Multi-stage dynamic perpendicularity control device of rotary drilling rig and self-adaptive adjustment method

Abstract

The invention discloses a multistage dynamic perpendicularity control device of a rotary drilling rig. The multistage dynamic perpendicularity control device comprises a high-precision inclinometer, a drill rod perpendicularity real-time monitoring mechanism, a hydraulic adjusting sliding frame, a power head and a self-adaptive controller. Through holes arranged in four directions are reserved in the drill rod, and a drill rod perpendicularity real-time monitoring mechanism is arranged in each through hole. The self-adaptive controller is electrically connected with the drill rod perpendicularity real-time monitoring mechanism, the high-precision inclinometer and the hydraulic adjusting sliding frame. The self-adaptive controller controls the pressure adjusting sliding frame to adjust the power head according to the inclination angle condition, measured by the high-precision inclinometer, of the top plane of the drill bit, so that the drill rod is roughly flat; the self-adaptive controller controls the pressure adjusting sliding frame to adjust the power head according to the inclination angle condition, measured by the high-precision inclinometer, of the top plane of the drill bit, so that the drill rod is roughly flat; and the self-adaptive controller controls the pressure adjusting sliding frame to adjust the power head and the drill rod to be finely leveled according to the detection distance L and the initial detection distance L0.

Description

Technical Field

[0001] This invention relates to the field of drilling rig technology, and in particular to a multi-stage dynamic verticality control device and adaptive adjustment method for rotary drilling rigs. Background Technology

[0002] Rotary drilling rigs are widely used in pile foundation construction due to their advantages such as high level of automation, comprehensive engineering capabilities, high efficiency, and adaptability to various engineering geological conditions. The verticality of the rotary drilling pile hole is a crucial factor in evaluating the quality of the hole; significant deviations in verticality can reduce structural safety and cause quality problems.

[0003] Currently, the verticality monitoring and correction of rotary drilling rigs is receiving increasing attention from designers. However, due to limitations in monitoring conditions and technical means, current monitoring methods primarily measure mast verticality, neglecting the drill rod verticality, which is the most crucial factor affecting hole verticality. Furthermore, when verticality test results show deviations, adaptive adjustments cannot be made. Summary of the Invention

[0004] To address the aforementioned technical problems, the purpose of this invention is to provide a multi-stage dynamic verticality control device and adaptive adjustment method for rotary drilling rigs.

[0005] This invention provides a multi-level dynamic verticality control device for a rotary drilling rig, the rotary drilling rig including a rail frame, a drill rod, and a drill bit; the control device includes: a high-precision inclinometer, a real-time drill rod verticality monitoring mechanism, a hydraulically adjustable sliding frame, a power head, and an adaptive controller;

[0006] The high-precision inclinometer is installed on the top of the drill bit to measure the inclinometer angle of the top plane of the drill bit and transmits the monitored inclinometer angle α to the adaptive controller.

[0007] The drill pipe verticality real-time monitoring mechanism is installed inside the drill pipe and includes a longitudinal gyroscope and a laser displacement sensor. The laser displacement sensor is used to measure the detection distance between itself and the longitudinal rod of the longitudinal gyroscope and transmit the data to the adaptive controller.

[0008] The hydraulically adjustable sliding frame is mounted on the rail frame and connected to the power head; the power head is sleeved and fixed to the outside of the drill pipe.

[0009] The adaptive controller is electrically connected to the drill pipe verticality real-time monitoring mechanism, the high-precision inclinometer, and the hydraulic adjustment slide frame, respectively. Before operation, when α≠0, the adaptive controller controls the pressure adjustment slide frame to adjust the power head until α=0, at which point the drill pipe achieves rough leveling. During operation, when the measured detection distance L and the initial detection distance L0 are not equal, the adaptive controller controls the pressure adjustment slide frame to adjust the power head in real time until L=L0, at which point the drill pipe achieves fine leveling.

[0010] This invention also provides a multi-stage dynamic verticality adaptive adjustment method for rotary drilling rigs, which uses the aforementioned multi-stage dynamic verticality control device for rotary drilling rigs to perform verticality adaptive adjustment, specifically including:

[0011] Drill rod coarse adjustment steps: Before drilling, adjust the drill rod and drill bit to keep them in a vertical position. Use a high-precision inclinometer to measure the inclinometer angle of the top plane of the drill bit and transmit the monitored inclinometer angle α to the adaptive controller. When the inclinometer angle α≠0, it means that the drill rod is not vertical. The adaptive controller controls the servo motor to turn off, and the servo motor mounting position is converted into a movable hinge support. At the same time, the adaptive controller controls the horizontal hydraulic adjustment rod and the longitudinal hydraulic adjustment rod to extend and retract, thereby adjusting the power head until α=0. Then, the adaptive controller controls the servo motor to start, and the servo motor mounting position is converted into a fixed end support, and the drill rod is coarsely leveled.

[0012] Drill rod fine-tuning steps: During drilling operation, the laser displacement sensor measures the detection distance between itself and the longitudinal rod of the longitudinal gyroscope and transmits it to the adaptive controller; when at least one set of drill rod verticality real-time monitoring mechanisms measures that the detection distance L and the initial detection distance L0 are not equal, the adaptive controller controls the pressure adjustment sliding frame to adjust the power head until L = L0, at which point the drill rod achieves fine leveling.

[0013] The multi-stage dynamic verticality control device and adaptive adjustment method for rotary drilling rigs of the present invention have the following beneficial effects:

[0014] 1) Real-time monitoring: The multi-level dynamic verticality control device of the rotary drilling rig uses multiple sensors to monitor the verticality of the drill rod in multiple levels. The monitoring data is uploaded in real time, which can effectively achieve the real-time monitoring effect.

[0015] 2) Adaptive adjustment: The multi-stage dynamic verticality control device of the rotary drilling rig uses a hydraulically adjustable sliding frame to correct the verticality of the drill rod, reducing the complexity of the operating system and process, and improving production efficiency.

[0016] 3) Reasonable design: The core device of the rotary drilling rig's multi-level dynamic verticality control device and adaptive adjustment method is multi-level monitoring by multiple sensors, and adaptive adjustment is carried out by hydraulic adjustment sliding frame. The equipment has few transmission parts and basically no faults during operation, thereby reducing the maintenance and repair costs of the equipment. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a multi-stage dynamic verticality control device for a rotary drilling rig according to the present invention;

[0018] Figure 2 This is a schematic diagram of the layout of the drill pipe verticality real-time monitoring mechanism;

[0019] Figure 3 This is a schematic diagram of a real-time drill pipe verticality monitoring mechanism;

[0020] Figure 4 This is a schematic diagram showing the connection between the hydraulically adjustable sliding frame and the power head;

[0021] In the diagram: 1. Rail frame, 2. Drill rod, 3. Drill bit, 4. Data transmission line, 5. Command output line, 6. Real-time drill rod verticality monitoring mechanism, 6-1. Longitudinal gyroscope, 6-2. Fiber optic grating sensor, 6-3. Gyroscope fixing rope, 6-4. Laser displacement sensor, 6-5. Electric pulley, 7. Power head, 8. Adaptive controller, 9. Hydraulic adjustable sliding frame, 9-1. Top connecting rod, 9-2. Servo motor, 9-3. Inclined connecting rod, 9-4. Longitudinal hydraulic adjusting rod, 9-5. Lateral and longitudinal hydraulic adjusting rod, 10. High-precision inclinometer. Detailed Implementation

[0022] like Figure 1 As shown, this invention discloses a multi-stage dynamic verticality control device for a rotary drilling rig. The rotary drilling rig includes a rail frame 1, a drill rod 2, and a drill bit 3. The control device includes: a high-precision inclinometer 10, a real-time drill rod verticality monitoring mechanism 6, a hydraulically adjustable sliding frame 9, a power head 7, and an adaptive controller 8.

[0023] The high-precision inclinometer 10 is mounted on top of the drill bit 3 to measure the inclinometer angle of the top plane of the drill bit and transmits the monitored inclinometer angle α to the adaptive controller 8. The drill rod verticality real-time monitoring mechanism 6 is located inside the drill rod 2 and includes a longitudinal gyroscope 6-1 and a laser displacement sensor 6-4. The laser displacement sensor 6-4 measures the detection distance between itself and the longitudinal rod of the longitudinal gyroscope 6-1 and transmits the distance to the adaptive controller 8. The hydraulically adjustable sliding frame 6 is mounted on the rail frame 1 and connected to the power head 7; the power head 7 is sleeved and fixed to the outside of the drill rod 2.

[0024] The adaptive controller 8 is connected to the drill pipe verticality real-time monitoring mechanism 6 and the high-precision inclinometer 10 via data transmission lines. The adaptive controller 8 outputs adjustment commands to the hydraulic adjustment slide frame 9 via the command transmission line 5. Before operation, when α≠0, the adaptive controller 8 controls the pressure adjustment slide frame 9 to adjust the power head 7 until α=0, at which point the drill pipe 2 achieves coarse leveling. During operation, when the measured detection distance L and the initial detection distance L0 are not equal, the adaptive controller 8 controls the pressure adjustment slide frame 9 to adjust the power head 7 in real time until L=L0, at which point the drill pipe 2 achieves fine leveling.

[0025] like Figure 2 and 3 As shown, with Figure 1Using the track frame 1 as a reference, four through holes are pre-set in the drill rod 2 in four directions: front, back, left, and right. Each through hole houses a real-time drill rod verticality monitoring mechanism 4. The real-time drill rod verticality monitoring mechanism 4 also includes: a fiber optic strain sensor 6-2, an electric pulley 6-5, and a gyroscope fixing rope 6-3. The electric pulley 6-5 is installed at the top of the through hole. One end of the gyroscope fixing rope 6-3 is wound around the electric pulley 6-5, and the other end is fixedly connected to the bottom of the through hole. The longitudinal gyroscope 6-1 is suspended inside the through hole by the gyroscope fixing rope 6-3. The fiber optic strain sensor 6-2 is located inside the gyroscope fixing rope 6-3 and is used to detect the strain of the gyroscope fixing rope 6-3. The laser displacement sensor 6-4 is installed on the side wall of the through hole at the same height as the longitudinal gyroscope 6-1 to detect the distance between itself and the longitudinal rod of the longitudinal gyroscope.

[0026] like Figure 4 As shown, the hydraulically adjustable sliding frame 9 includes two identical trapezoidal sliding frames. Each trapezoidal sliding frame includes a transverse hydraulic adjusting rod 9-5, a longitudinal hydraulic adjusting rod 9-4, a top connecting rod 9-1, and a diagonal connecting rod 9-3. The cylinder of the longitudinal hydraulic adjusting rod 9-4 is connected to the cylinder of the transverse hydraulic adjusting rod 9-5. The piston rod of the longitudinal hydraulic adjusting rod 9-4 is connected to the top connecting rod 9-1. The other end of the top connecting rod 9-1 is hinged to one end of the diagonal connecting rod 9-3 via a servo motor 9-2. The piston rod of the transverse hydraulic adjusting rod 9-5 is hinged to the other end of the diagonal connecting rod 9-3 via a servo motor 9-2. With the rail frame as a reference, the two trapezoidal sliding frames are connected to the front and rear of the power head 7, respectively. The transverse hydraulic adjusting rod 9-5 extends and retracts along the left and right directions of the power head 7. The adaptive controller 8 controls the extension and retraction of the two longitudinal and two transverse hydraulic adjusting rods of the hydraulically adjustable sliding frame 9 to adjust the power head 7, thereby achieving verticality control of the drill pipe 2.

[0027] The fiber Bragg grating sensor 6-2 is connected to the adaptive controller 8. Under initial stress, the fiber of the fiber Bragg grating sensor 6-2 begins to deform, at which point the internal reflected light intensity is equal to the original reflected light intensity I. O The intensity of the reflected light detected in real time is I. When I≠I O When the gyroscope fixing rope 6-3 deforms, the adaptive controller 8 controls the rotation of the electric pulley 6-5 to increase or decrease the stress in the gyroscope fixing rope 6-3.

[0028] When I>I O At that time, control the reduction of stress in the gyroscope fixing rope 6-3, when I O At that time, increase the stress in the gyroscope fixing rope 6-3; until I = I O Stop adjusting.

[0029] ​Specifically, the drill pipe verticality real-time monitoring mechanism 6 includes two fiber Bragg grating sensors 6-2, respectively installed above and below the longitudinal gyroscope 6-1 within the gyroscope fixing rope 6-3. The detection results of the two fiber Bragg grating sensors 6-2 are consistent. When one fiber Bragg grating sensor 6-2 is damaged, the other fiber Bragg grating sensor 6-2 can still work normally to ensure normal detection.

[0030] In specific implementation, an SMF-28e fiber optic grating sensor is used. The SMF-28e fiber optic grating sensor is a strain and stress measurement element based on the Fabry-Poisson white light interferometry principle, operating under an internal broadband white light source. The SMF-28e fiber optic grating sensor measures the strain and stress of the elastic body by establishing a correlation between the spectral intensity distribution of the output light and the length of the strain gauge's interference cavity. An LKG5000 laser displacement sensor and an LSM6DSO high-precision inclinometer are also employed.

[0031] This invention provides a multi-stage dynamic verticality adaptive adjustment method for rotary drilling rigs, employing... Figure 1-4 The multi-level dynamic verticality control device for rotary drilling rigs described herein performs adaptive verticality adjustment, specifically including:

[0032] Drill rod coarse adjustment steps: Before drilling, adjust the drill rod and drill bit to maintain a vertical position. Use a high-precision inclinometer to measure the inclination angle of the top plane of the drill bit and transmit the monitored inclination angle α to the adaptive controller. When the inclination angle α≠0, it indicates that the drill rod is not vertical. The adaptive controller controls the servo motor to shut down, and the servo motor mounting position is converted into a movable hinge support. At the same time, the adaptive controller controls the horizontal hydraulic adjustment rod and the longitudinal hydraulic adjustment rod to extend and retract, thereby adjusting the power head until α=0. Then, the adaptive controller controls the servo motor to start, and the servo motor mounting position is converted into a fixed end support, and the drill rod achieves coarse flatness.

[0033] Drill rod fine-tuning steps: During drilling operation, the laser displacement sensor measures the detection distance between itself and the longitudinal rod of the longitudinal gyroscope and transmits it to the adaptive controller; when at least one set of drill rod verticality real-time monitoring mechanisms measures that the detection distance L and the initial detection distance L0 are not equal, the adaptive controller controls the pressure adjustment sliding frame to adjust the power head until L = L0, at which point the drill rod achieves fine leveling.

[0034] In practice, when the drill pipe verticality real-time monitoring mechanism located in both the front and rear directions detects L≠L... O At that time, the longitudinal hydraulic adjusting rod is controlled in real time by the adaptive controller to adjust the power head until L=L0, at which point the drill rod reaches a fine level.

[0035] When the drill pipe verticality real-time monitoring mechanism located in the left and right directions detects L≠L OAt that time, the adaptive controller controls the horizontal hydraulic adjusting rod to extend and retract in real time until L=L0, at which point the drill rod reaches a fine level.

[0036] In practice, the adaptive adjustment method also includes an adjustment step for the drill pipe verticality real-time monitoring mechanism, specifically:

[0037] The adaptive controller receives the real-time detected reflected light intensity I and compares it with the original reflected light intensity I. O For comparison, when I≠I O When I>I, the gyroscope's fixed line deforms. O At that time, the adaptive controller controls the electric pulley to rotate and lengthen the gyroscope fixing wire, reducing the stress in the gyroscope fixing wire. When I O At this time, the adaptive controller controls the rotation of the electric pulley to shorten the gyroscope fixing wire, increasing the stress in the gyroscope fixing wire; until I = I O Stop adjusting.

[0038] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.​

Claims

1. A multi-stage dynamic verticality control device for a rotary drilling rig, the rotary drilling rig comprising a rail frame, drill rods, and a drill bit, characterized in that, The control device includes: a high-precision inclinometer, a real-time drill pipe verticality monitoring mechanism, a hydraulically adjustable sliding frame, a power head, and an adaptive controller; The high-precision inclinometer is installed on the top of the drill bit to measure the inclinometer angle of the top plane of the drill bit and transmits the monitored inclinometer angle α to the adaptive controller. The drill pipe verticality real-time monitoring mechanism is installed inside the drill pipe and includes a longitudinal gyroscope and a laser displacement sensor. The laser displacement sensor is used to measure the detection distance between itself and the longitudinal rod of the longitudinal gyroscope and transmit the data to the adaptive controller. The hydraulically adjustable sliding frame is mounted on the rail frame and connected to the power head; the power head is sleeved and fixed to the outside of the drill pipe. The adaptive controller is electrically connected to the drill pipe verticality real-time monitoring mechanism, the high-precision inclinometer, and the hydraulic adjustment slide frame, respectively. Before operation, when α≠0, the adaptive controller controls the pressure adjustment slide frame to adjust the power head until α=0, at which point the drill pipe achieves rough leveling. During operation, when the measured detection distance L and the initial detection distance L0 are not equal, the adaptive controller controls the pressure adjustment slide frame to adjust the power head in real time until L=L0, at which point the drill pipe achieves fine leveling.

2. The multi-stage dynamic verticality control device for rotary drilling rigs according to claim 1, characterized in that, Using the track frame as a reference, four through holes are pre-set in the drill rod in four directions: front, back, left, and right. Each through hole is equipped with a real-time drill rod verticality monitoring mechanism. The real-time drill rod verticality monitoring mechanism also includes: a fiber optic strain sensor, an electric pulley, and a gyroscope fixing rope. The electric pulley is installed at the top of the through hole, and one end of the gyroscope fixing rope is wound around the electric pulley while the other end is fixedly connected to the bottom of the through hole. The longitudinal gyroscope is suspended in the through hole by the gyroscope fixing rope. The fiber optic strain sensor is installed inside the gyroscope fixing rope to detect the strain of the gyroscope fixing rope. The laser displacement sensor is installed on the side wall of the through hole and at the same height as the longitudinal gyroscope to detect the distance between the laser displacement sensor and the longitudinal rod of the longitudinal gyroscope.

3. The multi-stage dynamic verticality control device for rotary drilling rigs according to claim 1, characterized in that, The hydraulically adjustable sliding frame includes two identical trapezoidal sliding frames. Each trapezoidal sliding frame includes a transverse hydraulic adjusting rod, a longitudinal hydraulic adjusting rod, a top connecting rod, and an inclined connecting rod. The cylinder of the longitudinal hydraulic adjusting rod is connected to the cylinder of the transverse hydraulic adjusting rod, and the piston rod of the longitudinal hydraulic adjusting rod is connected to the top connecting rod. The other end of the top connecting rod is hinged to one end of the inclined connecting rod via a servo motor. The piston rod of the transverse hydraulic adjusting rod is hinged to the other end of the inclined connecting rod via a servo motor. With the rail frame as a reference, the two trapezoidal sliding frames are connected to the front and rear of the power head, respectively. The transverse hydraulic adjusting rod extends and retracts along the left and right direction of the power head. The adaptive controller adjusts the power head and thus controls the verticality of the drill pipe by controlling the extension and retraction of the two longitudinal hydraulic adjusting rods and the two transverse hydraulic adjusting rods of the hydraulically adjustable sliding frame.

4. The multi-stage dynamic verticality control device for rotary drilling rigs according to claim 2, characterized in that, The fiber Bragg grating sensor is connected to an adaptive controller. Under initial stress, the fiber of the fiber Bragg grating sensor begins to deform, at which point the internal reflected light intensity is equal to the original reflected light intensity I. O The intensity of the reflected light detected in real time is I. When I≠I O When the gyroscope fixing cable deforms, the adaptive controller controls the rotation of the electric pulley to increase or decrease the stress in the gyroscope fixing cable. When I>I O At that time, control the reduction of stress in the gyroscope fixed wire, when I O At that time, increase the stress in the gyroscope fixing rope; until I = I O Stop adjusting.​ 5. The multi-stage dynamic verticality control device for rotary drilling rigs according to claim 4, characterized in that, The drill pipe verticality real-time monitoring mechanism includes two fiber optic grating sensors, which are respectively installed in the gyroscope fixing rope above and below the longitudinal gyroscope.

6. A multi-stage dynamic verticality adaptive adjustment method for rotary drilling rigs, characterized in that, The verticality adaptive adjustment is performed using the multi-stage dynamic verticality control device for rotary drilling rigs according to any one of claims 1 to 5, specifically including: Drill rod coarse adjustment steps: Before drilling, adjust the drill rod and drill bit to keep them in a vertical position. Use a high-precision inclinometer to measure the inclinometer angle of the top plane of the drill bit and transmit the monitored inclinometer angle α to the adaptive controller. When the inclinometer angle α≠0, it means that the drill rod is not vertical. The adaptive controller controls the servo motor to turn off, and the servo motor mounting position is converted into a movable hinge support. At the same time, the adaptive controller controls the horizontal hydraulic adjustment rod and the longitudinal hydraulic adjustment rod to extend and retract, thereby adjusting the power head until α=0. Then, the adaptive controller controls the servo motor to start, and the servo motor mounting position is converted into a fixed end support, and the drill rod is coarsely leveled. Drill rod fine-tuning steps: During drilling operation, the laser displacement sensor measures the detection distance between itself and the longitudinal rod of the longitudinal gyroscope and transmits it to the adaptive controller; when at least one set of drill rod verticality real-time monitoring mechanisms measures that the detection distance L and the initial detection distance L0 are not equal, the adaptive controller controls the pressure adjustment sliding frame to adjust the power head until L = L0, at which point the drill rod achieves fine leveling.

7. The multi-stage dynamic verticality adaptive adjustment method for rotary drilling rigs according to claim 6, characterized in that, When the drill pipe verticality real-time monitoring mechanism located in both the front and rear directions detects L≠L O At that time, the longitudinal hydraulic adjusting rod is controlled in real time by the adaptive controller to adjust the power head until L=L0, at which point the drill rod reaches a fine level. When the drill pipe verticality real-time monitoring mechanism located in the left and right directions detects L≠L O At that time, the adaptive controller controls the horizontal hydraulic adjusting rod to extend and retract in real time until L=L0, at which point the drill rod reaches a fine level.

8. The multi-stage dynamic verticality adaptive adjustment method for rotary drilling rigs according to claim 6, characterized in that, The adaptive adjustment method also includes adjustment steps for the drill pipe verticality real-time monitoring mechanism, specifically: The adaptive controller receives the real-time detected reflected light intensity I and compares it with the original reflected light intensity I. O For comparison, when I≠I O When I>I, the gyroscope's fixed line deforms. O At that time, the adaptive controller controls the electric pulley to rotate and lengthen the gyroscope fixing wire, reducing the stress in the gyroscope fixing wire. When I O At this time, the adaptive controller controls the rotation of the electric pulley to shorten the gyroscope fixing wire, increasing the stress in the gyroscope fixing wire; until I = I O Stop adjusting.​

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