Automatic centering control system and method for vehicle-mounted drilling rig power head and catwalk

Abstract

The invention provides a vehicle-mounted drilling rig power head and catwalk automatic centering control system and method, and belongs to the field of vehicle-mounted drilling rigs. The system comprises a top drive height adjusting unit, a power head tilting angle adjusting unit, a top drive height measuring piece, a power head tilting angle measuring piece and a controller. The controller is connected with the top drive height adjusting unit and the power head tilting angle adjusting unit, and the controller is in signal connection with the top drive height measuring piece and the power head tilting angle measuring piece. On one hand, the top drive height and the power head tilting angle are adjusted in real time by arranging the top drive height adjusting unit and the power head tilting angle adjusting unit, and on the other hand, the actual top drive height and the actual power head tilting angle are fed back in real time by arranging the top drive height measuring piece and the power head tilting angle measuring piece. The two aspects are matched with each other to adjust the power head to be in a catwalk centering state, namely automatic centering of the power head and the catwalk is achieved.

Description

Technical Field

[0001] The present invention relates to a control system and method for automatic centering of a power head and a catwalk of a vehicle-mounted drilling rig, and belongs to the field of vehicle-mounted drilling rigs. Background Art

[0002] Drilling rigs, such as vehicle-mounted drilling rigs, as the main equipment for underground accident rescue, are increasingly widely used. They mainly rely on the rotation and feeding of the power head to perform drilling operations, and cooperate with the power catwalk to connect drill pipes. Since rescue drilling rigs need to race against time, the requirements for the time of connecting drill pipes are more rapid and accurate. At present, the vast majority of domestic drilling rigs cannot achieve automatic centering of the power head and the power catwalk, but adopt manual connection of drill pipes. However, the combination of multiple actions is prone to incoordination, and the action response speed is relatively slow, which cannot meet the requirements of efficient construction. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art, and provide a control system and method for automatic centering of a power head and a catwalk of a vehicle-mounted drilling rig, which solves the problem that the power head and the power catwalk cannot achieve automatic centering.

[0004] To achieve the above purpose, the present invention is implemented by the following technical solutions:

[0005] In a first aspect, the present invention provides a control system for automatic centering of a power head and a catwalk of a vehicle-mounted drilling rig, including: a top drive height adjustment unit, a power head tilting angle adjustment unit, a top drive height measuring component, a power head tilting angle measuring component, and a controller.

[0006] The controller is connected to the top drive height adjustment unit and the power head tilting angle adjustment unit for controlling, and is used to adjust the top drive height and the power head tilting angle; the controller is connected to the top drive height measuring component and the power head tilting angle measuring component for signal connection, and is used to obtain the top drive height and the power head tilting angle.

[0007] Further, the top drive height adjustment unit includes: a top drive adjustment oil cylinder, a first electro-hydraulic proportional valve group, and a first load-sensitive valve group; both the first electro-hydraulic proportional valve group and the first load-sensitive valve group are connected to the top drive adjustment oil cylinder; the power head tilting angle adjustment unit includes: a power head adjustment oil cylinder, a second electro-hydraulic proportional valve group, and a second load-sensitive valve group; both the second electro-hydraulic proportional valve group and the second load-sensitive valve group are connected to the power head adjustment oil cylinder; the first load-sensitive valve group and the second load-sensitive valve group include micro motion valve cores, which are used for precise adjustment of the top drive height and the power head tilting angle; the first electro-hydraulic proportional valve group, the first load-sensitive valve group, the second electro-hydraulic proportional valve group, and the second load-sensitive valve group are respectively connected to the controller.

[0008] Further, the top drive height adjustment unit further includes: a top drive adjustment handle; the micro-moving spool in the first load-sensitive valve group is also opened according to the signal ratio of the top drive adjustment handle; the power head tilting angle adjustment unit further includes: a power head adjustment handle; the micro-moving spool in the second load-sensitive valve group is also opened according to the signal ratio of the power head adjustment handle.

[0009] Further, the first electro-hydraulic proportional valve group includes: a top drive rising electro-hydraulic proportional valve and a top drive falling electro-hydraulic proportional valve; the first load-sensitive valve group includes: a top drive rising load-sensitive valve and a top drive falling load-sensitive valve; the top drive rising electro-hydraulic proportional valve and the top drive rising load-sensitive valve are jointly connected to the rod chamber of the top drive adjustment oil cylinder; the top drive falling electro-hydraulic proportional valve and the top drive falling load-sensitive valve are jointly connected to the rodless chamber of the top drive adjustment oil cylinder.

[0010] Further, the second electro-hydraulic proportional valve group includes: a power head tilting electro-hydraulic proportional valve and a power head falling electro-hydraulic proportional valve; the second load-sensitive valve group includes: a power head tilting load-sensitive valve and a power head falling load-sensitive valve; the power head tilting electro-hydraulic proportional valve and the power head tilting load-sensitive valve are jointly connected to the rod chamber of the power head adjustment oil cylinder; the power head falling electro-hydraulic proportional valve and the power head falling load-sensitive valve are jointly connected to the rodless chamber of the power head adjustment oil cylinder.

[0011] Further, it further includes: a catwalk adjustment oil cylinder, a third load-sensitive valve group, and a catwalk displacement sensor;

[0012] The third load-sensitive valve group includes: a catwalk rising load-sensitive valve and a catwalk falling load-sensitive valve, and the catwalk rising load-sensitive valve and the catwalk falling load-sensitive valve are respectively connected to the rod chamber and the rodless chamber of the catwalk adjustment oil cylinder;

[0013] The catwalk displacement sensor is used to monitor the real-time height of the catwalk;

[0014] The catwalk rising load-sensitive valve, the catwalk falling load-sensitive valve, and the catwalk displacement sensor are respectively connected to the controller.

[0015] In a second aspect, the present invention provides an on-vehicle drill rig power head and catwalk automatic centering control method based on the control system described in the first aspect, including: when the catwalk height remains unchanged,

[0016] S1: Obtain the top drive target height and the power head target tilting angle ;

[0017] S2: Control the top drive height adjustment unit and the power head tilting angle adjustment unit to be opened, and adjust the top drive height and the power head tilting angle;

[0018] S3: Read the readings of the top drive height measuring component and the power head tilting angle measuring component in real time to obtain the actual height of the top drive and the actual tilting angle of the power head , and calculate the first difference and the second difference . The calculation formula is: ; ;

[0019] S4: Compare the first difference with the preset first target difference and the second difference with the preset second target difference in terms of magnitude:

[0020] In response to and , the automatic centering of the power head and the catwalk is completed, and the current top drive height and power head tilting angle are maintained; otherwise, continue to adjust the top drive height and power head tilting angle, and return to S3.

[0021] Furthermore, the S1 includes: By adjusting and operating the top drive adjustment handle and the power head adjustment handle in cooperation, the power head is adjusted to be centered with the current catwalk height; Read the readings of the top drive height measuring component and the power head tilting angle measuring component when the power head is centered with the catwalk, and record them as the top drive target height and the power head target tilting angle respectively.

[0022] Furthermore, the adjustment of the top drive height and the power head tilting angle includes:

[0023] In response to being greater than the preset first switching difference, start the first electro-hydraulic proportional valve group to roughly adjust the top drive height;

[0024] In response to not being greater than the first switching difference, start the first load-sensitive valve group to precisely adjust the top drive height;

[0025] In response to being greater than the preset second switching difference, start the second electro-hydraulic proportional valve group to roughly adjust the power head tilting angle;

[0026] In response to not being greater than the second switching difference, start the second load-sensitive valve group to precisely adjust the power head tilting angle.

[0027] Furthermore, the first target difference is 0.2 cm, and the first switching difference is 2 cm; and / or, the second target difference is 0.1°, and the second switching difference is 1°.

[0028] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0029] (1) The top drive height adjustment unit and the power head tilting angle adjustment unit are provided in the on-vehicle drill rig power head and catwalk automatic centering control system provided by the present invention. The top drive height and the power head tilting angle can be adjusted in real time under the control of the controller. The top drive height measuring part and the power head tilting angle measuring part are also provided, which can measure the actual height of the top drive and the actual tilting angle of the power head in real time. As long as a centering condition for the power head and the catwalk is preset, the top drive height and the power head tilting angle can be adjusted while the actual height of the top drive and the actual tilting angle of the power head are fed back through the top drive height measuring part and the power head tilting angle measuring part until the centering condition for the power head and the catwalk is met, realizing the automatic centering of the power head and the catwalk.

[0030] (2) Both the top drive adjustment oil cylinder in the top drive height adjustment unit and the power head adjustment oil cylinder in the power head tilting angle adjustment unit provided by the present invention are provided with two-way oil supply. One way is controlled by an electro-hydraulic proportional valve for rough adjustment, and the other way is controlled by a load-sensitive valve with a micro motion spool for precise adjustment. Through the combination of rough adjustment and precise adjustment, the height and angle of the power head can be adjusted quickly and accurately to make it centered with the catwalk.

[0031] (3) The on-vehicle drill rig power head and catwalk automatic centering control method provided by the present invention obtains the top drive target height and the power head target tilting angle for the power head to be centered with the stable catwalk in the current construction scenario through pre-manual control to achieve centering. Then, during the operation of the drill rig, the catwalk height is maintained stable, and the height and angle of the power head are gradually adjusted roughly and precisely to make it approach the top drive target height and the power head target tilting angle, reproducing the centering state during pre-centering, that is, completing the automatic centering of the power head and the catwalk. This method changes the original electro-hydraulic control method, making the automatic centering of the power head and the catwalk controllable and improving the action response speed and working efficiency of the drill rig. Description of the Drawings

[0032] Figure 1 is a schematic diagram of the hydraulic control principle of the top drive height adjustment unit and the power head tilting angle adjustment unit in the present invention;

[0033] Figure 2 is a schematic diagram of the hydraulic control principle of the catwalk height adjustment unit in the present invention;

[0034] Figure 3 is a schematic diagram of the electrical control principle in the present invention;

[0035] Figure 4 is a schematic diagram of the mechanical structure of the top drive in the present invention;

[0036] Figure 5 It is a schematic diagram of the mechanical structure of the power head in the present invention;

[0037] Figure 6 It is a schematic diagram of the mechanical structure of the catwalk in the present invention;

[0038] In the figure:

[0039] 1 - hydraulic oil tank; 2 - main engine load sensing pump; 3 - second load sensing valve group; 4 - power head adjustment cylinder; 5 - second electro-hydraulic proportional valve group; 6 - first electro-hydraulic proportional valve group; 7 - second load sensing valve group; 8 - top drive adjustment cylinder; 9 - catwalk load sensing pump; 10 - third load sensing valve group; 11 - catwalk adjustment cylinder; 12 - centering opening button; 13 - top drive adjustment handle; 14 - power head adjustment handle; 15 - catwalk adjustment handle; 16 - power head tilting angle encoder; 17 - top drive height wire encoder; 18 - controller; 19 - catwalk displacement sensor; 20 - power head tilting load sensing valve; 21 - power head lowering load sensing valve; 22 - power head tilting electro-hydraulic proportional valve; 23 - power head lowering electro-hydraulic proportional valve; 24 - micro-moving spool of top drive rising load sensing valve; 25 - top drive lowering load sensing valve; 26 - top drive rising electro-hydraulic proportional valve; 27 - top drive lowering electro-hydraulic proportional valve; 28 - catwalk rising load sensing valve; 29 - catwalk lowering load sensing valve; 30 - drill rig; 31 - top drive; 32 - power head; 33 - catwalk; 34 - micro-moving spool. Detailed implementation manners

[0040] The terms "first", "second", "third", "fourth", etc. (if any) in the description, claims and above-mentioned drawings of this application are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices. The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments.

[0041] Embodiment 1

[0042] This embodiment provides an automatic centering control system for the power head and the catwalk of a vehicle-mounted drilling rig, including: a top drive height adjustment unit, a power head tilting angle adjustment unit, a top drive height measuring component, a power head tilting angle measuring component, and a controller 18.

[0043] Reference Figures 4 - 6 , the application scenarios of the present invention include: a drill mast 30, a top drive 31, a power head 32, and a catwalk 33. The power head 32 is installed on the top drive 31, and the top drive 31 is installed on the slideway of the drill mast 30. The top drive 31 can move up and down according to the extension and retraction of the top drive adjusting oil cylinder 8. The catwalk 33 is aligned with the power head 32 in the vertical direction.

[0044] In this embodiment, the controller 18 is control-connected to the top drive height adjustment unit and the power head tilting angle adjustment unit for adjusting the height of the top drive 31 and the tilting angle of the power head 32; the controller 18 is signal-connected to the top drive height measuring component and the power head tilting angle measuring component for obtaining the actual height of the top drive 31 and the actual tilting angle of the power head 32.

[0045] In some specific embodiments, the top drive height measuring component adopts a top drive height wire rope encoder 17, which is installed on the drill mast 30 and can detect the height of the top drive 31 according to the extension and retraction of the top drive adjusting oil cylinder 8 and send it to the controller 18. At the same time, the power head tilting angle measuring component adopts a power head tilting angle encoder 16, which is installed on the tilting shaft of the power head 32 and can obtain the encoder change value by detecting the tilting action of the power head 32 and send it to the controller 18.

[0046] As is well known, wire rope encoders are an important part of the load monitoring system of construction machinery. They can accurately determine the positions of the brackets and telescopic arms and help measure the lifting height of the goods.

[0047] Reference Figure 3 , in some specific embodiments, the system further includes: a centering start button 12, which serves as a trigger device for the controller 18 to perform automatic centering. When the centering start button 12 is turned on, the controller 18 starts to control the automatic centering of the power head 32 and the catwalk 33.

[0048] During the actual centering process of the power head 32 and the catwalk 33, after the centering start button 12 is turned on, the controller 18 adjusts the height of the top drive 31 and the tilting angle of the power head 32 on the one hand, and on the other hand, feeds back the actual height of the top drive 31 and the actual tilting angle of the power head 32 through the top drive height wire rope encoder 17 and the power head tilting angle encoder 16 until the automatic centering of the power head 32 and the catwalk 33 is achieved.

[0049] Embodiment 2

[0050] Based on Embodiment 1, this embodiment provides a control system capable of performing coarse adjustment and precise adjustment on the height of the top drive 31 and the tilting angle of the power head 32.

[0051] Refer to Figure 1 , in this embodiment, the top drive height adjustment unit includes: a top drive adjustment oil cylinder 8, a first electro-hydraulic proportional valve group 6, and a first load-sensitive valve group 7; and the power head tilting angle adjustment unit includes: a power head adjustment oil cylinder 4, a second electro-hydraulic proportional valve group 5, and a second load-sensitive valve group 3.

[0052] Specifically, both the first electro-hydraulic proportional valve group 6 and the first load-sensitive valve group 7 are connected to the top drive adjustment oil cylinder 8; both the second electro-hydraulic proportional valve group 5 and the second load-sensitive valve group 3 are connected to the power head adjustment oil cylinder 4.

[0053] In some specific embodiments, the first load-sensitive valve group 7 and the second load-sensitive valve group 3 are supplied with oil by the main engine load-sensitive pump 2. The A port of the main engine load-sensitive pump 2 is connected to the P port of the second load-sensitive valve group 3, the P port of the second electro-hydraulic proportional valve group 5, the P port of the first electro-hydraulic proportional valve group 6, and the P port of the first load-sensitive valve group 7 through hydraulic pipelines, and then returns to the hydraulic oil tank 1 from the T port of the second load-sensitive valve group 3, the T port of the second electro-hydraulic proportional valve group 5, the T port of the first electro-hydraulic proportional valve group 6, and the T port of the first load-sensitive valve group 7.

[0054] It should be noted that both the first load-sensitive valve group 7 and the second load-sensitive valve group 3 adopt a load-sensitive system, and the valve output flow is proportional to the spool opening and is not affected by the load pressure fluctuation. The micro-motion spool 34 therein can achieve micro-motion to precisely adjust the height of the top drive 31 and the tilting angle of the power head 32.

[0055] Necessarily, the first electro-hydraulic proportional valve group 6, the first load-sensitive valve group 7, the second electro-hydraulic proportional valve group 5, and the second load-sensitive valve group 3 are all controlled to open by the controller 18.

[0056] In some more specific embodiments, the first electro-hydraulic proportional valve group 6 includes: a top drive rising electro-hydraulic proportional valve 26 and a top drive falling electro-hydraulic proportional valve 27; and the first load-sensitive valve group 7 includes: a top drive rising load-sensitive valve 24 and a top drive falling load-sensitive valve 25.

[0057] Since both the first electro-hydraulic proportional valve group 6 and the first load-sensitive valve group 7 are used to supply oil to the top drive adjustment oil cylinder 8, therefore, the top drive rising electro-hydraulic proportional valve 26 and the top drive rising load-sensitive valve 24 are jointly connected to the rodless cavity of the top drive adjustment oil cylinder 8; and the top drive falling electro-hydraulic proportional valve 27 and the top drive falling load-sensitive valve 25 are jointly connected to the rodless cavity of the top drive adjustment oil cylinder 8.

[0058] Similarly, the second electro-hydraulic proportional valve group 5 includes: the power head tilting electro-hydraulic proportional valve 22 and the power head lowering electro-hydraulic proportional valve 23; the second load-sensing valve group 3 includes: the power head tilting load-sensing valve 20 and the power head lowering load-sensing valve 21.

[0059] Similarly, since both the second electro-hydraulic proportional valve group 5 and the second load-sensing valve group 3 are used to supply oil to the power head adjusting cylinder 4, the power head tilting electro-hydraulic proportional valve 22 and the power head tilting load-sensing valve 20 are jointly connected to the rod chamber of the power head adjusting cylinder 4; while the power head lowering electro-hydraulic proportional valve 23 and the power head lowering load-sensing valve 21 are jointly connected to the rodless chamber of the power head adjusting cylinder 4.

[0060] Refer to Figure 3 , in some specific embodiments, the top drive height adjusting unit further includes: a top drive adjusting handle 13; the micro motion spool 34 in the first load-sensing valve group 7 also opens according to the signal ratio of the top drive adjusting handle 13. At the same time, the power head tilting angle adjusting unit further includes: a power head adjusting handle 14; the micro motion spool 34 in the second load-sensing valve group 5 also opens according to the signal ratio of the power head adjusting handle 14.

[0061] That is to say, the opening of the micro motion spool 34 of the first load-sensing valve group 7 and the second load-sensing valve group 5 is simultaneously controlled automatically by the controller and manually by the control handle. Such a design can simultaneously meet the manual and automatic regulation of the height of the top drive 31 and the tilting angle of the power head 32.

[0062] Refer to Figures 2 - 3 , in some more comprehensive embodiments, the system further includes: a catwalk adjusting cylinder 11, a third load-sensing valve group 10, and a catwalk displacement sensor 19. Among them, the catwalk displacement sensor 19 is used to monitor the real-time height of the catwalk 33. The third load-sensing valve group 10 includes: a catwalk rising load-sensing valve 28 and a catwalk falling load-sensing valve 29. The catwalk rising load-sensing valve 28 is connected to the rod chamber of the catwalk adjusting cylinder 11, while the catwalk falling load-sensing valve 29 is connected to the rodless chamber of the catwalk adjusting cylinder 11.

[0063] In some embodiments, the third load-sensing valve group 10 is supplied with oil by the catwalk load-sensing pump 9. Refer to Figure 2 , the A port of the catwalk load-sensing pump 9 is connected to the P port of the third load-sensing valve group 10 through a hydraulic pipeline, and then returns to the hydraulic oil tank 1 from the T port of the third load-sensing valve group 10.

[0064] Necessarily, the catwalk rising load-sensing valve 28 and the catwalk falling load-sensing valve 29 are controlled to open by the controller 18. At the same time, the catwalk displacement sensor 19 is also signal-connected to the controller 18.

[0065] In some specific embodiments, the system further includes: a catwalk adjusting handle 15. The third load-sensitive valve group 7 is also opened according to the signal ratio of the catwalk adjusting handle 15 for manually adjusting the height of the catwalk 33.

[0066] Embodiment 3

[0067] This embodiment provides a method for automatically aligning the power head of a vehicle-mounted drilling rig with the catwalk based on the control system described in Embodiment 1 or Embodiment 2.

[0068] It should be noted that during the construction of connecting drill pipes for a vehicle-mounted drilling rig, first, the catwalk 33 is aligned with the X-axis and Y-axis of the drilling rig in the space coordinate system. During the construction process, neither the drilling rig nor the catwalk 33 is moved in terms of position, but the catwalk 33 can be lifted to a certain height, and the power head 32 can also be adjusted for lifting under the action of the top drive 31. However, during the implementation of this method, the height of the catwalk 33 remains basically unchanged.

[0069] The method includes the following steps:

[0070] Step 1: Obtain the target height of the top drive and the target tilting angle of the power head that are aligned with the current catwalk 33 and the target tilting angle of the power head .

[0071] Specifically, after the catwalk 33 is aligned with the X-axis and Y-axis of the drilling rig, a manual pre-alignment is required to obtain the height of the top drive 31 and the tilting angle of the power head 32 required for the power head 32 and the catwalk 33 to achieve alignment under the current position relationship, and these two values are denoted as the target height of the top drive and the target tilting angle of the power head .

[0072] In some specific embodiments, by adjusting and cooperating with the top drive adjusting handle 13 and the power head adjusting handle 15, the power head 32 is adjusted to be aligned with the height of the current catwalk 33; the readings of the top drive height measuring component 17 and the power head tilting angle measuring component 16 in the state where the power head 32 and the catwalk 33 are aligned are read and denoted as the target height of the top drive and the target tilting angle of the power head.

[0073] During the subsequent automatic alignment process, the alignment principle is: maintaining the height of the catwalk 33 unchanged, and each time for alignment, only the height of the top drive 31 and the tilting angle of the power head 32 need to be adjusted to the target height of the top drive and the target tilting angle of the power head , that is, it is considered that the power head 32 and the catwalk 33 are aligned.

[0074] However, considering the inevitable errors, the condition for meeting the alignment is set as: the height of the top drive 31 and the target height of the top drive The deviation is less than a preset first target difference , and the tilting angle of the power head 32 and the target tilting angle of the power head The deviation is less than a preset second target difference , that is, it is considered that the power head 32 and the catwalk 33 are centered.

[0075] Step 2: Control the top drive height adjustment unit and the power head tilting angle adjustment unit to turn on, and adjust the height of the top drive 31 and the tilting angle of the power head 32.

[0076] In some specific implementations, when the centering start button 12 is triggered, it means that the top drive height adjustment unit and the power head tilting angle adjustment unit are turned on.

[0077] Step 3: Read the readings of the top drive height measuring member 17 and the power head tilting angle measuring member 16 in real time to obtain the actual height of the top drive and the actual tilting angle of the power head , and calculate the first difference and the second difference , and the calculation formula is:[[]] ; ;

[0078] Step 4: Compare the first difference with the preset first target difference and the second difference with the preset second target difference in size: In response to and , the automatic centering of the power head 32 and the catwalk 33 is completed, and the height of the current top drive 31 and the tilting angle of the power head 32 are maintained; otherwise, continue to adjust the height of the top drive 31 and the tilting angle of the power head 32, and return to S3.

[0079] In some specific embodiments, the first target difference is 0.2 cm and the second target difference is 0.1°.

[0080] In the early stage of automatic adjustment, that is, when the first difference and the second difference are still large, start the first electro-hydraulic proportional valve group 6 and the second electro-hydraulic proportional valve group 5 to roughly adjust the height of the top drive 31 and the tilting angle of the power head 32 respectively. The adjustment speed is fast and the efficiency is high. In the later stage of automatic adjustment, that is, when the first difference and the second difference When it is relatively small, the first load-sensitive valve group 7 and the second load-sensitive valve group 3 are activated to precisely adjust the height of the top drive 31 and the tilting angle of the power head 32; to ensure the accuracy of centering and provide guarantee for subsequent drill pipe construction.

[0081] For this purpose, a switching difference is preset as the switching condition for the electro-hydraulic proportional valve group and the load-sensitive valve group.

[0082] In some specific embodiments, the first switching difference is set to 2 cm, and the second switching difference is set to 1°.

[0083] That is to say, for the height of the top drive, if it is greater than 2 cm, the first electro-hydraulic proportional valve group 6 is activated to roughly adjust the height of the top drive 31; and if it is less than or equal to 2 cm, the first load-sensitive valve group 7 is activated to precisely adjust the height of the top drive 31. Similarly, for the tilting angle of the power head 32, if it is greater than 1°, the second electro-hydraulic proportional valve group 5 is activated to roughly adjust the tilting angle of the power head 32; and if it is less than or equal to 1°, the second load-sensitive valve group 3 is activated to precisely adjust the tilting angle of the power head 32.

[0084] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

1. An on-vehicle drill power head and catwalk automatic centering control system, comprising: Top drive height adjustment unit, power head tilting angle adjustment unit, top drive height measuring piece, power head tilting angle measuring piece and controller; The controller is connected to the top drive height adjustment unit and the power head tilting angle adjustment unit for controlling, and is used to adjust the top drive height and the power head tilting angle; The controller is signal-connected to the top drive height measuring piece and the power head tilting angle measuring piece for obtaining the top drive height and the power head tilting angle.

2. The on-vehicle drill power head and catwalk automatic centering control system according to claim 1, characterized in that, The top drive height adjustment unit includes: a top drive adjustment oil cylinder, a first electro-hydraulic proportional valve group and a first load-sensitive valve group; Both the first electro-hydraulic proportional valve group and the first load-sensitive valve group are connected to the top drive adjustment oil cylinder; The power head tilting angle adjustment unit includes: a power head adjustment oil cylinder, a second electro-hydraulic proportional valve group and a second load-sensitive valve group; Both the second electro-hydraulic proportional valve group and the second load-sensitive valve group are connected to the power head adjustment oil cylinder; The first load-sensitive valve group and the second load-sensitive valve group include a micro motion valve core for precisely adjusting the top drive height and the power head tilting angle; The first electro-hydraulic proportional valve group, the first load-sensitive valve group, the second electro-hydraulic proportional valve group and the second load-sensitive valve group are respectively connected to the controller.

3. The on-vehicle drill power head and catwalk automatic centering control system according to claim 2, wherein The top drive height adjustment unit further includes: a top drive adjustment handle; The micro motion valve core in the first load-sensitive valve group is also opened according to the signal ratio of the top drive adjustment handle; The power head tilting angle adjustment unit further includes: a power head adjustment handle; The micro motion valve core in the second load-sensitive valve group is also opened according to the signal ratio of the power head adjustment handle.

4. The on-vehicle drill power head and catwalk automatic centering control system according to claim 3, characterized in that, The first electro-hydraulic proportional valve group includes: a top drive rising electro-hydraulic proportional valve and a top drive falling electro-hydraulic proportional valve; The first load-sensitive valve group includes: a top drive rising load-sensitive valve and a top drive falling load-sensitive valve; The top drive rising electro-hydraulic proportional valve and the top drive rising load-sensitive valve are commonly connected to the rodless cavity of the top drive adjustment oil cylinder; The top drive falling electro-hydraulic proportional valve and the top drive falling load-sensitive valve are commonly connected to the rodless cavity of the top drive adjustment oil cylinder.

5. The on-vehicle drill power head and catwalk automatic centering control system according to claim 4, characterized in that The second electro-hydraulic proportional valve group includes: a power head tilting electro-hydraulic proportional valve and a power head falling electro-hydraulic proportional valve; The second load-sensitive valve group includes: a power head tilting load-sensitive valve and a power head falling load-sensitive valve; The power head tilting electro-hydraulic proportional valve and the power head tilting load-sensitive valve are commonly connected to the rodless cavity of the power head adjustment oil cylinder; The power head falling electro-hydraulic proportional valve and the power head falling load-sensitive valve are commonly connected to the rodless cavity of the power head adjustment oil cylinder.

6. The on-vehicle drill power head and catwalk automatic centering control system according to claim 5, characterized in that, It further includes: A catwalk adjustment oil cylinder, a third load-sensitive valve group and a catwalk displacement sensor; The third load-sensitive valve group includes: a catwalk rising load-sensitive valve and a catwalk falling load-sensitive valve, and the catwalk rising load-sensitive valve and the catwalk falling load-sensitive valve are respectively connected to the rodless cavity and the rodless cavity of the catwalk adjustment oil cylinder; The catwalk displacement sensor is used to monitor the real-time height of the catwalk; The catwalk rising load-sensitive valve, the catwalk falling load-sensitive valve and the catwalk displacement sensor are respectively connected to the controller.

7. An automatic centering control method for the power head and the catwalk of a vehicle-mounted drill rig based on the control system according to any one of claims 1-6, characterized in that, It includes: When the height of the catwalk remains unchanged, S1: Obtain the top drive target height and the power head target tilting angle ; S2: Control the top drive height adjustment unit and the power head tilting angle adjustment unit to be turned on to adjust the top drive height and the power head tilting angle; S3: Read the readings of the top drive height measuring component and the power head tilting angle measuring component in real time to obtain the actual height of the top drive and the actual tilting angle of the power head , and calculate the first difference and the second difference , and the calculation formula is: ； ； S4: Compare the first difference with a preset first target difference and the second difference with a preset second target difference in terms of magnitude: In response to and , the automatic centering of the power head and the catwalk is completed, and the current top drive height and the tilting angle of the power head are maintained; otherwise, continue to adjust the top drive height and the tilting angle of the power head, and return to S3.

8. The on-vehicle drill power head and catwalk automatic centering control method according to claim 7, characterized in that The S1 includes: Adjust the top drive adjustment handle and the power head adjustment handle through coordinated operations to align the power head with the current catwalk height; Read the readings of the top drive height measuring component and the power head tilting angle measuring component when the power head is aligned with the catwalk, and record them as the top drive target height and the power head target tilting angle respectively.

9. The on-vehicle drill power head and catwalk automatic centering control method according to claim 7, characterized in that, The adjustment of the top drive height and the power head tilting angle includes: In response to being greater than a preset first switching difference value, start the first electro-hydraulic proportional valve group to roughly adjust the top drive height; In response to not greater than the first switching difference value, the first load sensing valve group is activated to precisely adjust the top drive height; In response to being greater than a preset second switching difference value, the second electro-hydraulic proportional valve group is activated to roughly adjust the tilting angle of the power head; In response to not greater than the second switching difference value, the second load-sensitive valve group is activated to precisely adjust the tilting angle of the power head.

10. The on-vehicle drill power head and catwalk automatic centering control method according to claim 9, characterized in that The first target difference is 0.2 cm, and the first switching difference is 2 cm; and / or, the second target difference is 0.1°, and the second switching difference is 1°.

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