Large-aperture deep-hole raise boring machine and integrated electro-hydraulic cooperative control system thereof

Abstract

The invention discloses a large-aperture deep-hole raise boring machine and an integrated electro-hydraulic cooperative control system thereof, and relates to the technical field of raise boring machines. The integrated electro-hydraulic cooperative control system comprises a raise boring machine complete machine mechanism and an integrated electro-hydraulic cooperative control system, the raise boring machine complete machine mechanism comprises a rack assembly, and the rack assembly serves as an equipment bearing base body; a power system, a walking mechanism, a power head assembly, a mechanical arm assembly, a lubricating system, a double-power-station unit, a hydraulic system, an electrical system and an operation table are fixedly integrated on the machine body. According to the invention, a complete machine highly-integrated and modularized design is adopted, a core function assembly is integrated on the rack assembly, the structure is compact and adapts to an underground narrow operation space, and meanwhile, the underground operation and maintenance difficulty and maintenance cost are greatly reduced due to the standardized and modularized design of each assembly; a framework combining independent work division and dynamic cooperation of double power stations is innovatively adopted, and independent power is provided for feeding and rotating actions through the first power station and the second power station respectively.

Description

Technical Field

[0001] This invention belongs to the field of well drilling rig technology, and in particular relates to a large-diameter deep-hole well drilling rig and its integrated electro-hydraulic coordinated control system. Background Technology

[0002] Raise-hole drilling rigs are core equipment for raising holes in underground engineering projects such as underground metal mines, non-metal mines, and water conservancy and hydropower. With the continuous increase in mining depth, the demand for large-diameter (≥2m) and deep-hole (≥500m) raise-hole drilling rigs in underground engineering is becoming increasingly urgent. Existing large-diameter deep-hole raise-hole drilling rigs have the following core technical defects in practical applications: The separate design of the electro-hydraulic system results in insufficient precision in coordinated control. Existing equipment often adopts an architecture where the electrical and hydraulic systems are set up independently. The electrical control only realizes basic start, stop, and reversing functions and cannot form a closed-loop coordination with the hydraulic power output. When drilling deep holes, facing severe load fluctuations, it is prone to problems such as response lag and power matching imbalance, leading to faults such as stuck drill, drilling deviation, and insufficient hole accuracy.

[0003] The power system has poor adaptability and cannot meet the needs of deep hole and large diameter operations. The single power station design cannot simultaneously meet the high flow rate and high pressure power requirements of feed and rotation during large diameter drilling; the existing dual power station solution only achieves simple power superposition and cannot achieve dynamic load distribution, which easily leads to problems such as uneven load, power waste or insufficient power.

[0004] The equipment suffers from low redundancy in safety protection and poor adaptability to underground working conditions. Existing equipment is only equipped with basic emergency stop protection and lacks full-condition online monitoring and redundant protection for the engine, hydraulic system, and electrical system. Under harsh underground working conditions of high humidity, high dust, and strong vibration, the equipment has a high failure rate and is prone to safety accidents such as leakage, hydraulic pipe bursts, and engine failures, making it impossible to guarantee operational safety.

[0005] The overall integration of the equipment is low, and the operation and maintenance are difficult. The existing equipment has a low degree of modularity of its various assemblies, a scattered structure, poor spare parts interchangeability, and is difficult to disassemble, assemble, and maintain in the confined space of the mine, resulting in high maintenance costs and long downtime.

[0006] To address these issues, we provide a large-diameter deep-hole well drilling rig and its integrated electro-hydraulic control system. Summary of the Invention

[0007] This invention addresses the shortcomings of existing technologies by resolving technical issues such as poor electro-hydraulic coordination, insufficient load matching of dual power stations, low safety redundancy, and poor overall integration in existing large-diameter deep-hole well drilling rigs. It provides a large-diameter deep-hole well drilling rig with high integration, high precision electro-hydraulic coordinated control, high safety redundancy, and adaptability to complex downhole conditions, along with its integrated electro-hydraulic coordinated control system.

[0008] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution.

[0009] This invention relates to a large-diameter deep-hole riser drilling rig and its integrated electro-hydraulic control system. The rig includes a complete machine structure and an integrated electro-hydraulic control system. The complete machine structure includes a frame assembly, which serves as the equipment's load-bearing base. A power system, a traveling mechanism, a power head assembly, a robotic arm assembly, a lubrication system, a dual power station unit, a hydraulic system, an electrical system, and an operating platform are fixedly integrated on the frame assembly. The power output of the power system is connected to the dual power station unit, the traveling mechanism, and the power head assembly. The integrated electro-hydraulic co-control system includes a central controller, and an electrical control subsystem, a hydraulic actuation subsystem, and a full-condition monitoring unit that are bidirectionally connected to the central controller. The electrical control subsystem is integrated with the electrical system hardware, and the hydraulic actuation subsystem is integrated with the hydraulic system hardware. The central controller realizes closed-loop co-control of the electrical control subsystem and the hydraulic actuation subsystem through real-time feedback data from the full-condition monitoring unit. The electrical control subsystem includes a power control module, an operation interaction module, a safety protection module, and a data acquisition module. The power control module is electrically connected to the power system and the dual power station unit, and is used to adjust power output and control start and stop. The operation interaction module includes an operating console and a crane operation panel assembly, and is used to receive user control commands. The safety protection module integrates an emergency stop protection unit, an electrical overload protection unit, a leakage protection unit, and a hydraulic condition protection unit, and is used to achieve redundant safety protection under all operating conditions. The data acquisition module is electrically connected to the all-condition monitoring unit and is used to collect real-time operating parameters of the equipment. The hydraulic actuation subsystem includes independent but cooperative feed hydraulic circuits, rotary hydraulic circuits, travel hydraulic circuits, and auxiliary motion hydraulic circuits. The feed hydraulic circuit and rotary hydraulic circuit are connected to the two power stations of the dual power station unit. Each hydraulic circuit is equipped with an electro-proportional control valve group, a pressure sensor, and a flow sensor. The control terminal of the electro-proportional control valve group is electrically connected to the central controller, and the signal terminals of the pressure sensor and flow sensor are electrically connected to the data acquisition module, forming a single-loop closed-loop control.

[0010] The present invention is further configured such that the dual power station unit includes a first power station and a second power station connected in parallel; the output end of the first power station is connected to the feed pump station assembly of the feed hydraulic circuit to provide hydraulic power for the drilling rig's feed and auxiliary actions; the output end of the second power station is connected to the rotary pump station assembly of the rotary hydraulic circuit to provide hydraulic power for the drilling rig's rotary action; a merging block is provided between the first power station and the second power station, and an electro-proportional relief valve is provided on the merging block. The control end of the electro-proportional relief valve is electrically connected to the central controller to realize the power merging and dynamic load distribution of the dual power stations.

[0011] The invention is further configured such that the electrical system includes an electrical control box assembly, a vehicle operation panel assembly, an electrical control cabinet assembly, a junction box assembly, and an electrical component and wiring harness installation assembly; the electrical control box assembly integrates an intermediate relay, a terminal block, a fuse terminal block, a relay, and a power-off delay relay, serving as the field control unit of the electrical control subsystem; the vehicle operation panel assembly integrates a key switch, an emergency stop button, a selector switch, an indicator light group, a fuel gauge, and a throttle knob, electrically connected to the operation interaction module; the electrical control cabinet assembly integrates a molded case circuit breaker, a current transformer, a soft starter, a switching power supply, a safety relay, a phase sequence protector, and a contactor group, serving as the core hardware of the power control module and the safety protection module; the junction box assembly integrates a terminal block and a grounding terminal block for branching and protecting the downhole field wiring harness.

[0012] The present invention is further configured such that: the feed hydraulic circuit of the hydraulic system includes a feed pump station assembly, which integrates a rod changing control valve group, a gear pump, an electro-proportional relief valve, a shut-off valve, and a variable pump; the slewing hydraulic circuit includes a slewing pump station piping assembly, which integrates an electromagnetic reversing valve group, a return oil filter, a suction oil filter, a cooler, a gear pump, a variable pump, a high-pressure filter, and an inverse proportional relief valve group; the head piping assembly integrates an electromagnetic reversing valve group, a balance valve, a support cylinder, a propulsion cylinder, a clamping cylinder, a swing cylinder, a tilting cylinder, and an accumulator; and the traveling piping assembly integrates an outrigger cylinder, a luffing cylinder, a traveling multi-way valve, a variable motor, a reducer, a return oil valve group, an electromagnetic valve group, and a variable pump.

[0013] The present invention is further configured such that the full-condition monitoring unit includes a fuel level sensor, an oil pressure sensor, an angle level, a hydraulic oil level sensor, an engine air filter monitoring sensor, a DPF condition sensor, an engine condition sensor, and a battery voltage monitoring sensor. The signal output terminals of all sensors are electrically connected to the data acquisition module for real-time acquisition of the equipment's power condition, hydraulic condition, attitude parameters, and electrical parameters, and transmission to the central controller.

[0014] The present invention is further configured such that the emergency stop protection unit of the safety protection module includes at least 5 sets of emergency stop button boxes, which are respectively installed in multiple operating positions on the control panel, the crane control panel assembly and the drilling rig body; the electrical overload protection unit includes a molded case circuit breaker, a thermal-magnetic circuit breaker, a DC circuit breaker and a residual current circuit breaker; the hydraulic condition protection unit includes a pressure relay, a vacuum transmitter, a level gauge and a temperature sensor, which are used to trigger protection actions when the hydraulic system pressure is abnormal, the oil is contaminated, or the level is abnormal.

[0015] The present invention is further configured such that the central controller has a built-in dual-power station cooperative control algorithm, specifically: The central controller collects pressure and flow data of the feed hydraulic circuit and the rotary hydraulic circuit in real time and calculates the current load demand. When the load of a single circuit exceeds the preset threshold, the central controller controls the electro-proportional overflow valve of the merging block to merge part of the power from the idle power station into the high-load circuit, thereby achieving dynamic load matching. When both circuits are under high load, the central controller adjusts the power output of the two power stations to maintain the speed matching of feed and rotation actions, thus preventing drill jamming.

[0016] The present invention is further configured such that the walking mechanism is a tracked walking mechanism, the variable motor of the walking hydraulic circuit is drivenly connected to the reducer, and the output end of the reducer is drivenly connected to the drive wheel of the tracked walking mechanism; a plate-type hydraulic pilot proportional handle is provided on the walking hydraulic circuit, which is electrically connected to the operation interaction module to realize stepless speed regulation control of walking.

[0017] The invention is further configured such that the drive end of the power head assembly is connected to the variable motor of the rotary hydraulic circuit, and the feed end of the power head assembly is connected to the propulsion cylinder of the feed hydraulic circuit; the robotic arm assembly is disposed on one side of the power head assembly and is used for automatic gripping and replacement of drill rods, and the drive end of the robotic arm assembly is connected to the auxiliary motion hydraulic circuit.

[0018] The present invention is further configured such that the central controller is also provided with a fault self-diagnosis unit and a data storage unit. The fault self-diagnosis unit is used to diagnose equipment faults in real time and trigger early warnings based on the collected operating parameters. The data storage unit is used to store the equipment's full life cycle operating data for subsequent operation, maintenance and optimization.

[0019] The present invention has the following beneficial effects.

[0020] 1. This invention adopts a highly integrated and modular design, integrating core functional assemblies onto the frame assembly. The compact structure adapts to the confined working space of downhole operations. Simultaneously, the standardized and modular design of each assembly significantly reduces the difficulty and cost of downhole operation and maintenance. It innovatively employs an architecture combining independent division of labor and dynamic collaboration between dual power stations. The first and second power stations provide independent power for feed and rotation respectively. Combined with the confluence block and the collaborative algorithm built into the central controller, dynamic load distribution and power merging between the two power stations are achieved. This perfectly adapts to the high torque rotation and stable feed requirements of large-diameter deep hole operations, solving the industry pain point of power matching imbalance in traditional equipment. Furthermore, relying on an integrated electro-hydraulic closed-loop collaborative control system, the equipment's operating parameters are collected in real time through a full-condition monitoring unit. The central controller dynamically adjusts the electrical power output and hydraulic valve opening, achieving deep collaboration between the electrical and hydraulic systems. This automatically adapts to load fluctuations under complex downhole conditions, effectively avoiding faults such as stuck drill bits and deviation, and significantly improving drilling efficiency and hole formation accuracy.

[0021] 2. This invention constructs a multi-dimensional redundant safety protection system. The electrical system is equipped with multiple electrical protections such as emergency stop protection, overload protection, residual current protection, and phase sequence protection. The hydraulic system is equipped with hydraulic protections such as overflow protection, pressure monitoring, and multi-stage oil filtration and cooling. Combined with online monitoring of all working conditions to achieve fault early warning of the engine, hydraulic system, and electrical system, a triple redundancy protection of electrical, hydraulic, and working conditions is formed, which greatly improves the operational reliability and safety of the equipment under harsh working conditions of high humidity, high dust, and strong vibration in the well. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0023] Figure 1 This is a three-dimensional diagram of a large-diameter deep-hole riser drilling rig and its integrated electro-hydraulic control system.

[0024] Figure 2 This is a schematic diagram of a large-diameter deep-hole riser drilling rig and its integrated electro-hydraulic control system.

[0025] Figure 3 This is a schematic diagram of the electrical control subsystem in a large-diameter deep-hole riser drilling rig and its integrated electro-hydraulic control system.

[0026] Figure 4 This is a schematic diagram of the hydraulic actuation subsystem in a large-diameter deep-hole riser drilling rig and its integrated electro-hydraulic control system.

[0027] Figure 5 This is a schematic diagram of the full-condition monitoring unit in a large-diameter deep-hole riser drilling rig and its integrated electro-hydraulic collaborative control system.

[0028] In the attached diagram: 1. Overall structure of the well drilling rig; 11. Frame assembly; 12. Power system; 13. Traveling mechanism; 14. Power head assembly; 15. Robotic arm assembly; 16. Lubrication system; 17. Dual power station unit; 1701. First power station; 1702. Second power station; 18. Hydraulic system; 19. Electrical system; 110. Control panel; 2. Integrated electro-hydraulic control system; 21. Central controller; 22. Electrical control subsystem; 2201. Power control module; 2202. Operation interaction module; 2203. Safety protection module; 2204. Data Acquisition Module; 23. Hydraulic Actuation Subsystem; 2301. Feed Hydraulic Circuit; 2302. Rotation Hydraulic Circuit; 2303. Travel Hydraulic Circuit; 2304. Auxiliary Action Hydraulic Circuit; 24. Full-Condition Monitoring Unit; 2401. Fuel Level Sensor; 2402. Oil Pressure Sensor; 2403. Angle Level; 2404. Hydraulic Oil Level Sensor; 2405. Engine Air Filter Monitoring Sensor; 2406. DPF Condition Sensor; 2407. Engine Condition Sensor; 2408. Battery Voltage Monitoring Sensor. Detailed Implementation

[0029] The technical solutions of the present invention will be described below with reference to the accompanying drawings. The described embodiments are only some embodiments of the present invention, and not all embodiments.

[0030] Please see Figures 1-5 This invention relates to a large-diameter deep-hole riser drilling rig and its integrated electro-hydraulic control system, comprising a riser drilling rig assembly 1 and an integrated electro-hydraulic control system 2, wherein: Frame assembly 11: Adopting a high-strength welded structure, it serves as the load-bearing base of the entire machine. All functional assemblies are fixedly installed on the frame assembly 11 by bolts, ensuring the stability and rigidity of the entire machine structure and adapting to strong vibration conditions in downhole operations.

[0031] Power system 12: A high-power diesel engine is used to provide driving power for the whole machine. The output end of the engine is connected to the hydraulic pump group of the dual power station unit 17 and the drive system of the walking mechanism 13 respectively.

[0032] Walking mechanism 13: It is a tracked walking mechanism 13, equipped with a variable displacement motor and reducer, which can realize walking and turning on complex underground roads and adapt to the needs of trackless underground operations.

[0033] Power head assembly 14: This is the core drilling execution component of the drilling rig. Its rotary drive end is connected to the variable motor of the rotary hydraulic circuit 2302, which can output high torque rotary power. Its feed drive end is connected to the propulsion cylinder of the feed hydraulic circuit 2301, which can realize stable feed and lifting actions, and is suitable for drilling large-diameter deep holes.

[0034] Robotic arm assembly 15: Located on one side of the power head assembly 14, equipped with a hydraulically driven gripping and flipping mechanism, it can automatically grip, connect and replace drill pipes, reducing the labor intensity of downhole workers and improving the efficiency and safety of pipe replacement.

[0035] Lubrication system 16: Provides forced lubrication for the rotating parts, sliding parts, and gear parts of the whole machine, reducing equipment wear and extending service life.

[0036] Dual power station unit 17: includes two power stations, a first power station 1701 and a second power station 1702, connected in parallel. The first power station 1701 is equipped with a feed pump station assembly, and the second power station 1702 is equipped with a rotary pump station assembly. The two power stations are connected by a merging block, and an electro-proportional overflow valve is installed on the merging block to realize the power merging of the two power stations.

[0037] Hydraulic system 18: includes feed pump station assembly, rotary pump station piping assembly, head piping assembly, and travel piping assembly; The feed pump station assembly integrates core components such as rod changing control valve group, gear pump, variable pump, electro-proportional relief valve, and shut-off valve; The rotary pump station piping assembly integrates core components such as an electromagnetic reversing valve group, a return oil filter, a suction oil filter, a cooler, a gear pump, a variable pump, a high-pressure filter, and a reverse proportional relief valve group. The machine head piping assembly integrates core components such as electromagnetic reversing valve group, balance valve, support cylinder, propulsion cylinder, clamping cylinder, swing cylinder, tilting cylinder, and diaphragm accumulator. The travel piping assembly integrates core components such as outrigger cylinders, luffing cylinders, travel multi-way valves, variable displacement motors, reducers, return valve assemblies, solenoid valve assemblies, and variable displacement pumps.

[0038] Electrical system 19: including electrical control box assembly, crane operation panel assembly, electrical control cabinet assembly, junction box assembly, electrical components and wiring harness installation assembly; The electrical control box assembly integrates components such as intermediate relay head, intermediate relay socket, terminal block, fuse terminal block, relay, and power-off delay relay, serving as a field control unit; The vehicle control panel assembly integrates key switch, emergency stop button, selector switch, indicator lights, fuel gauge, throttle knob and other operating and display elements; The electrical control cabinet assembly integrates core components such as molded case circuit breakers, current transformers, soft starters, switching power supplies, safety relays, phase sequence protectors, and contactor groups. The junction box assembly integrates components such as terminal blocks, grounding terminals, and metal waterproof cable lock heads, and is used for the branching and protection of wiring harnesses in the downhole field. The electrical components and wiring harness assembly integrates peripheral electrical components such as a fuel level sensor 2401, a battery, a main power switch, an oil pressure sensor 2402, an angle level 2403, an emergency stop button box, work lights, and wiring harness assembly.

[0039] Control panel 110: Located on the upper part of the frame assembly 11, it is the core operating position for the operator. It is equipped with a display screen, operating handle, button group and emergency stop button, which can realize the full-function operation of the whole machine and display of operating parameters.

[0040] Central Controller 21: Adopts an industrial-grade programmable controller, with built-in dual-power station collaborative control algorithm, electro-hydraulic collaborative closed-loop control algorithm and fault self-diagnosis algorithm. As the control core of the whole machine, it receives all operation commands and operating condition feedback data, and outputs control signals to each actuator.

[0041] Electrical control subsystem 22: Power control module 2201: Electrically connected to the engine ECU and the pump control terminal of the dual power station, it can adjust the engine speed and hydraulic pump displacement according to the instructions of the central controller 21 to achieve dynamic adjustment of power output. Operation interaction module 2202: includes control panel 110, crane operation panel assembly, and remote control (including receiver). Operators can input control commands through operation handles, buttons, and knobs, and the commands are transmitted to the central controller 21 in real time. At the same time, the equipment operating status and fault information are displayed in real time through the display screen and indicator light group. Safety protection module 2203: The emergency stop protection unit is equipped with 5 sets of emergency stop button boxes, which are respectively set on the control panel 110, the crane control panel, and the front, rear, and side of the drilling rig body, enabling emergency stop in all positions; the electrical overload protection unit is equipped with molded case circuit breakers, thermal-magnetic circuit breakers, and DC circuit breakers to achieve overload and short circuit protection; the residual current protection circuit breaker provides leakage protection; the phase sequence protector provides phase loss and phase reversal protection; the hydraulic condition protection unit is equipped with pressure relays, vacuum transmitters, level gauges, and temperature sensors to trigger real-time warning and protection actions when the hydraulic system 18 experiences abnormal pressure, oil contamination, abnormal level, or excessively high oil temperature. Data acquisition module 2204: Electrically connected to all sensors of the full-condition monitoring unit 24, it collects the operating parameters of the equipment in real time, filters and converts them, and then transmits them to the central controller 21.

[0042] Hydraulic actuation subsystem 23: Feed hydraulic circuit 2301: It is connected to the first power station 1701. The core actuator is the propulsion cylinder. The circuit is equipped with an electro-proportional relief valve, a solenoid directional valve group, a pressure sensor, and a flow sensor. The central controller 21 can adjust the opening of the electro-proportional valve to accurately control the feed speed, feed pressure, and lifting force of the propulsion cylinder, forming a closed-loop control. Rotary hydraulic circuit 2302: connected to the second power station 1702, the core actuator is the variable motor of the power head, and the circuit is equipped with an electro-proportional relief valve, a solenoid directional valve group, a pressure sensor, and a flow sensor. The central controller 21 can precisely control the rotation speed and output torque of the power head by adjusting the opening of the electro-proportional valve to form a closed-loop control. The walking hydraulic circuit 2303 is connected to the dual power station unit 17. The core actuator is the walking variable motor, which is equipped with a hydraulic pilot proportional handle to realize stepless speed regulation and steering control of walking. Auxiliary action hydraulic circuit 2304: connected to the first power station 1701, the core actuators are manipulator cylinder, support cylinder, clamping cylinder, swing cylinder, tilting cylinder, outrigger cylinder, luffing cylinder, and amplitude-changing cylinder, and the precise control of each auxiliary action is achieved through electromagnetic reversing valve group.

[0043] The full-condition monitoring unit 24 includes a fuel level sensor 2401, six sets of oil pressure sensors 2402, an angle level gauge 2403, a hydraulic oil level sensor 2404, an engine air filter monitoring sensor 2405, a DPF condition sensor 2406, an engine condition sensor 2407, a speed sensor, an oil pressure sensor 2402, and a battery voltage monitoring sensor 2408. It collects the power condition, hydraulic condition, attitude parameters, and electrical parameters of the equipment in real time and transmits them to the central controller 21, providing a data foundation for collaborative control and safety protection.

[0044] The working principle of this invention is as follows: S1. The operator starts the equipment by using the key switch on the crane operation panel. After the electrical system 19 completes its self-test and the safety protection module 2203 shows no abnormalities, the equipment enters the standby state. The central controller 21 collects the initial parameters of the engine, hydraulic system 18, and electrical system 19 through the full-condition monitoring unit 24 to confirm that the equipment is in normal condition.

[0045] S2. The operator inputs the walking command through the walking handle of the control panel 110. The central controller 21 controls the valve group of the walking hydraulic circuit 2303 to drive the crawler walking mechanism 13 to move to the work point. The drilling rig attitude is adjusted by the outrigger cylinder and the luffing cylinder. The angle level 2403 monitors the levelness and inclination of the drilling rig in real time to ensure that the positioning accuracy of the drilling rig meets the design requirements.

[0046] S3. The operator inputs drilling parameters (rotation speed, feed pressure, feed rate). The central controller 21 adjusts the engine speed and pump displacement of the dual power stations through the power control module 2201. At the same time, it adjusts the valve opening of the rotary hydraulic circuit 2302 and the feed hydraulic circuit 2301 through the electro-proportional control valve group. The second power station 1702 provides high torque power for the rotation of the power head, and the first power station 1701 provides stable feed power for the propulsion cylinder. The full-condition monitoring unit 24 collects parameters such as rotation pressure, feed pressure, flow rate, and engine condition in real time. The central controller 21 dynamically adjusts the power output and valve opening based on the feedback data to achieve electro-hydraulic coordinated closed-loop control, ensuring the stability of the drilling process and the accuracy of the hole.

[0047] S4. When encountering hard rock formations during drilling and the rotary load increases sharply, the central controller 21 uses the electro-proportional overflow valve of the merging block to merge part of the power from the first power station 1701 into the rotary hydraulic circuit 2302, thereby increasing the rotary torque. When it is necessary to quickly pull out the drill bit, part of the power from the second power station 1702 is merged into the feed hydraulic circuit 2301 to increase the pulling force, thus achieving dynamic load matching between the two power stations.

[0048] S5. When the equipment operating parameters exceed the preset threshold, the central controller 21 immediately triggers the safety protection module 2203, which performs protection actions such as early warning, power reduction, and emergency shutdown according to the fault level. At the same time, the fault code and fault location are displayed on the screen to facilitate quick troubleshooting by maintenance personnel.

[0049] S6. After a single drill rod is drilled, the central controller 21 controls the robotic arm assembly 15 to automatically grab, connect, and replace the drill rod, eliminating the need for manual operation and improving work efficiency and safety.

Claims

1. A large-diameter deep-hole riser drilling rig and its integrated electro-hydraulic control system, comprising the riser drilling rig assembly (1) and the integrated electro-hydraulic control system (2), characterized in that: The well drilling rig assembly (1) includes a frame assembly (11), which serves as the equipment support base. The frame assembly (11) is fixedly integrated with a power system (12), a walking mechanism (13), a power head assembly (14), a robotic arm assembly (15), a lubrication system (16), a dual power station unit (17), a hydraulic system (18), an electrical system (19), and an operating table (110). The power output end of the power system (12) is connected to the dual power station unit (17), the walking mechanism (13), and the power head assembly (14) respectively. The integrated electro-hydraulic co-control system (2) includes a central controller (21), and an electrical control subsystem (22), a hydraulic actuation subsystem (23), and a full-condition monitoring unit (24) that are bidirectionally connected to the central controller (21). The electrical control subsystem (22) is hardware integrated with the electrical system (19), and the hydraulic actuation subsystem (23) is hardware integrated with the hydraulic system (18). The central controller (21) realizes closed-loop co-control of the electrical control subsystem (22) and the hydraulic actuation subsystem (23) through the real-time feedback data of the full-condition monitoring unit (24). The electrical control subsystem (22) includes a power control module (2201), an operation interaction module (2202), a safety protection module (2203), and a data acquisition module (2204). The power control module (2201) is electrically connected to the power system (12) and the dual power station unit (17) and is used to adjust power output and start / stop control. The operation interaction module (2202) includes an operating console (110) and a crane operation panel assembly and is used to receive user control commands. The safety protection module (2203) integrates an emergency stop protection unit, an electrical overload protection unit, a leakage protection unit, and a hydraulic condition protection unit to achieve full-condition redundant safety protection. The data acquisition module (2204) is electrically connected to the full-condition monitoring unit (24) and is used to collect real-time operating parameters of the equipment. The hydraulic actuation subsystem (23) includes a feed hydraulic circuit (2301), a rotary hydraulic circuit (2302), a travel hydraulic circuit (2303), and an auxiliary action hydraulic circuit (2304) that are independent of each other and can cooperate with each other. The feed hydraulic circuit (2301) and the rotary hydraulic circuit (2302) are respectively connected to the two power stations of the dual power station unit (17). Each hydraulic circuit is equipped with an electro-proportional control valve group, a pressure sensor, and a flow sensor. The control end of the electro-proportional control valve group is electrically connected to the central controller (21), and the signal ends of the pressure sensor and the flow sensor are electrically connected to the data acquisition module (2204) to form a single-loop closed-loop control.

2. The large-diameter deep-hole riser drilling rig and its integrated electro-hydraulic control system according to claim 1, characterized in that: The dual power station unit (17) includes a first power station (1701) and a second power station (1702) connected in parallel. The output end of the first power station (1701) is connected to the feed pump station assembly of the feed hydraulic circuit (2301) to provide hydraulic power for the drilling rig's feed and auxiliary actions. The output end of the second power station (1702) is connected to the rotary pump station assembly of the rotary hydraulic circuit (2302) to provide hydraulic power for the drilling rig's rotary action. A merging block is provided between the first power station (1701) and the second power station (1702). An electro-proportional overflow valve is provided on the merging block. The control end of the electro-proportional overflow valve is electrically connected to the central controller (21) to realize the power merging and dynamic load distribution of the dual power stations.

3. The large-diameter deep-hole riser drilling rig and its integrated electro-hydraulic control system according to claim 1, characterized in that: The electrical system (19) includes an electrical control box assembly, a vehicle operation panel assembly, an electrical control cabinet assembly, a junction box assembly, and an electrical component and wiring harness installation assembly. The electrical control box assembly integrates an intermediate relay, a terminal block, a fuse terminal block, a relay, and a power-off delay relay, serving as the field control unit of the electrical control subsystem (22). The vehicle operation panel assembly integrates a key switch, an emergency stop button, a selector switch, an indicator light group, a fuel gauge, and a throttle knob, which are electrically connected to the operation interaction module (2202). The electrical control cabinet assembly integrates a molded case circuit breaker, a current transformer, a soft starter, a switching power supply, a safety relay, a phase sequence protector, and a contactor group, serving as the core hardware of the power control module (2201) and the safety protection module (2203). The junction box assembly integrates a terminal block and a grounding terminal block, used for the branching and protection of the underground field wiring harness.

4. The large-diameter deep-hole riser drilling rig and its integrated electro-hydraulic control system according to claim 1, characterized in that: The feed hydraulic circuit (2301) of the hydraulic system (18) includes a feed pump station assembly, which integrates a rod changing control valve group, a gear pump, an electro-proportional relief valve, a shut-off valve, and a variable pump; the rotary hydraulic circuit (2302) includes a rotary pump station piping assembly, which integrates an electromagnetic reversing valve group, a return oil filter, a suction oil filter, a cooler, a gear pump, a variable pump, a high-pressure filter, and an inverse proportional relief valve group; the head piping assembly integrates an electromagnetic reversing valve group, a balance valve, a support cylinder, a propulsion cylinder, a clamping cylinder, a swing cylinder, a tilting cylinder, and an accumulator; the travel piping assembly integrates outrigger cylinders, luffing cylinders, a travel multi-way valve, a variable motor, a reducer, a return oil valve group, an electromagnetic valve group, and a variable pump.

5. The large-diameter deep-hole riser drilling rig and its integrated electro-hydraulic control system according to claim 1, characterized in that: The full-condition monitoring unit (24) includes a fuel level sensor (2401), an oil pressure sensor (2402), an angle level (2403), a hydraulic oil level sensor (2404), an engine air filter monitoring sensor (2405), a DPF condition sensor (2406), an engine condition sensor (2407), and a battery voltage monitoring sensor (2408). The signal output terminals of all sensors are electrically connected to the data acquisition module (2204) for real-time acquisition of the equipment's power condition, hydraulic condition, attitude parameters, and electrical parameters, and transmission to the central controller (21).

6. The large-diameter deep-hole riser drilling rig and its integrated electro-hydraulic control system according to claim 1, characterized in that: The emergency stop protection unit of the safety protection module (2203) includes at least 5 sets of emergency stop button boxes, which are respectively set in multiple operating positions of the control panel (110), the crane control panel assembly and the drilling rig body; the electrical overload protection unit includes a molded case circuit breaker, a thermal-magnetic circuit breaker, a DC circuit breaker and a residual current protection circuit breaker; the hydraulic condition protection unit includes a pressure relay, a vacuum transmitter, a level gauge and a temperature sensor, which are used to trigger protection actions when the hydraulic system (18) has abnormal pressure, oil contamination and abnormal level.

7. The large-diameter deep-hole riser drilling rig and its integrated electro-hydraulic control system according to claim 2, characterized in that: The central controller (21) has a built-in dual-power station collaborative control algorithm, specifically: The central controller (21) collects pressure and flow data of the feed hydraulic circuit (2301) and the rotary hydraulic circuit (2302) in real time and calculates the current load demand; When the load of a single circuit exceeds the preset threshold, the central controller (21) controls the electro-proportional overflow valve of the confluence block to merge part of the power of the idle power station into the high-load circuit, thereby achieving dynamic load matching. When both circuits are under high load, the central controller (21) adjusts the power output of the two power stations to maintain the speed matching of feed and rotation actions and avoid drill jamming.

8. The large-diameter deep-hole riser drilling rig and its integrated electro-hydraulic control system according to claim 1, characterized in that: The walking mechanism (13) is a tracked walking mechanism (13). The variable motor of the walking hydraulic circuit (2303) is connected to the reducer. The output end of the reducer is connected to the drive wheel of the tracked walking mechanism (13). The walking hydraulic circuit (2303) is equipped with a plate-type hydraulic pilot proportional handle, which is electrically connected to the operation interaction module (2202) to realize stepless speed regulation control of walking.

9. The large-diameter deep-hole riser drilling rig and its integrated electro-hydraulic control system according to claim 1, characterized in that: The drive end of the power head assembly (14) is connected to the variable motor of the rotary hydraulic circuit (2302), and the feed end of the power head assembly (14) is connected to the propulsion cylinder of the feed hydraulic circuit (2301). The manipulator assembly (15) is located on one side of the power head assembly (14) and is used for automatic gripping and replacement of drill rods. The drive end of the manipulator assembly (15) is connected to the auxiliary action hydraulic circuit (2304).

10. The large-diameter deep-hole riser drilling rig and its integrated electro-hydraulic control system according to claim 1, characterized in that: The central controller (21) is also equipped with a fault self-diagnosis unit and a data storage unit. The fault self-diagnosis unit is used to diagnose equipment faults in real time and trigger early warnings based on the collected operating parameters. The data storage unit is used to store the equipment's full life cycle operation data for subsequent operation, maintenance and optimization.

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