydraulically controlled one-way valve (701) is connected to the X1 port of the second one-way locking valve group (7), the C1 port of the second one-way locking valve group (7) is connected to the rodless chamber of the second propulsion cylinder (8), and the C2 port of the second one-way locking valve group (7) is connected to the rodless chamber of the second propulsion cylinder (8). The rod chamber of the second propulsion cylinder (8) is connected, and the V2 port of the second one-way locking valve group (7) is connected to the B port of the large-flow integrated valve group unit (3); the X1 port of the first one-way locking valve group (5) and the X1 port of the second one-way locking valve group (7) are both connected to the external control oil source 2 (11), and a third pressure sensor (502) is provided on the pipeline connecting the first one-way locking valve group (5) to the rodless chamber of the first propulsion cylinder (6), and a fourth pressure sensor (702) is provided on the pipeline connecting the second one-way locking valve group (7) to the rodless chamber of the second propulsion cylinder (8).

5. The drilling rig propulsion composite control system according to claim 1, characterized in that: The large-flow integrated valve group unit (3) is also provided with an oil port M and an oil port N, and the oil port M and the oil port N are externally connected to a high-pressure oil supply source.

6. The drilling rig propulsion composite control system according to any one of claims 1 to 5, characterized in that: The plug-in logic valve group comprises a first plug-in logic valve (302), a second plug-in logic valve (303) and a third plug-in logic valve (304); port a of the first plug-in logic valve (302) and port a of the second plug-in logic valve (303) are both connected to port a of the one-way balancing valve (305); port b of the first plug-in logic valve (302) is connected to the main return oil (9) of the system; port c of the first plug-in logic valve (302) and port c of the third plug-in logic valve (304) are connected to the main return oil (9) of the system; ) are both connected to the A port of the electromagnetic reversing valve (301); the C port of the second plug-in logic valve (303) is connected to the B port of the electromagnetic reversing valve (301); the B port of the second plug-in logic valve (303) and the B port of the third plug-in logic valve (304) are both connected to the supply oil source (1); the A port of the third plug-in logic valve (304) is connected to the propulsion regeneration valve group (4); and the P port of the electromagnetic reversing valve (301) is connected to the external control oil source 1 (2).

7. The drilling rig propulsion compound control system according to claim 6, characterized in that: The pipeline between the port a of the third plug-in logic valve (304) and the propulsion regeneration valve group (4) is a first pipeline, and a first hydraulic damping member (306) is provided on the oil circuit between the first pipeline and the control port of the one-way balance valve (305); and a second pressure sensor (308) is connected to the first pipeline.

8. The drilling rig propulsion composite control system according to claim 1 or 7, characterized in that: The propulsion regeneration valve group (4) comprises a shuttle valve (401), a regeneration switch valve (402) and a fourth plug-in logic valve (404); the comparison oil port on the left side of the shuttle valve (401) is respectively connected to the B port of the one-way balance valve (305), the A port of the large flow integrated valve group unit (3) and the b port of the fourth plug-in logic valve (404); the comparison oil port on the right side of the shuttle valve (401) is respectively connected to the a port of the fourth plug-in logic valve (404), the B port of the large flow integrated valve group unit (3) and the plug-in logic valve group; the a port of the regeneration switch valve (402) is connected to the middle oil port of the shuttle valve (401), the b port of the regeneration switch valve (402) is connected to the system main oil drain (10) and the T oil port of the electromagnetic reversing valve (301), and the c port of the regeneration switch valve (402) is connected to the c port of the fourth plug-in logic valve (404).

9. The drilling rig propulsion composite control system according to claim 8, characterized in that: A second hydraulic damping component (403) is provided between the regeneration switch valve (402) and the fourth plug-in logic valve (404); one end of the second hydraulic damping component (403) is connected to the C port of the regeneration switch valve (402), and the other end is connected to the C port of the fourth plug-in logic valve (404); a first pressure sensor (307) is provided on the pipeline connected to the comparison oil port on the left side of the shuttle valve (401).

10. A control method for a drilling rig propulsion composite control system according to any one of claims 1 to 9, characterized in that: The drilling rig propulsion compound control system has N propulsion cylinders, N ≥ 2; the propulsion cylinders perform the following three states of action: The propulsion cylinder is extended differentially, and the main drive of the drilling rig is in the upward pulling state; the specific process is as follows: 1.1 The electromagnetic reversing valve (301) is energized in the left position, the first plug-in logic valve (302) and the third plug-in logic valve (304) are closed, the port C of the second plug-in logic valve (303) is connected to the main oil drain (10) of the system, and the second plug-in logic valve (303) is opened; 1.2 The system high-pressure oil enters the corresponding rodless chamber of the propulsion cylinder through the port a of the second plug-in logic valve (303), the one-way balance valve (305), the port A of the large-flow integrated valve group unit (3), and the one-way locking valve group, causing the cylinder to extend; 1.3 The regeneration switch valve (402) of the propulsion regeneration valve group (4) is energized, and its oil ports b and c are connected, and the ports a and b of the fourth plug-in logic valve (404) are connected. At this time, the oil in the rod chamber of the propulsion oil cylinder passes through the corresponding one-way locking valve group, the port B of the large-flow integrated valve group unit (3), and the fourth plug-in logic valve (404) to reach the left comparison oil port of the shuttle valve (401), and finally returns to the rodless chamber of the propulsion oil cylinder, thereby realizing the differential function of the propulsion oil cylinder; The propulsion cylinder is retracted normally, and the main drive of the drilling rig is in the downward propulsion state; the specific process is as follows: 2.1 The electromagnetic reversing valve (301) is energized in the right position, the first cartridge logic valve (302) and the third cartridge logic valve (304) are opened, and the second cartridge logic valve (303) is closed; 2.2 The regeneration switch valve (402) of the propulsion regeneration function module (4) loses power, the oil ports a and c on it are connected, the port b is closed and connected to the main oil drain (10) of the system, and at this time, the ports a and b of the fourth plug-in logic valve (404) are disconnected, and there is no oil exchange between the rodless chamber and the rod chamber of the propulsion cylinder; 2.3 The system high-pressure oil flows through port a of the third plug-in logic valve (304), one way of oil reaches the control port of the one-way balancing valve (305) and opens the one-way balancing valve (305), and the other way of oil flows through port B of the large-flow integrated valve group unit (3) and the one-way locking valve group to the rod chamber of the corresponding thrust cylinder. The oil in the rodless chamber of the thrust cylinder flows through the corresponding one-way locking valve group, port A of the large-flow integrated valve group unit (3), the one-way balancing valve (305), and the first plug-in logic valve (302) and then flows back to the system main return oil (9); The propulsion cylinder is locked and the main drive of the drilling rig is kept in the state; the specific process is as follows: 3.1 The electromagnetic reversing valve (301) must not be electrically in the middle position, and the first cartridge logic valve (302), the second cartridge logic valve (303) and the third cartridge logic valve (304) must be closed; 3.2 The regeneration switch valve (402) of the propulsion regeneration function module (4) loses power, the oil ports a and c of the regeneration switch valve (402) are connected, the port b is closed and connected to the main oil drain (10) of the system, and at this time, the ports a and b of the fourth plug-in logic valve (404) are disconnected, and there is no oil exchange between the rodless chamber and the rod chamber of the propulsion cylinder, thereby realizing the function of locking the propulsion cylinder.

Images