Electro-hydraulic hybrid drilling system for drilling robot and control method of electro-hydraulic hybrid drilling system

Abstract

A drill rod rotation module comprises a hydraulic motor, a driving motor, a speed reducer and a torque coupler, the hydraulic motor is connected with a first three-position four-way proportional reversing valve and connected with the driving motor through the torque coupler, the torque coupler is connected with the speed reducer, and a second three-position four-way proportional reversing valve is connected with the first three-position four-way proportional reversing valve. A drill rod is arranged on the reducer; the drill rod feeding module comprises a feeding oil cylinder; the feeding oil cylinder is connected with a three-position four-way proportional reversing valve II; the torque coupling output control module comprises a load solver as well as a drilling displacement sensor, a rotary encoder and a pressure sensor which are connected with the load solver; the drilling displacement sensor is connected with the feeding oil cylinder, the rotary encoder is connected with the hydraulic motor, and the drilling process controller is connected with the load solver, the first three-position four-way proportional reversing valve and the second three-position four-way proportional reversing valve. Advantages of different power sources can be complemented, the requirement for precise torque coupling output control is met, and the requirement for drilling stability and the requirement for efficient drilling are met.

Description

Technical Field

[0001] The present invention belongs to the technical field of coal mine drilling robot control, and particularly relates to an electro-hydraulic hybrid drilling system for a drilling robot and a control method thereof. Background Art

[0002] At present, coal mine drilling robots mainly use hydraulic rotary motors to achieve rotary drilling operations. Due to the inherent characteristics of the hydraulic system, when encountering instantaneous torque mutations caused by complex geological conditions, it is difficult for the drilling system to achieve precise torque following control. This dynamic characteristic defect is prone to cause the phenomenon of drill string jamming in the rotary mechanism, resulting in low drilling operation efficiency. Summary of the Invention

[0003] The purpose of the present invention is to provide an electro-hydraulic hybrid drilling system for a drilling robot and a control method thereof, which can realize the complementary advantages of different power sources, enable the drilling robot to respond quickly when torque compensation is required due to drilling jamming, meet the requirements of precise torque coupling output control, and ensure the stability requirements and high-efficiency drilling needs of drilling.

[0004] To achieve the above object, the present invention provides an electro-hydraulic hybrid drilling system for a drilling robot, including a drill pipe rotation module, a drill pipe feeding module, a torque coupling output control module, a three-position four-way proportional reversing valve I, and a three-position four-way proportional reversing valve II;

[0005] The drill pipe rotation module includes a hydraulic motor, a driving motor, a speed reducer, and a torque coupler. The hydraulic motor is connected to the three-position four-way proportional reversing valve I through a circulating hydraulic pipeline I. The hydraulic motor is connected to the driving motor through the torque coupler. The torque coupler is connected to the speed reducer, and a drill pipe is connected to the speed reducer;

[0006] The three-position four-way proportional reversing valve I and the three-position four-way proportional reversing valve II are connected to an oil tank, a driving device, and the hydraulic motor through their respective circulating pipelines;

[0007] The drill pipe feeding module includes a feeding oil cylinder. The feeding oil cylinder is connected to the three-position four-way proportional reversing valve II through a circulating hydraulic pipeline II to provide an axial feeding force for the drill pipe;

[0008] The torque coupling output control module includes a drilling displacement sensor, a rotary encoder, a pressure sensor, a load solver, a drilling process controller, and a motor controller. The drilling displacement sensor, the rotary encoder, and the pressure sensor are all connected to the load solver. Among them, the drilling displacement sensor is connected to the feeding oil cylinder, the pressure sensor monitors the magnitude of the drilling pressure, and the rotary encoder is connected to the hydraulic motor;

[0009] The load solver and the motor controller are both connected to the drilling process controller. Among them, the motor controller is connected to the drive motor, and the drilling process controller is connected to the three-way four-position proportional reversing valve 1 and the three-way four-position proportional reversing valve 2.

[0010] As a further solution of the present invention: Oil pressure sensors are provided on both the oil inlet pipeline and the oil outlet pipeline of the first circulating hydraulic pipeline and the second circulating hydraulic pipeline, and the oil pressure sensors are connected to the pressure sensors.

[0011] As a further solution of the present invention: A flow sensor is provided on the first circulating hydraulic pipeline.

[0012] As a further solution of the present invention: Check valves are provided on both the oil inlet pipeline and the oil outlet pipeline of the second circulating hydraulic pipeline.

[0013] As a further solution of the present invention: The drive device includes a variable pump and a motor connected to the front end of the variable pump.

[0014] As a further solution of the present invention: A relief valve is provided between the fuel tank and the drive device.

[0015] To achieve the above object, the present invention also provides a control method for an electro-hydraulic hybrid drilling system for a drilling robot, which is characterized by including the following steps:

[0016] S1: Start the drilling process controller, and the drilling process controller controls the hydraulic motor to rotate to drive the drill pipe to rotate and work, so that the drilling system enters the working state;

[0017] S2: The load solver receives the signals of the drilling displacement sensor and the pressure sensor, and determines the load state;

[0018] Fracture jamming: The load of the coal and rock changes suddenly, and S3 is executed;

[0019] Settling jamming: The load of the coal and rock increases slowly, and the rotary torque is insufficient, and S4 is executed;

[0020] S3: The drilling process controller controls the three-way four-position proportional reversing valve 1 to be energized and work in the left position, uses the forward rotation action of the hydraulic motor to drive the drill pipe to rotate, and drives the drill pipe to start rotating operation; at the same time, the drilling process controller controls the motor controller to start, so that the drive motor quickly intervenes, and by increasing the output torque of the drive motor, the cooperative output torque of the drive motor and the hydraulic motor is increased, so that the rotary torque increases smoothly, and the load mutation jamming area is successfully passed, and the drilling operation is continued;

[0021] S4: During the drilling process, the controller controls the four-way three-position proportional reversing valve No. 1 to be energized and work in the right position, uses the reverse rotation action of the hydraulic motor to drive the drill pipe to rotate, and drives the drill pipe to withdraw from the drilling operation. At the same time, the controller for the drilling process controls the four-way three-position proportional reversing valve No. 2 to be energized and work in the right position, and the feeding cylinder quickly retracts to the specified position, changing the feeding direction, causing the drill pipe to retreat and rotate idly to remove sediment until the rotation pressure reaches the normal value and then continue drilling. Repeat this process until passing through the load slowly-changing sticking zone smoothly;

[0022] S5: Repeat S2 - S4 until all drilling operations are completed and then end.

[0023] As a further solution of the present invention: The controller for the drilling process adjusts the rotational speed of the drill pipe by controlling the drive motor, and the process is as follows:

[0024] Calculate the output torque of the hydraulic motor where ΔP is the pressure difference between the inlet and outlet of the hydraulic motor, V m is the displacement of the hydraulic motor, η m is the mechanical efficiency of the hydraulic motor;

[0025] Calculate the output torque T of the drive motor h = k t ·I·η h where k t is the torque constant of the drive motor, I is the current, and η h is the efficiency of the drive motor;

[0026] Based on the efficiency MAP diagram, optimize the output ratio of the drive motor and the hydraulic motor Send the control signal to the controller for the drilling process and adjust the rotational speed of the drill pipe according to the properties of the coal and rock.

[0027] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0028] The drilling operation relies on the coordinated control of the hydraulic rotary motor, the drive motor, and the feeding cylinder to achieve the drilling of the coal mine drilling robot. During the drilling process, the coupling torque output between the hydraulic motor and the drive motor can be adjusted according to the changes in the properties of the coal and rock, and combined with the propulsion displacement output of the feeding cylinder to achieve efficient drilling, so as to solve the sticking problem faced due to the instantaneous insufficient output torque during drilling, meet the requirement of stable torque output, ensure the reliable and efficient operation of the coal mine drilling robot, and improve the drilling efficiency of the coal mine drilling robot. Description of the Drawings

[0029] Figure 1 is the schematic diagram of the electro-hydraulic hybrid drilling system for the drilling robot of the present invention;

[0030] Figure 2It is the electro-hydraulic hybrid drilling control flowchart of the electro-hydraulic hybrid drilling system for the drilling robot of the present invention;

[0031] Figure 3 It is the calculation flowchart of the torque coupling output control module of the electro-hydraulic hybrid drilling system for the drilling robot of the present invention.

[0032] In the figure: 1. Three-position four-way proportional direction valve 1, 2. Hydraulic motor, 3. Three-position four-way proportional direction valve 2, 4. Feed cylinder, 5. Drilling displacement sensor, 6. Rotary encoder, 7. Pressure sensor, 8. Load solver, 9. Drilling process controller, 10. Motor controller, 11. Driving motor, 12. Torque coupler, 13. Reducer, 14. Drill pipe, 15. Oil pressure sensor, 16. Check valve, 17. Flow sensor, 18. Variable pump, 19. Electric motor, 20. Relief valve, 21. Oil tank. Specific embodiments

[0033] The present invention will be further described below through embodiments.

[0034] As Figure 1 shown, an electro-hydraulic hybrid drilling system for a drilling robot includes a drill pipe rotation module, a drill pipe feeding module, a torque coupling output control module, a three-position four-way proportional direction valve 1 and a three-position four-way proportional direction valve 2. Different spool positions of the three-position four-way proportional direction valve 1 achieve the rotation action of the drill pipe 14 of the coal mine drilling robot, including forward rotation and reverse rotation; different spool positions of the three-position four-way proportional direction valve 2 achieve the feeding action of the drill pipe 14 of the coal mine drilling robot, including advancing and retracting.

[0035] The drill pipe rotation module includes a hydraulic motor 2, a driving motor 11, a reducer 13 and a torque coupler 12. The hydraulic motor 2 is connected to the three-position four-way proportional direction valve 1 through a circulating hydraulic pipeline 1. The hydraulic motor 2 is connected to the driving motor 11 through the torque coupler 12. The torque coupler 12 is connected to the reducer 13, and the drill pipe 14 is connected to the reducer 13; the hydraulic motor 2 is responsible for providing power and controlling the drilling speed. The driving motor 11 and the hydraulic motor 2 cooperate to output torque, which can improve the drilling output torque.

[0036] Generally, the coal and rock properties in underground coal mines are variable and random. Coal seam fissures may occur, resulting in a sudden drop and then a sudden increase in the drilling load. When the coal and rock load suddenly increases, the driving motor can quickly intervene to achieve rapid compensation of the output torque, so as to solve the problem of sticking caused by insufficient instantaneous drilling output torque.

[0037] Furthermore, a flow sensor 17 is provided on the circulating hydraulic pipeline 1.

[0038] The three-position four-way proportional direction valve 1 and the three-position four-way proportional direction valve 3 are connected to the oil tank 21, the drive device and the hydraulic motor 2 through their respective circulation pipelines.

[0039] Furthermore, the drive device includes a variable pump 18 and a motor 19 connected to the front end of the variable pump 18.

[0040] Furthermore, an overflow valve 20 is provided between the oil tank 21 and the drive device. The overflow valve 20 is used to control the maximum pressure of the entire system.

[0041] The drill pipe feeding module includes a feeding oil cylinder 4. The feeding oil cylinder 4 is connected to the three-position four-way proportional direction valve 3 through the second circulating hydraulic pipeline to provide an axial feeding force for the drill pipe 14. The feeding oil cylinder 4 controls the telescopic arm to extend by telescoping its piston rod length. At the same time, a guide rail for installing a guide slider is provided below the telescopic arm to control the telescopic arm to move linearly along the guide rail so that the telescopic arm can reach the designated drilling position.

[0042] Furthermore, oil pressure sensors 15 are provided on both the inlet pipeline and the outlet pipeline of the first circulating hydraulic pipeline and the second circulating hydraulic pipeline. The oil pressure sensors 15 are connected to the pressure sensor 7.

[0043] When the three-position four-way proportional direction valve 1 and the three-position four-way proportional direction valve 3 are energized and working in the left position, the oil circuit between the P port and the A port is connected, and the oil circuit between the T port and the B port is connected. When de-energized and working in the middle position, the P port, the T port, the A port, and the B port are all blocked. When energized and working in the right position, the oil circuit between the P port and the B port is connected, and the oil circuit between the T port and the A port is connected.

[0044] Furthermore, check valves 16 are provided on both the inlet pipeline and the outlet pipeline of the second circulating hydraulic pipeline to prevent the oil from flowing back in the electro-hydraulic hybrid drilling system of the coal mine drilling robot.

[0045] The torque coupling output control module includes a drilling displacement sensor 5, a rotary encoder 6, a pressure sensor 7, a load solver 8, a drilling process controller 9, and a motor controller 10. The drilling displacement sensor 5, the rotary encoder 6, and the pressure sensor 7 are all connected to the load solver 8. Among them, the drilling displacement sensor 5 is connected to the feeding oil cylinder 4, the pressure sensor 7 monitors the magnitude of the drilling pressure, and the rotary encoder 6 is connected to the hydraulic motor 2. The pressure sensor 7 is used to obtain the magnitude of the drilling pressure during the drilling of different coal and rock, the rotary encoder 6 is used to obtain the rotational speed of the hydraulic motor 2 during the drilling of different coal and rock, and the drilling displacement sensor 5 is used to monitor the drilling displacement during the drilling process. After the above data is processed by the processor, the properties of the drilled coal and rock can be sensed, and the drilling parameters of the coal mine drilling robot can be adjusted accordingly.

[0046] The load solver 8 and the motor controller 10 are both connected to the drilling process controller 9. Among them, the motor controller 10 is connected to the drive motor 11, and the drilling process controller 9 is connected to the three-position four-way proportional reversing valve 1 and the three-position four-way proportional reversing valve 2 3.

[0047] The drilling process controller 9 uses AC asynchronous motor speed regulation technology to adjust the motor output torque, thereby adapting to different coal and rock properties. The load solver 8 classifies the load status according to the collected drilling speed and drilling pressure. The drilling process controller 9 receives the classification results of the load solver 8 and issues different control signals to control the hydraulic motor 2 and the drive motor 11 respectively, realizing the coupled output between the hydraulic motor 2 and the drive motor 11 and completing the drilling operation.

[0048] As Figures 1 to 3 shown, a control method for an electro-hydraulic hybrid drilling system for a drilling robot includes the following steps:

[0049] S1: Start the drilling process controller 9. The drilling process controller 9 controls the hydraulic motor 2 to rotate to drive the drill pipe 14 to rotate and work, so that the drilling system enters the working state;

[0050] S2: The load solver 8 receives the signals of the drilling displacement sensor 5 and the pressure sensor 7 and determines the load status;

[0051] Fracture jamming: The coal and rock load suddenly changes, and S3 is executed;

[0052] Settling jamming: The coal and rock load slowly increases and the rotary torque is insufficient, and S4 is executed;

[0053] S3: The drilling process controller 9 controls the three-position four-way proportional reversing valve 1 to be energized and work in the left position, uses the forward rotation action of the hydraulic motor 2 to drive the drill pipe 14 to rotate, and drives the drill pipe 14 to start rotary operation; at the same time, the drilling process controller 9 controls the motor controller 10 to start, so that the drive motor 11 quickly intervenes;

[0054] Specifically, the coal mine drilling robot calculates the output torque of the drive motor 11 based on the coal and rock hardness coefficient obtained by the torque coupling output control module, using AC asynchronous motor speed regulation technology and T h =k t ·I·η h where k t is the torque constant of the drive motor 11, I is the current, and η h is the efficiency of the drive motor 11, and optimizes the output ratio of the drive motor 11 and the hydraulic motor 2 based on the efficiency MAP diagram where, T h is the output torque of the drive motor 11, T m is the output torque of the hydraulic motor 2, and η mLet η be the mechanical efficiency of the hydraulic motor 2. A control signal is sent to the drilling process controller 9. The drilling process controller 9 controls the motor controller 10 to quickly connect the drive motor 11, increasing the combined output torque of the drive motor 11 and the hydraulic motor 2, smoothly increasing the rotary torque, successfully passing through the stuck drilling area with sudden load changes, and continuing to complete the drilling operation.

[0055] S4: The drilling process controller 9 controls the three-position four-way proportional reversing valve 1 to be energized and work in the right position, using the reverse rotation action of the hydraulic motor 2 to drive the drill pipe 14 to rotate, driving the drill pipe 14 to withdraw from the drilling operation. At the same time, the drilling process controller 9 controls the three-position four-way proportional reversing valve 2 to be energized and work in the right position, and the feed cylinder 4 quickly retracts to the specified position.

[0056] Specifically, the coal and rock hardness coefficient obtained by the torque coupling output control module of the coal mine drilling robot is used. where ΔP is the pressure difference between the inlet and outlet of the hydraulic motor 2, and V m is the displacement of the hydraulic motor 2, and η m is the mechanical efficiency of the hydraulic motor 2. The output torque T of the hydraulic motor is calculated. m ; A control signal is sent to the drilling process controller 9. The drilling process controller 9 controls the working states of the three-position four-way proportional reversing valve 1 and the three-position four-way proportional reversing valve 2, causing the drill pipe 14 to retreat and rotate idly to remove sediment. After the rotary pressure reaches the normal value, drilling continues. This is repeated until the stuck drilling area with slow load changes is successfully passed through.

[0057] S5: Repeat S2 - S4 until all drilling operations are completed and then end.

[0058] With the electro-hydraulic hybrid drilling system of the present invention, through the complementary advantages of different power sources, when the drilling robot encounters a situation of drilling jamming and requires torque compensation, it can respond quickly, meeting the requirements of precise torque coupling output control to ensure the stability requirements of drilling and the high-efficiency drilling needs.

Claims

1. An electro-hydraulic hybrid drilling system for a drilling robot, characterized in that, It includes a drill pipe rotation module, a drill pipe feeding module, a torque coupling output control module, a three-position four-way proportional direction control valve 1 (1) and a three-position four-way proportional direction control valve 2 (3); The drill pipe rotation module includes a hydraulic motor (2), a driving motor (11), a speed reducer (13) and a torque coupler (12). The hydraulic motor (2) is connected to the three-position four-way proportional direction control valve 1 (1) through a circulating hydraulic pipeline 1. The hydraulic motor (2) is connected to the driving motor (11) through the torque coupler (12). The torque coupler (12) is connected to the speed reducer (13), and a drill pipe (14) is connected to the speed reducer (13); The three-position four-way proportional direction control valve 1 (1) and the three-position four-way proportional direction control valve 2 (3) are connected to an oil tank (21), a driving device and the hydraulic motor (2) through their respective circulating pipelines; The drill pipe feeding module includes a feeding oil cylinder (4). The feeding oil cylinder (4) is connected to the three-position four-way proportional direction control valve 2 (3) through a circulating hydraulic pipeline 2 to provide an axial feeding force for the drill pipe (14); The torque coupling output control module includes a drilling displacement sensor (5), a rotary encoder (6), a pressure sensor (7), a load solver (8), a drilling process controller (9), and a motor controller (10). The drilling displacement sensor (5), the rotary encoder (6), and the pressure sensor (7) are all connected to the load solver (8). Among them, the drilling displacement sensor (5) is connected to the feeding oil cylinder (4), the pressure sensor (7) monitors the magnitude of the drilling pressure, and the rotary encoder (6) is connected to the hydraulic motor (2); The load solver (8) and the motor controller (10) are both connected to the drilling process controller (9). Among them, the motor controller (10) is connected to the driving motor (11), and the drilling process controller (9) is connected to the three-position four-way proportional direction control valve 1 (1) and the three-position four-way proportional direction control valve 2 (3).

2. The electro-hydraulic hybrid drilling system for a drilling robot according to claim 1, wherein, Oil pressure sensors (15) are provided on both the inlet pipeline and the outlet pipeline of the circulating hydraulic pipeline 1 and the circulating hydraulic pipeline 2. The oil pressure sensors (15) are connected to the pressure sensor (7); a flow sensor (17) is provided on the circulating hydraulic pipeline 1.

3. The electro-hydraulic hybrid drilling system for a drilling robot according to claim 1, characterized in that, Check valves (16) are provided on both the inlet pipeline and the outlet pipeline of the circulating hydraulic pipeline 2.

4. The electro-hydraulic hybrid drilling system for a drilling robot according to claim 1, characterized in that, The driving device includes a variable pump (18) and a motor (19) connected to the front end of the variable pump (18).

5. The electro-hydraulic hybrid drilling system for a drilling robot according to claim 1, wherein, An overflow valve (20) is provided between the oil tank (21) and the driving device.

6. The control method of an electro-hydraulic hybrid drilling system for a drilling robot according to any one of claims 1-5, characterized in that, It includes the following steps: S1: Start the drilling process controller (9). The drilling process controller (9) controls the hydraulic motor (2) to rotate and drive the drill pipe (14) to rotate and work, so that the drilling system enters the working state; S2: The load solver (8) receives the signals of the drilling displacement sensor (5) and the pressure sensor (7) and determines the load state; Fracture sticking: The load of coal and rock suddenly changes, and execute S3; Settling sticking: The load of coal and rock slowly increases and the rotary torque is insufficient, and execute S4; S3: The drilling process controller (9) controls the three-position four-way proportional reversing valve 1 (1) to be energized and work in the left position, uses the forward rotation action of the hydraulic motor (2) to drive the drill pipe (14) to rotate, and drives the drill pipe (14) to start the rotation operation; at the same time, the drilling process controller (9) controls the motor controller (10) to start, so that the drive motor (11) quickly intervenes, increases the output torque of the drive motor (11), increases the collaborative output torque of the drive motor (11) and the hydraulic motor (2), makes the rotation torque increase smoothly, successfully passes through the load mutation sticking zone, and continues to complete the drilling operation; S4: The drilling process controller (9) controls the three-position four-way proportional reversing valve 1 (1) to be energized and work in the right position, uses the reverse rotation action of the hydraulic motor (2) to drive the drill pipe (14) to rotate, and drives the drill pipe (14) to exit the drilling operation; at the same time, the drilling process controller (9) controls the three-position four-way proportional reversing valve 2 (3) to be energized and work in the right position, and the feed cylinder (4) quickly retracts to the specified position, changes the feed direction, makes the drill pipe (14) retreat and rotate idly, removes sediment, and continues to drill until the rotation pressure reaches the normal value, and repeats this process until it successfully passes through the load slow change sticking zone; S5: Repeat S2 - S4 until all drilling operations are completed and then end.

7. The control method of an electro-hydraulic hybrid drilling system for a drilling robot according to claim 6, characterized in that, The drilling process controller (9) adjusts the rotation speed of the drill pipe (14) by controlling the drive motor (11), and the process is as follows: Calculating the output torque of the hydraulic motor (2) where ΔP is the pressure difference between the inlet and outlet of the hydraulic motor (2), V m is the displacement of the hydraulic motor (2), η m is the mechanical efficiency of the hydraulic motor (2); Calculate the output torque T of the drive motor (11) h = k t · I · η h , where k t is the torque constant of the drive motor (11), I is the current, and η h is the efficiency of the drive motor (11); Optimize the output ratio of the drive motor (11) and the hydraulic motor (2) based on the efficiency MAP graph Send a control signal to the drilling process controller (9) and adjust the rotation speed of the drill pipe (2) according to the coal and rock properties.

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