CN108708674B - Control system and control method for vertical mast with drill rod of rotary drilling rig - Google Patents
Control system and control method for vertical mast with drill rod of rotary drilling rig Download PDFInfo
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- CN108708674B CN108708674B CN201810466013.6A CN201810466013A CN108708674B CN 108708674 B CN108708674 B CN 108708674B CN 201810466013 A CN201810466013 A CN 201810466013A CN 108708674 B CN108708674 B CN 108708674B
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- 238000005553 drilling Methods 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 title claims description 19
- 238000001514 detection method Methods 0.000 claims abstract description 20
- 230000005484 gravity Effects 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/021—With a rotary table, i.e. a fixed rotary drive for a relatively advancing tool
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
- E21B44/02—Automatic control of the tool feed
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/023—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting the mast being foldable or telescopically retractable
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a control system with a drill stem vertical mast, which is suitable for a rotary drilling rig and comprises a control valve, a detection device and a controller, wherein the control valve is connected with the controller; the control valve comprises a mast telescopic proportional valve and a mast oil cylinder telescopic valve, the detection device is used for detecting the state of the rotary drilling rig, the detection device comprises a shaft pin sensor, an inclination angle sensor, a power head lower limit switch, a mast standing limit switch and a mast relay limit switch, and the controller is used for receiving the state and controlling the control valve to operate according to the state; when the weight of the shaft pin of the drill rod is smaller than a limited weight value, the power head is positioned at the lowest part of the mast, the luffing cylinder extends to the longest length, and the mast is in contact with the mast raising cylinder, the controller controls the mast cylinder to extend out through the mast telescopic proportional valve and controls the mast raising cylinder to extend out through the mast raising cylinder telescopic valve until the mast reaches a first inclination angle.
Description
Technical Field
The invention relates to the technical field of engineering machinery control, in particular to a control system and a control method for a vertical mast with a drill rod, which are suitable for a rotary drilling rig.
Background
The luffing mechanism of the rotary drilling rig is mainly divided into two types according to the structural form: a parallel four-sided version and a large triangle version. At present, a medium and small rotary drilling rig generally adopts a parallelogram type luffing mechanism, and a large rotary drilling rig generally adopts a large triangle front bending luffing mechanism.
The rotary drilling rig of the parallelogram type luffing mechanism can realize backward folding of the mast through self structural deformation, greatly reduces the gravity center, facilitates short-distance transfer, does not need to disassemble too many parts during transportation, facilitates transportation, but has small supporting angle of the mast oil cylinder to the mast during working, relatively poor working stability and is not beneficial to entering rocks.
The rotary drilling rig supporting point of the large-triangle front lying luffing mechanism is relatively close to the outside, the supporting angle is large, the working stability is high, the rotary drilling rig is convenient to enter rocks, the back-tilting angle of a mast of the rotary drilling rig is generally only 15 degrees-20 degrees, the gravity center is higher, the rotary drilling rig adopting the large-triangle front lying luffing mechanism is greatly limited by a working site when being transferred in a short distance, the back-tilting angle of the mast is limited, the rotary drilling rig can only tilt 15 degrees-20 degrees backwards generally, so that the rotary drilling rig cannot cross the slope more than 10 degrees under the condition that a drill rod is not detached, and some overhead obstacles cannot be crossed, such as an electric wire and a viaduct. And to carry out short distance transfer in uneven or hollow-out construction sites, parts such as a drill rod, a drilling tool, an upper mast, a suspension anchor frame and the like must be disassembled, which is very inconvenient.
Therefore, a rotary drilling rig with a double-large-triangle back luffing mechanism with a backward foldable mast is developed, and the rotary drilling rig refers to Chinese patent application with the patent number Z L201610852993.4, wherein the luffing mechanism can be directly transported on a chassis back without disassembling the mast during transportation, so that the assembly and disassembly time and cost are saved for customers.
Disclosure of Invention
The invention aims to provide a control system with a drill rod vertical mast, which is high in safety and suitable for a rotary drilling rig.
The invention also aims to provide a high-safety control method for the vertical mast with the drill rod of the rotary drilling rig.
In order to achieve the purpose, the control system with the drill stem standing mast provided by the invention is suitable for a rotary drilling rig and comprises a control valve, a detection device and a controller; the control valve comprises a mast telescopic proportional valve and a mast oil cylinder telescopic valve, the mast telescopic proportional valve is used for controlling the telescopic of a mast oil cylinder, and the mast oil cylinder telescopic valve is used for controlling the telescopic of the mast oil cylinder so as to adjust the inclination angle of the mast; the detection device is used for detecting the state of the rotary drilling rig and comprises a shaft pin sensor, an inclination angle sensor, a power head lower limit switch, a mast standing limit switch and a mast relay limit switch, wherein the shaft pin sensor is used for detecting the weight of a shaft pin of a drill rod, the inclination angle sensor is used for detecting the inclination angle of a mast, the power head lower limit switch is used for detecting whether the power head is positioned at the lowest part of the mast, the mast standing limit switch is used for detecting whether an oil cylinder extends to the longest part, and the mast amplitude-variable limit switch is used for detecting whether the mast is contacted with a mast lifting oil cylinder; the controller is used for receiving the state and controlling the control valve to operate according to the state; when the weight of the shaft pin of the drill rod is smaller than a limited weight value, the power head is positioned at the lowest part of the mast, the luffing cylinder extends to the longest length, and the mast is in contact with the mast raising cylinder, the controller controls the mast cylinder to extend out through the mast telescopic proportional valve and controls the mast raising cylinder to extend out through the mast raising cylinder telescopic valve until the mast reaches a first inclination angle.
Further, when the mast reaches a first inclination angle, the mast relay limit switch detects that the mast is separated from the mast lifting oil cylinder, and the controller controls the mast oil cylinder to extend continuously through the mast telescopic proportional valve until the mast reaches a vertical state.
Further, the control system with the drill stem and the vertical mast further comprises a display screen, the display screen is connected with the controller and used for displaying the detection result of the detection device and the running state of the control valve and receiving an operation instruction, the operation instruction is transmitted to the controller, and the controller controls the operation of the control valve according to the operation instruction.
Further, the control system with the drill stem vertical mast further comprises a handle, the handle is connected with the controller and used for receiving an operation instruction, the operation instruction is transmitted to the controller, and the controller controls the control valve to operate according to the operation instruction.
The invention also provides a control method of the vertical mast with the drill rod, which is suitable for the rotary drilling rig and comprises the following steps:
and (3) detection: detecting the state of the rotary drilling rig, wherein the state comprises the shaft pin weight of a drill rod, the inclination angle of a mast, whether a power head is positioned at the lowest part of the mast, whether a derricking cylinder extends to the longest length and whether the mast is in contact with a mast lifting cylinder;
and (3) judging: receiving the state, when the weight of the shaft pin of the drill rod is smaller than a limited weight value, the power head is positioned at the lowest part of the mast, the derricking cylinder extends to the longest part and the mast is contacted with the mast raising cylinder, allowing the mast to stand, and when the inclination angle of the mast reaches a first inclination angle, stopping the mast standing;
the operation is as follows: and controlling the mast oil cylinder and the mast raising oil cylinder to extend out of the mast to reach the first inclination angle.
Further, when the mast reaches a first inclination angle, whether the mast is in contact with a mast raising oil cylinder is detected, if not, the mast oil cylinder is independently controlled to continue extending until the mast reaches a vertical state.
Further, the control method for the mast sections with the drill pipe also comprises the following steps: and providing a display screen operation mode, and receiving an operation instruction through a display screen, wherein the operation instruction controls the operation of the mast oil cylinder and the mast raising oil cylinder.
Further, the control method for the mast sections with the drill pipe also comprises the following steps: and providing a handle operation mode, and receiving an operation instruction through a handle, wherein the operation instruction controls the operation of the mast oil cylinder and the mast lifting oil cylinder.
In the prior art, when the operation mast is erected forwards, the moment arm of the mast oil cylinder is short, so that the thrust of the mast oil cylinder is insufficient, and the situation that the mast cannot be erected forwards is caused. Compared with the prior art, the invention provides the control system and the control method which are high in safety and suitable for the rotary drilling rig and are provided with the drill rod vertical mast, the states of the rotary drilling rig are detected constantly, such as the weight of a shaft pin of the drill rod, the inclination angle of the mast, whether a power head is positioned at the lowest part of the mast, whether a variable amplitude oil cylinder extends to the longest length and whether the mast is in contact with a mast lifting oil cylinder, and the telescopic operation of the mast oil cylinder and the mast lifting oil cylinder is controlled according to the states, namely the thrust is provided by the mast lifting oil cylinder while the arm of force of the mast oil cylinder is increased, and the logic control operation is carried out on the premise of safety and reliability, so that the mast can be erected forwards, and.
Drawings
FIG. 1 is a schematic view of a control system with a drill pipe mast of the present invention;
FIG. 2 is a schematic view of a display screen of the control system with a drill pipe mast of the present invention in a manual mode;
FIG. 3 is a schematic view of a display screen of the control system with a mast of pipe of the present invention in a jog mode;
FIG. 4 is a schematic illustration of a control method of the present invention with a drill pipe mast;
FIG. 5 is a schematic diagram of a first embodiment of a rotary drilling rig to which the control system with the mast is applied.
Detailed Description
In order to explain technical contents, structural features, and effects achieved by the present invention in detail, the following detailed description is given with reference to the embodiments and the accompanying drawings.
As shown in fig. 1-4, the present invention provides a control system 1 and method with a drill stem and a vertical mast, which is suitable for a rotary drilling rig with a mast that can be tilted backward to a horizontal state, such as the rotary drilling rig described in patent No. Z L, and as shown in fig. 5, of course, other rotary drilling rigs with other masts that can be tilted backward to a horizontal state are also suitable for this embodiment.
Referring to fig. 5, the main structure of the rotary drilling rig, especially the main components of the control system 1 with a mast, will be briefly described. The rotary drilling rig comprises a rotary table 1 ', a movable arm 2 ', a mast 3 ', a drill rod 4 ', a power head 5 ', an anchor hanger 6 ', a mast oil cylinder 7 ', a derricking oil cylinder 8 ' and a mast lifting oil cylinder 9 '. One end of a movable arm 2 'is hinged with the rotary table 1', and the other end of the movable arm 2 'is hinged with the lower part of the mast 3'; one end of a mast oil cylinder 7 'is hinged with the rotary table 1', and the other end of the mast oil cylinder 7 'is hinged with the middle part of the mast 3'; one end of the amplitude-variable oil cylinder 8 'is hinged with the rotary table 1', and the other end of the amplitude-variable oil cylinder 8 'is hinged with the movable arm 2'; one end of the mast raising oil cylinder 9 'is connected with the rotary table 1', and the other end of the mast raising oil cylinder 9 'is a free end and can extend outwards relative to the cylinder barrel and support the mast 3'; the drill rod 4 ' is arranged on the mast 3 ', the anchor frame 6 ' is arranged at the top of the mast 3 ', and the power head 5 ' is arranged between the mast 3 ' and the drill rod 4 ' and can be detached.
As shown in fig. 1, a control system 1 with a mast for a rotary drilling rig includes a controller 10, a control valve 20 connected to the controller 10, a detection device 30, a display 40, and a handle 50.
Specifically, the control valve 20 includes a mast telescope proportional valve 21 and a mast cylinder telescope valve 22. The mast telescopic proportional valve 21 is used for controlling the telescopic of the mast oil cylinder so as to adjust the inclination angle of the mast; the mast raising oil cylinder expansion valve 22 is used for controlling the expansion of the mast raising oil cylinder.
The mast telescopic proportional valve 21 further includes a left telescopic proportional valve 211, a left contracting proportional valve 212, a right telescopic proportional valve 213 and a right contracting proportional valve 214. For structural stability, the mast cylinders are typically left and right, with a left extension proportional valve 211 to control extension of the left mast cylinder, a left retraction proportional valve 212 to control retraction of the left mast cylinder, a right extension proportional valve 213 to control extension of the right mast cylinder, and a right retraction proportional valve 214 to control retraction of the right mast cylinder.
The mast raising and retracting valve 22 further includes a mast raising valve 221 and a mast retracting valve 222. The mast raising cylinder extension valve 221 is used for controlling the extension of the mast raising cylinder, and the mast raising cylinder retraction valve 222 is used for controlling the retraction of the mast raising cylinder.
The detection device 30 is used for detecting the state of the rotary drilling rig, wherein the state includes the shaft pin weight of the drill rod, the inclination angle of the mast and the like, and specifically, the detection device 30 includes a shaft pin sensor 31, an inclination angle sensor 32, a power head lower limit switch 33, a mast standing limit switch 34 and a mast relay limit switch 35. The shaft pin sensor 31 is disposed at the top end of the drill rod and is configured to detect a shaft pin weight of the drill rod, including a weight of the drill rod itself and a weight applied to the drill rod, such as a weight of a drill bit disposed at the end of the drill rod, a weight of soil adhered to the drill bit, and the like; the tilt sensor 32 is used for detecting the tilt angle of the mast; the power head lower limit switch 33 is used for detecting whether the power head is positioned at the lowest part of the mast; the vertical mast limit switch 34 is used for detecting whether the amplitude variation oil cylinder extends to the longest length; the mast relay limit switch 35 is used for detecting whether the mast is in contact with the mast raising oil cylinder.
The controller 10 is configured to receive the states of the rotary drilling rig detected by the detection device 30, and control the operation of the control valve 20 according to the states and an operation instruction from the display 40 or the handle 50, so as to implement the mast with a drill rod.
The controller 10 can receive an operation instruction from the screen or the handle 50, start the jog mode when receiving the operation instruction from the screen, start the manual mode when receiving the operation instruction from the handle 50, and can switch between the two modes, the display 40 or the handle 50 transmits the operation instruction to the controller 10, and the controller 10 controls the operation of the control valve 20 according to the operation instruction. Fig. 2-3 shows the screen in two different modes, fig. 2 is the display image of the screen in the manual mode, and fig. 3 is the display image of the screen in the time-shifting mode. The display 40 also displays the detection result of the detection device 30 and the operation state of the control valve 20.
In conclusion, the principle of the rotary drilling rig for carrying out the operation with the drill rod and the vertical mast is as follows:
(1) the detection shaft pin sensor 31 detects whether the shaft pin weight of the drill rod is smaller than a limited weight value, the power head lower limit switch 33 detects whether the power head is located at the lowest part of the mast, the mast standing limit switch 34 detects whether the amplitude cylinder extends to the longest length and the mast relay limit switch 35 detects whether the mast is in contact with the mast raising cylinder, if yes, the controller 10 controls the mast cylinder to extend out through the mast telescopic proportional valve 21 and controls the mast raising cylinder to extend to the longest length through the mast raising cylinder telescopic valve 22 until the mast reaches a first inclination angle. If the power head is not positioned at the lowest part of the mast or the amplitude-variable oil cylinder does not extend to the longest part, the mast can be continuously erected by firstly adjusting the power head and the amplitude-variable oil cylinder until the conditions are met.
The limited weight value is, for example, 25 tons, and it is understood that the limited weight value can be adjusted according to the actual situation, and is not limited herein. When the weight of the shaft pin is larger than the limited weight value, the shaft pin weight of the drill rod is reduced to carry out the mast operation, for example, the drill bit and the drilled earth can be removed.
The inclination angle is an angle between the mast and the vertical line, the mast is 0 degree when in the vertical state, the mast is-90 degrees when in the horizontal state, and the mast is erected forward to a first inclination angle, for example, -75 degrees, and likewise, the first inclination angle may be adjusted according to practical situations, for example, -65 degrees, -70 degrees, -80 degrees, and the like, and is not limited herein.
(2) When the mast reaches the first inclination angle, the mast relay limit switch 35 detects that the mast is out of contact with the mast raising oil cylinder, and the controller 10 only controls the mast oil cylinder to extend continuously through the mast telescopic proportional valve 21 until the mast reaches the vertical state.
The invention also provides a control method of the vertical mast with the drill rod, which is suitable for the rotary drilling rig and comprises the following steps:
and (3) detection: detecting the state of the rotary drilling rig, wherein the state comprises the weight of a shaft pin of a drill rod, the inclination angle of a mast, whether a power head is positioned at the lowest part of the mast, whether a derricking cylinder extends to the longest length and whether the mast is in contact with a mast lifting cylinder;
and (3) judging: receiving the state, when the weight of the shaft pin of the drill rod is smaller than a limited weight value, the power head is positioned at the lowest part of the mast, the derricking cylinder extends to the longest part and the mast is contacted with the mast raising cylinder, allowing the mast to stand, and when the inclination angle of the mast reaches a first inclination angle, stopping the mast standing;
the operation is as follows: and controlling the mast oil cylinder and the mast raising oil cylinder to extend out of the mast to reach the first inclination angle.
The limited weight value is, for example, 25 tons, and it is understood that the limited weight value can be adjusted according to the actual situation, and is not limited herein. When the weight of the shaft pin is larger than the limited weight value, the shaft pin weight of the drill rod is reduced to carry out the mast operation, for example, the drill bit and the drilled earth can be removed. The inclination angle is an angle between the mast and the vertical line, the mast is 0 degree when in the vertical state, the mast is-90 degrees when in the horizontal state, and the mast is erected forward to a first inclination angle, for example, -75 degrees, and likewise, the first inclination angle may be adjusted according to practical situations, for example, -65 degrees, -70 degrees, -80 degrees, and the like, and is not limited herein. If the power head is not positioned at the lowest part of the mast or the amplitude-variable oil cylinder does not extend to the longest part, the mast can be continuously erected by firstly adjusting the power head and the amplitude-variable oil cylinder until the conditions are met.
Further, when the mast reaches a first inclination angle, whether the mast is in contact with a mast raising oil cylinder is detected, if not, the mast oil cylinder is independently controlled to continue extending until the mast reaches a vertical state.
Furthermore, the control method with the drill stem standing mast further comprises the step of providing a display screen operation mode, receiving an operation instruction through the display screen, and controlling the operation of the mast oil cylinder and the mast raising oil cylinder through the operation instruction.
Furthermore, the control method of the vertical mast with the drill rod further comprises the step of providing a handle operation mode, receiving an operation instruction through a handle, and controlling the operation of the mast oil cylinder and the mast lifting oil cylinder through the operation instruction.
In summary, as shown in fig. 4, the control method with the drill stem comprises the following steps:
s101: detecting the weight of a shaft pin of a drill rod, the inclination angle of a mast, whether a power head is positioned at the lowest part of the mast, whether a derricking cylinder extends to the longest part and whether the mast is contacted with a mast lifting cylinder, and when the weight of the shaft pin of the drill rod is less than a limited weight value, the power head is positioned at the lowest part of the mast, the derricking cylinder extends to the longest part and the mast is contacted with the mast lifting cylinder, the mast cylinder and the mast lifting cylinder extend out until the mast reaches a first inclination angle;
s102: the mast is separated from the mast lifting oil cylinder, and the mast oil cylinder continues to extend until the mast reaches a vertical state.
In the prior art, when the operation mast is erected forwards, the moment arm of the mast oil cylinder is short, so that the thrust of the mast oil cylinder is insufficient, and the situation that the mast cannot be erected forwards is caused. Compared with the prior art, the invention provides the control system and the control method which are high in safety and suitable for the rotary drilling rig and are provided with the drill rod vertical mast, the states of the rotary drilling rig are detected constantly, such as the weight of a shaft pin of the drill rod, the inclination angle of the mast, whether a power head is positioned at the lowest part of the mast, whether a variable amplitude oil cylinder extends to the longest length and whether the mast is in contact with a mast lifting oil cylinder, and the telescopic operation of the mast oil cylinder and the mast lifting oil cylinder is controlled according to the states, namely the thrust is provided by the mast lifting oil cylinder while the arm of force of the mast oil cylinder is increased, and the logic control operation is carried out on the premise of safety and reliability, so that the mast can be erected forwards, and.
The above disclosure is only a preferred embodiment of the present invention, and certainly should not be taken as limiting the scope of the present invention, which is therefore intended to cover all equivalent changes and modifications within the scope of the present invention.
Claims (8)
1. The utility model provides a take control system of drilling rod vertical mast, is applicable to and digs rig soon, includes:
the control valve comprises a mast telescopic proportional valve and a mast oil cylinder telescopic valve, the mast telescopic proportional valve is used for controlling the telescopic of the mast oil cylinder, and the mast oil cylinder telescopic valve is used for controlling the telescopic of the mast oil cylinder so as to adjust the inclination angle of the mast;
the detection device is used for detecting the state of the rotary drilling rig and comprises a shaft pin sensor, an inclination angle sensor, a power head lower limit switch, a mast standing limit switch and a mast relay limit switch, wherein the shaft pin sensor is used for detecting the shaft pin weight of a drill rod, the inclination angle sensor is used for detecting the inclination angle of the mast, the power head lower limit switch is used for detecting whether the power head is positioned at the lowest part of the mast, the mast standing limit switch is used for detecting whether a variable-amplitude oil cylinder extends to the longest part, and the mast relay limit switch is used for detecting whether the mast is in contact with a mast lifting oil cylinder; and
the controller is used for receiving the state and controlling the control valve to operate according to the state;
when the weight of the shaft pin of the drill rod is smaller than a limited weight value, the power head is positioned at the lowest part of the mast, the luffing cylinder extends to the longest length, and the mast is in contact with the mast raising cylinder, the controller controls the mast cylinder to extend out through the mast telescopic proportional valve and controls the mast raising cylinder to extend out through the mast raising cylinder telescopic valve until the mast reaches a preset first inclination angle.
2. The control system with a drill pipe mast of claim 1,
when the mast reaches a first inclination angle, the mast relay limit switch detects that the mast is separated from the mast lifting oil cylinder, and the controller controls the mast oil cylinder to extend continuously through the mast telescopic proportional valve until the mast reaches a vertical state.
3. The control system with a drill stem of claim 1, further comprising:
and the display screen is connected with the controller, is used for displaying the detection result of the detection device and the running state of the control valve, and is used for receiving an operation instruction, the operation instruction is transmitted to the controller, and the controller controls the control valve to run according to the operation instruction.
4. The control system with a drill stem of claim 1, further comprising:
and the handle is connected with the controller and used for receiving an operation instruction, the operation instruction is transmitted to the controller, and the controller controls the control valve to operate according to the operation instruction.
5. A control method for a vertical mast with a drill rod is suitable for a rotary drilling rig and comprises the following steps:
and (3) detection: detecting the state of the rotary drilling rig, wherein the state comprises the shaft pin weight of a drill rod, the inclination angle of a mast, whether a power head is positioned at the lowest part of the mast, whether a derricking cylinder extends to the longest length and whether the mast is in contact with a mast lifting cylinder;
and (3) judging: receiving the state, allowing mast erecting operation when the shaft pin weight of the drill rod is less than a limited weight value, the power head is positioned at the lowest part of the mast, the luffing cylinder extends to the longest part and the mast is in contact with the mast raising cylinder, and stopping mast erecting operation when the inclination angle of the mast reaches a preset first inclination angle;
the operation is as follows: and controlling the mast oil cylinder and the mast raising oil cylinder to extend out of the mast to reach the first inclination angle.
6. The method of claim 5, wherein the step of controlling the vertical mast with drill pipe,
when the mast reaches a first inclination angle, whether the mast is in contact with a mast raising oil cylinder is detected, if not, the mast oil cylinder is independently controlled to continue extending until the mast reaches a vertical state.
7. The method of claim 5, further comprising: and providing a display screen operation mode, and receiving an operation instruction through a display screen, wherein the operation instruction controls the operation of the mast oil cylinder and the mast raising oil cylinder.
8. The method of claim 5, further comprising: and providing a handle operation mode, and receiving an operation instruction through a handle, wherein the operation instruction controls the operation of the mast oil cylinder and the mast lifting oil cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810466013.6A CN108708674B (en) | 2018-05-15 | 2018-05-15 | Control system and control method for vertical mast with drill rod of rotary drilling rig |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810466013.6A CN108708674B (en) | 2018-05-15 | 2018-05-15 | Control system and control method for vertical mast with drill rod of rotary drilling rig |
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| CN108708674B true CN108708674B (en) | 2020-08-04 |
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| US11274498B2 (en) * | 2020-08-11 | 2022-03-15 | Caterpillar Global Mining Equipment Llc | Drill mast locking system |
| CN112065288B (en) * | 2020-09-10 | 2022-11-01 | 上海中联重科桩工机械有限公司 | Mast verticality adjusting method and system and rotary drilling rig |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101787876B (en) * | 2009-12-30 | 2013-01-02 | 徐州世通重工机械制造有限责任公司 | Rollover protection system of rotary drilling rig |
| CN102108854A (en) * | 2010-12-24 | 2011-06-29 | 北京市三一重机有限公司 | Automatic anti-overturn control system and control method thereof for rotary drilling rig |
| CN103787197B (en) * | 2012-10-31 | 2015-09-23 | 徐工集团工程机械股份有限公司 | For control system and the hoisting crane of crane super lifting operating mode |
| CN203224226U (en) * | 2013-03-20 | 2013-10-02 | 山东山推机械有限公司 | A mast angle detecting apparatus of a rotary drilling rig |
| WO2017196291A1 (en) * | 2016-05-09 | 2017-11-16 | National Oilwell Varco, L.P. | Systems and methods for raising drilling rig assemblies |
| CN106704313B (en) * | 2016-12-16 | 2018-02-06 | 上海中联重科桩工机械有限公司 | Rotary drilling rig and mast hydraulic control system and mast raising/decline control method |
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