Electro-hydraulic hybrid drilling system for drilling robot and control method thereof

Abstract

The application discloses a kind of electro-hydraulic hybrid drilling systems for drilling robot, drill rod rotary module includes hydraulic motor, drive motor, reducer and torque coupler, hydraulic motor is connected three-position four-way proportional reversing valve one, hydraulic motor is connected with drive motor by torque coupler, torque coupler is connected with reducer, and there is drill rod on reducer;Drill rod feeding module includes feeding cylinder, and feeding cylinder is connected three-position four-way proportional reversing valve two;Torque coupling output control module includes load solver and the drilling displacement sensor, rotary encoder, pressure sensor connected with it are all;Drilling displacement sensor is connected feeding cylinder, rotary encoder is connected hydraulic motor, drilling process controller is connected load solver and three-position four-way proportional reversing valve one and three-position four-way proportional reversing valve two.The application can realize the advantage of different power sources complementary, meet the requirement of accurate torque coupling output control, to ensure the stability requirement and high efficient drilling demand of drilling.

Description

Technical Field

[0001] This invention belongs to the field of coal mine drilling robot control technology, specifically relating to an electro-hydraulic hybrid drilling system for a drilling robot and its control method. Background Technology

[0002] Currently, coal mine drilling robots mainly use hydraulic rotary motors to achieve rotary drilling operations. Due to the inherent characteristics of hydraulic systems, when encountering complex geological conditions that cause instantaneous torque changes, the drilling system is difficult to achieve precise torque following control. This dynamic characteristic defect can easily cause the rotary mechanism to jam, resulting in low drilling efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide an electro-hydraulic hybrid drilling system and its control method for a drilling robot, which can achieve complementary advantages of different power sources, enabling the drilling robot to respond quickly when drilling jams and torque compensation is required, and meeting the requirements of precise torque coupling output control to ensure the stability and high efficiency of drilling.

[0004] To achieve the above objectives, the present invention provides an electro-hydraulic hybrid drilling system for a drilling robot, comprising a drill rod rotation module, a drill rod feed module, a torque coupling output control module, a three-position four-way proportional directional valve one, and a three-position four-way proportional directional valve two;

[0005] The drill pipe rotation module includes a hydraulic motor, a drive motor, a reducer, and a torque coupler. The hydraulic motor is connected to a three-position four-way proportional directional valve through a circulating hydraulic pipeline. The hydraulic motor is connected to the drive motor through the torque coupler, which is also connected to the reducer. The drill pipe is connected to the reducer.

[0006] Three-position four-way proportional directional valve one and three-position four-way proportional directional valve two are connected to the oil tank, drive unit and hydraulic motor through their respective circulation pipelines;

[0007] The drill pipe feed module includes a feed cylinder, which is connected to a three-position four-way proportional directional valve two through a circulating hydraulic pipeline two to provide axial feed force to 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, rotary encoder, and pressure sensor are all connected to the load solver. The drilling displacement sensor is connected to the feed cylinder, the pressure sensor monitors 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. The motor controller is connected to the drive motor, and the drilling process controller is connected to the three-position four-way proportional directional valve one and the three-position four-way proportional directional valve two.

[0010] As a further aspect of the present invention: oil pressure sensors are provided on the inlet and outlet oil lines of both circulating hydraulic pipeline one and circulating hydraulic pipeline two, and the oil pressure sensors are connected to pressure sensors.

[0011] As a further aspect of the present invention: a flow sensor is provided on one of the circulating hydraulic pipelines.

[0012] As a further aspect of the present invention, a one-way valve is provided on both the inlet and outlet oil lines of the second circulating hydraulic pipeline.

[0013] As a further aspect of the present invention, the driving device includes a variable pump and an electric motor connected to the front end of the variable pump.

[0014] As a further aspect of the present invention, an overflow valve is provided between the oil tank and the drive device.

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

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

[0017] S2: The load solver receives signals from the drilling displacement sensor and pressure sensor and determines the load status.

[0018] Stuck in fracture: Sudden change in coal and rock load, execute S3;

[0019] Sludge stuck in the drill: The coal and rock load is slowly increasing and the rotation torque is insufficient. Execute S4.

[0020] S3: When the drilling process controller energizes the three-position four-way proportional directional valve to operate in the left position, it uses the forward rotation of the hydraulic motor to drive the drill rod to rotate, thus initiating the drill rod rotation operation. At the same time, the drilling process controller starts the motor controller, enabling the drive motor to quickly intervene. By increasing the output torque of the drive motor, the combined output torque of the drive motor and the hydraulic motor is increased, resulting in a smooth increase in rotation torque. This allows the drill to successfully pass through the jammed area due to sudden load changes and continue drilling operations.

[0021] S4: The drilling process controller energizes the three-position four-way proportional directional valve one to operate in the right position, using the reverse rotation of the hydraulic motor to drive the drill rod to rotate, thus pulling the drill rod out of the drilling operation; at the same time, the drilling process controller energizes the three-position four-way proportional directional valve two to operate in the right position, the feed cylinder quickly returns to the designated position, changes the feed direction, causes the drill rod to retract and idle, removes slag, and continues drilling after the rotation pressure reaches the normal value. This process is repeated until the drill rod successfully passes through the load-gradient stuck zone.

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

[0023] As a further aspect of the present invention: the drilling process controller adjusts the drill rod speed by controlling the drive motor, 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, and V m For the displacement of the hydraulic motor, η m For 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 Let I be the torque constant of the drive motor, and η be the current. h To improve 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. The control signal is sent to the drilling process controller to adjust the drill rod speed according to the coal and rock properties.

[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 a hydraulic rotary motor, a drive motor, and a feed cylinder to achieve drilling by the coal mine drilling robot. During drilling, the coupled torque output between the hydraulic motor and the drive motor can be adjusted according to changes in the coal and rock properties. Combined with the propulsion displacement output of the feed cylinder, efficient drilling is achieved, solving the problem of stuck drill bit caused by insufficient instantaneous drilling output torque, meeting the requirements for stable torque output, ensuring the reliable and efficient operation of the coal mine drilling robot, and improving the drilling efficiency of the coal mine drilling robot. Attached Figure Description

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

[0030] Figure 2This is a flowchart of the electro-hydraulic hybrid drilling control process of the electro-hydraulic hybrid drilling system for the drilling robot of the present invention.

[0031] Figure 3 This is a flowchart illustrating the calculation 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 diagram: 1. Three-position four-way proportional directional valve one; 2. Hydraulic motor; 3. Three-position four-way proportional directional valve two; 4. Feed cylinder; 5. Drilling displacement sensor; 6. Rotary encoder; 7. Pressure sensor; 8. Load solver; 9. Drilling process controller; 10. Motor controller; 11. Drive 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. Detailed Implementation

[0033] The present invention will be further illustrated by the following examples.

[0034] like Figure 1 As shown, an electro-hydraulic hybrid drilling system for a drilling robot includes a drill rod rotation module, a drill rod feed module, a torque coupling output control module, a three-position four-way proportional directional valve 1, and a three-position four-way proportional directional valve 3. Different valve core positions of the three-position four-way proportional directional valve 1 enable the rotation of the drill rod 14 of the coal mine drilling robot, including forward and reverse rotation; different valve core positions of the three-position four-way proportional directional valve 3 enable the feed of the drill rod 14 of the coal mine drilling robot, including advancing and retracting.

[0035] The drill pipe rotation module includes a hydraulic motor 2, a drive motor 11, a reducer 13, and a torque coupler 12. The hydraulic motor 2 is connected to a three-position four-way proportional directional valve 1 through a circulating hydraulic pipeline. The hydraulic motor 2 is connected to the drive motor 11 through the torque coupler 12, and the torque coupler 12 is connected to the reducer 13. 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 drive motor 11 and the hydraulic motor 2 work together to output torque, which can improve the drilling output torque.

[0036] Typically, the properties of coal and rock in underground coal mines are highly variable and random, and coal seam fractures may occur, causing sudden drops and then surges in drilling load. When a sudden surge in coal and rock load occurs, the drive motor can quickly intervene to achieve rapid compensation of output torque, thereby solving the problem of stuck drill bit caused by momentary insufficient drilling output torque.

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

[0038] Three-position four-way proportional directional valve 1 and three-position four-way proportional directional valve 2 are connected to oil tank 21, drive device and hydraulic motor 2 through their respective circulation pipelines;

[0039] Furthermore, the drive unit includes a variable pump 18 and an electric 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 unit. The overflow valve 20 is used to control the maximum pressure of the entire system.

[0041] The drill pipe feeding module includes a feeding cylinder 4, which is connected to a three-position four-way proportional directional valve 3 via a circulating hydraulic pipeline 2 to provide axial feeding force to the drill pipe 14. The feeding cylinder 4 controls the extension of the telescopic arm by extending and retracting the length of its piston rod. At the same time, a guide rail with a guide slider is installed below the telescopic arm to control the telescopic arm to move linearly along the guide rail, so that the telescopic arm can reach the specified drilling position.

[0042] Furthermore, oil pressure sensors 15 are installed on the inlet and outlet oil lines of both circulating hydraulic lines one and two, and the oil pressure sensors 15 are connected to the pressure sensor 7.

[0043] When the three-position four-way proportional directional valve 1 and the three-position four-way proportional directional valve 2 are energized and operating in the left position, the oil circuit between port P and port A is connected, and the oil circuit between port T and port B is connected. When de-energized and operating in the middle position, ports P, T, A, and B are all closed. When energized and operating in the right position, the oil circuit between port P and port B is connected, and the oil circuit between port T and port A is connected.

[0044] Furthermore, one-way valves 16 are installed on both the inlet and outlet oil lines of the second circulating hydraulic pipeline to prevent backflow of oil 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, rotary encoder 6, and pressure sensor 7 are all connected to the load solver 8. Specifically, the drilling displacement sensor 5 is connected to the feed cylinder 4, the pressure sensor 7 monitors the drilling pressure, and the rotary encoder 6 is connected to the hydraulic motor 2. The pressure sensor 7 is used to obtain the drilling pressure during drilling into different coal and rock conditions, the rotary encoder 6 is used to obtain the rotational speed of the hydraulic motor 2 during drilling into different coal and rock conditions, and the drilling displacement sensor 5 is used to monitor the drilling displacement during the drilling process. After processing by the processor, the properties of the drilled coal and rock can be perceived, thereby adjusting the drilling parameters of the coal mine drilling robot.

[0046] The load solver 8 and the motor controller 10 are both connected to the drilling process controller 9. 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 directional valve 1 and the three-position four-way proportional directional valve 2 3.

[0047] The drilling process controller 9 utilizes AC asynchronous motor speed control technology to adjust the motor output torque, thereby adapting to different coal and rock properties. The load solver 8 classifies the load state based on the collected drilling speed and drilling pressure. Upon receiving the classification results from the load solver 8, the drilling process controller 9 sends different control signals to control the hydraulic motor 2 and the drive motor 11, achieving coupled output between the hydraulic motor 2 and the drive motor 11 to complete the drilling operation.

[0048] like Figures 1 to 3 As 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 and drive the drill rod 14 to rotate, so that the drilling system enters the working state.

[0050] S2: Load solver 8 receives signals from drilling displacement sensor 5 and pressure sensor 7 and performs load status determination.

[0051] Stuck in fracture: Sudden change in coal and rock load, execute S3;

[0052] Sludge stuck in the drill: The coal and rock load is slowly increasing and the rotation torque is insufficient. Execute S4.

[0053] S3: The drilling process controller 9 controls the three-position four-way proportional directional valve 1 to be energized and operate in the left position. The forward rotation of the hydraulic motor 2 drives the drill rod 14 to rotate, causing the drill rod 14 to start rotating. At the same time, the drilling process controller 9 controls the motor controller 10 to start, so that the drive motor 11 can quickly intervene.

[0054] Specifically, the coal mine drilling robot, based on the coal and rock hardness coefficient obtained by the torque coupling output control module, utilizes AC asynchronous motor speed regulation technology and T... h =k t ·I·η h , where k t Let I be the torque constant of the drive motor, and η be the current. h To optimize the efficiency of drive motor 11, the output torque of drive motor 11 was calculated; and based on the efficiency MAP, the output ratio between drive motor 11 and hydraulic motor 2 was optimized. Among them, T h T is the output torque of the drive motor 11. m η is the output torque of hydraulic motor 2. mTo improve 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 engage the drive motor 11, increasing the combined output torque of the drive motor 11 and the hydraulic motor 2. This allows the rotational torque to increase smoothly, successfully passing through the jammed drilling zone caused by sudden load changes, and continuing to complete the drilling operation.

[0055] S4: The drilling process controller 9 controls the three-position four-way proportional directional valve 1 to be energized and operate in the right position. The reverse rotation of the hydraulic motor 2 drives the drill rod 14 to rotate, thereby driving the drill rod 14 to exit the drilling operation. At the same time, the drilling process controller 9 controls the three-position four-way proportional directional valve 3 to be energized and operate in the right position, and the feed cylinder 4 quickly returns to the designated 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 hydraulic motor 2, and V m For hydraulic motors with a displacement of 2, η m The mechanical efficiency of hydraulic motor 2 is used to calculate the output torque T of the hydraulic motor. m The control signal is sent to the drilling process controller 9. The drilling process controller 9 controls the working state of the three-position four-way proportional directional valve 1 and the three-position four-way proportional directional valve 2 to make the drill rod 14 retract and idle to remove sediment. Drilling continues until the rotation pressure reaches the normal value. This process is repeated until the drill rod successfully passes through the load-gradient stuck zone.

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

[0058] This invention uses an electro-hydraulic hybrid drilling system, which leverages the complementary advantages of different power sources to enable the drilling robot to respond quickly when it encounters drilling jams and requires torque compensation. This meets the requirements for precise torque coupling output control, thereby ensuring the stability and high efficiency of drilling.

Claims

1. An electro-hydraulic hybrid drilling system for a drilling robot, characterized by, The drill pipe rotary module, the drill pipe feeding module, the torque coupling output control module, the three-position four-way proportional reversing valve one (1) and the three-position four-way proportional reversing valve two (3); The drill pipe rotary module comprises a hydraulic motor (2), a driving motor (11), a reducer (13) and a torque coupler (12), the hydraulic motor (2) is connected with the three-position four-way proportional reversing valve one (1) through a circulating hydraulic pipeline one, the hydraulic motor (2) is connected with the driving motor (11) through the torque coupler (12), the torque coupler (12) is connected with the reducer (13), and the reducer (13) is connected with the drill pipe (14); The three-position four-way proportional reversing valve one (1) and the three-position four-way proportional reversing valve two (3) are connected with the oil tank (21), the driving device and the hydraulic motor (2) through respective circulating pipelines; The drill pipe feeding module comprises a feeding oil cylinder (4), the feeding oil cylinder (4) is connected with the three-position four-way proportional reversing valve two (3) through a circulating hydraulic pipeline two, and axial feeding force is provided for the drill pipe (14); The torque coupling output control module comprises 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 connected with the load solver (8), wherein the drilling displacement sensor (5) is connected with the feeding oil cylinder (4), the pressure sensor (7) monitors the drilling pressure, and the rotary encoder (6) is connected with the hydraulic motor (2); The load solver (8) and the motor controller (10) are connected with the drilling process controller (9), wherein the motor controller (10) is connected with the driving motor (11), and the drilling process controller (9) is connected with the three-position four-way proportional reversing valve one (1) and the three-position four-way proportional reversing valve two (3); Oil pressure sensors (15) are arranged on the oil inlet pipelines and the oil outlet pipelines of the circulating hydraulic pipeline one and the circulating hydraulic pipeline two, and the oil pressure sensors (15) are connected with the pressure sensor (7); a flow sensor (17) is arranged on the circulating hydraulic pipeline one; Unidirectional valves (16) are arranged on the oil inlet pipelines and the oil outlet pipelines of the circulating hydraulic pipeline two; The driving device comprises a variable pump (18) and a motor (19) connected to the front end of the variable pump (18); An overflow valve (20) is arranged between the oil tank (21) and the driving device.

2. The control method of the electro-hydraulic hybrid drilling system for a drilling robot according to claim 1, characterized in that, The method comprises the following steps: S1: starting 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, so that the drilling system enters a working state; S2: the load solver (8) receives signals of the drilling displacement sensor (5) and the pressure sensor (7), and performs load state determination; Fracture sticking: coal rock load mutation, S3 is executed; Sediment sticking: coal rock load slowly increases, and the rotary torque is insufficient, S4 is executed; S3: The drilling process controller (9) controls the three-position four-way proportional reversing valve one (1) to work in the left position, and drives the drill pipe (14) to rotate by the forward rotation of the hydraulic motor (2), and drives the drill pipe (14) to start the rotary operation; at the same time, the drilling process controller (9) controls the motor controller (10) to start, so that the driving motor (11) is quickly involved, the output torque of the driving motor (11) is increased, the output torque of the driving motor (11) and the hydraulic motor (2) is increased, the rotary torque is increased smoothly, the stuck drill pipe area with sudden load change is passed smoothly, and the drilling operation is continued; S4: The drilling process controller (9) controls the three-position four-way proportional reversing valve one (1) to work in the right position, and drives the drill pipe (14) to rotate by the reverse rotation of the hydraulic motor (2), 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 two (3) to work in the right position, and quickly retreats the oil inlet cylinder (4) to the specified position, changes the feeding direction, so that the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, and the drill pipe (14) retreats and idles, ​ 3. The control method of the electro-hydraulic hybrid drilling system for a drilling robot according to claim 2, characterized in that, ​ calculating the output torque of the hydraulic motor (2) wherein is the differential pressure of the hydraulic motor (2) inlet and outlet, is the displacement of the hydraulic motor (2), is the mechanical efficiency of the hydraulic motor (2); Computing a drive motor (11) output torque wherein is a drive motor (11) torque constant, is a current, is a drive motor (11) efficiency; ​

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