CN112780251B - Drilling machine rotating speed monitoring system, control method and application method - Google Patents
Drilling machine rotating speed monitoring system, control method and application method Download PDFInfo
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- CN112780251B CN112780251B CN202110172102.1A CN202110172102A CN112780251B CN 112780251 B CN112780251 B CN 112780251B CN 202110172102 A CN202110172102 A CN 202110172102A CN 112780251 B CN112780251 B CN 112780251B
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000005553 drilling Methods 0.000 title claims abstract description 35
- 238000012544 monitoring process Methods 0.000 title claims abstract description 16
- 230000001133 acceleration Effects 0.000 claims description 56
- 238000007667 floating Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 4
- 230000007306 turnover Effects 0.000 claims description 2
- 239000003245 coal Substances 0.000 abstract description 2
- 238000010248 power generation Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
-
- 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
- E21B45/00—Measuring the drilling time or rate of penetration
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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
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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 application discloses a drilling machine rotating speed monitoring system, a control method and an application method, which relate to the field of coal mine machinery and comprise a rotating mechanism, wherein the rotating mechanism comprises a rotating disc, and N magnets are arranged on the rotating disc; the rotating speed sensor comprises a bracket and a sensor body, the bracket is vertically arranged at the bottom of the rotary mechanism, the sensor body is vertically arranged on the bracket, and the top end of the sensor body is opposite to the magnet of the rotary disk; and the processor is internally provided with a rotating speed threshold value for controlling the rotating speed of the slewing mechanism. The application calculates the rotating speed of the slewing mechanism of the drilling machine by detecting the magnet through the rotating speed sensor, has simple structure and easy realization, and can be used for monitoring the operation process of unscrewing the drill rod by the double holders, thereby reducing the probability of drilling machine accidents in the screw thread disassembling process.
Description
Technical Field
The application relates to the field of coal mine machinery, in particular to a drilling machine rotating speed monitoring system, a control method and an application method.
Background
When the drilling machine drills in the construction process, the rotating speed of the equipment is required to be adjusted according to different drilling media and drilling machine loads, and if the same automatic control drilling machine wants to keep high-efficiency operation in the drilling process, parameters such as the rotating speed in the drilling process are required to be collected, and the operation state of the equipment is automatically adjusted according to parameter changes so as to achieve maximum operation efficiency.
In the prior art, a rotation speed detection method is disclosed, wherein a friction power generation module is arranged in a rotation mechanism, and a circuit board is arranged in the whole system to detect power generation frequency and calculate the rotation speed of a drilling tool according to the power generation frequency. The technical scheme has the following problems:
the friction power generation module of the slewing mechanism occupies a larger space, the part layout structure of the friction power generation module is more complex, and the rotating speed precision is lower. Meanwhile, when the drilling machine is used for disassembling the drill rods by using the double-holder structure, screw threads between the two drill rods are unscrewed through relative rotation between the two holders, if the holder slips slip occurs when the screw threads between the two drill rods are unscrewed, equipment faults are prone to occurring when the screw threads between the two drill rods cannot be unscrewed, equipment operation efficiency is reduced, and equipment damage is even caused.
Disclosure of Invention
In order to solve the problems in the prior art, the application discloses a drilling machine rotating speed detection system, a control method and an application method, the problem that the rotating speed precision is difficult to determine is solved through the structural design of a sensor and a rotating mechanism, meanwhile, the rotating mechanism is controlled through the rotating speed and the rotating acceleration, and the safety and the stability of the drilling machine are improved.
According to one aspect of the application, a drill speed monitoring system comprises: the rotary mechanism comprises a rotary disc, and N magnets are arranged on the rotary disc; the rotating speed sensor comprises a bracket and a sensor body, the bracket is vertically arranged at the bottom of the rotary mechanism, the sensor body is vertically arranged on the bracket, and the top end of the sensor body is opposite to the magnet of the rotary disk; and the processor is internally provided with a rotating speed threshold value for controlling the rotating speed of the slewing mechanism.
Further optionally, the rig speed detection system further comprises a floating gripper and a fixed gripper.
Further optionally, the rotation speed sensor records a time difference t between every two magnets N 。
According to one aspect of the application, a method of controlling rotational speed of a drilling machine includes: n magnets are arranged on a rotary disc of the rotary mechanism, and a rotating speed sensor is arranged on the chassis, so that the sensor can detect magnet signals; when the slewing mechanism rotates, the time difference t of every two magnet signals is recorded by the rotating speed sensor N Each time difference t N 360 °/N, the swing mechanismOne rotation takes a period of N time differences t N Sum ofThe processor calculates the real-time rotation speed w of the slewing mechanism as divided by +/per minute>The processor simultaneously records the time difference t between adjacent circles x The rotational acceleration of the slewing mechanism is obtained as +.>Judging whether the rotation acceleration of the slewing mechanism is within an acceleration threshold range, if not, reducing the rotating speed; if not, judging whether the real-time rotating speed w of the slewing mechanism is within a rotating speed threshold range or not; if not, the rotation speed is reduced.
Further optionally, the step of determining whether the rotational acceleration of the slewing mechanism is within an acceleration threshold range, and if not, reducing the rotational speed includes: when the rotational acceleration exceeds 10% of the upper limit of the acceleration threshold, the processor controls the slewing mechanism to reduce the rotating speed by 5%; when the rotational acceleration exceeds 20% of the upper limit of the acceleration threshold, the processor controls the slewing mechanism to reduce the rotating speed by 20%; when the rotation acceleration exceeds 50% of the upper limit of the acceleration threshold value, the processor controls the slewing mechanism to stop rotating; when the rotational acceleration is lower than 10% of the lower limit of the acceleration threshold, the processor controls the slewing mechanism to increase the rotating speed by 15%; when the rotational acceleration is lower than 20% of the lower limit of the acceleration threshold, the processor controls the slewing mechanism to increase the rotating speed by 40%; and when the rotation acceleration is lower than 50% of the lower limit of the acceleration threshold value, the processor controls the slewing mechanism to stop rotating.
Further optionally, the step of determining whether the real-time rotation speed w of the slewing mechanism is within a rotation speed threshold range, and if not, reducing the rotation speed includes: when the real-time rotating speed exceeds 10% of the upper limit of the rotating speed threshold, the processor controls the rotating mechanism to reduce the rotating speed by 10%; when the real-time rotating speed exceeds 20% of the upper limit of the rotating speed threshold, the processor controls the rotating mechanism to reduce the rotating speed by 30%; when the real-time rotating speed exceeds 60% of the upper limit of the rotating speed threshold, the processor controls the slewing mechanism to stop rotating; when the real-time rotating speed is lower than 10% of the lower limit of the rotating speed threshold, the processor controls the rotating mechanism to increase the rotating speed by 20%; when the real-time rotating speed is lower than 20% of the lower limit of the rotating speed threshold, the processor controls the rotating mechanism to increase the rotating speed by 50%; and when the real-time rotating speed is lower than 60% of the lower limit of the acceleration threshold value, the processor controls the slewing mechanism to stop rotating.
According to one aspect of the application, a method for applying rotational speed monitoring of a drilling machine is characterized by comprising: n magnets are arranged on a rotary disc of the rotary mechanism, and a rotating speed sensor is arranged on the chassis, so that the sensor can detect magnet signals; when the slewing mechanism rotates, the time difference t of every two magnet signals is recorded by the rotating speed sensor N Each time difference t N The rotation angle of (2) is 360 DEG/N; the processor controls the clamping and fixing clamp holder and the floating clamp holder to turn over, drives the drill rod and the rotary mechanism to reversely rotate, and loosens threads between the drill rod and the drill rod; and judging the number N of time differences recorded by the rotating speed sensor in the process of reverse rotation, and if N is smaller than the threshold value of the number of time differences, judging that a slipping phenomenon exists between the clamps, and stopping the slewing mechanism.
The application has the beneficial effects that:
the application calculates the rotating speed of the slewing mechanism of the drilling machine by detecting the magnet through the rotating speed sensor, has simple structure and easy realization, and can be used for monitoring the operation process of unscrewing the drill rod by the double holders, thereby reducing the probability of drilling machine accidents in the screw thread disassembling process. Through combining rotational speed and rotation acceleration cooperative control rig's rotational speed, reduce the condition that the rig stuck the drill in the drilling process, through rotational speed sensor and magnet complex design, improved rotation angle recognition accuracy to this has solved the problem that the holder stuck the drill.
Drawings
Fig. 1 shows a schematic structural diagram of a system for monitoring the rotational speed of a drilling machine according to the present application.
Detailed Description
The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those of ordinary skill in the art to better understand and thus practice the teachings of the present application, and are not meant to imply any limitation on the scope of the application.
As used herein, the term "comprising" and variants thereof are to be interpreted as meaning "including but not limited to" open-ended terms. The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment. The term "another embodiment" is to be interpreted as "at least one other embodiment".
Example 1
As shown in fig. 1, the present embodiment will clearly and completely describe the technical solution, and the described embodiment is only a part of embodiments, but not all embodiments of the present application. The embodiment discloses rig rotational speed monitoring system, it mainly includes:
the rotary mechanism comprises a rotary disc on which N magnets are arranged, in this embodiment preferably n=72, i.e. 72 magnets are evenly distributed at the rotary disc of the rotary mechanism.
The rotating speed sensor comprises a support and a sensor body, the support is vertically arranged at the bottom of the rotary mechanism, the sensor body is vertically arranged on the support, and the top end of the sensor body is opposite to the magnet of the rotary disk.
The processor is internally provided with a rotating speed threshold value for controlling the rotating speed of the slewing mechanism.
The clamp assembly includes a floating clamp and a fixed clamp.
When the slewing mechanism rotates, the time difference t of every two magnet signals is recorded by the rotating speed sensor N Each time difference rotating mechanism rotates 5 degrees, the average time of each circle is 72 time differences, and the time of one circle of rotating mechanism rotates is 72 time differences t N Sum ofThe processor calculates the real-time rotation speed w of the slewing mechanism as divided by +/per minute>
According to the embodiment, the rotating speed of the slewing mechanism of the drilling machine is calculated through the detecting magnet of the rotating speed sensor, the structure is simple and easy to realize, meanwhile, the device can be used for monitoring the operation process of unscrewing the drill rod by the double holders, and the probability of drilling machine accidents in the screw thread disassembling process is reduced. Through combining rotational speed and rotation acceleration cooperative control rig's rotational speed, reduce the condition that the rig stuck the drill in the drilling process, through rotational speed sensor and magnet complex design, improved rotation angle recognition accuracy to this has solved the problem that the holder stuck the drill.
Example 2
As shown in fig. 1, the present embodiment will clearly and completely describe the technical solution, and the described embodiment is only a part of embodiments, but not all embodiments of the present application. The embodiment discloses a drilling machine rotating speed control method, which mainly comprises the following steps:
72 magnets are arranged on a rotary disc of the rotary mechanism, and a rotating speed sensor is arranged on the chassis, so that the sensor can detect a magnet signal;
when the slewing mechanism rotates, the time difference t of every two magnet signals is recorded by the rotating speed sensor N Each time difference t N The rotation angle of the rotary mechanism is 5 DEG, and the time for one rotation of the rotary mechanism is N time differences t N Sum ofThe processor calculates the real-time rotation speed w of the slewing mechanism as divided by +/per minute>The processor simultaneously records the time difference t between adjacent circles x The rotational acceleration of the slewing mechanism is obtained as +.>
Judging whether the rotation acceleration of the slewing mechanism is within an acceleration threshold range, if not, reducing the rotating speed; the specific rotating speed mode comprises the following steps:
when the rotational acceleration exceeds 10% of the upper limit of the acceleration threshold, the processor controls the slewing mechanism to reduce the rotating speed by 5%; when the rotational acceleration exceeds 20% of the upper limit of the acceleration threshold, the processor controls the slewing mechanism to reduce the rotating speed by 20%; when the rotation acceleration exceeds 50% of the upper limit of the acceleration threshold value, the processor controls the slewing mechanism to stop rotating;
when the rotational acceleration is lower than 10% of the lower limit of the acceleration threshold, the processor controls the slewing mechanism to increase the rotating speed by 15%; when the rotational acceleration is lower than 20% of the lower limit of the acceleration threshold, the processor controls the slewing mechanism to increase the rotating speed by 40%; and when the rotation acceleration is lower than 50% of the lower limit of the acceleration threshold value, the processor controls the slewing mechanism to stop rotating.
Judging whether the real-time rotating speed w of the slewing mechanism is within a rotating speed threshold range, if not, reducing the rotating speed, wherein the specific rotating speed reducing mode comprises the following steps of:
when the real-time rotating speed exceeds 10% of the upper limit of the rotating speed threshold, the processor controls the rotating mechanism to reduce the rotating speed by 10%; when the real-time rotating speed exceeds 20% of the upper limit of the rotating speed threshold, the processor controls the rotating mechanism to reduce the rotating speed by 30%; when the real-time rotating speed exceeds 60% of the upper limit of the rotating speed threshold, the processor controls the slewing mechanism to stop rotating;
when the real-time rotating speed is lower than 10% of the lower limit of the rotating speed threshold, the processor controls the rotating mechanism to increase the rotating speed by 20%; when the real-time rotating speed is lower than 20% of the lower limit of the rotating speed threshold, the processor controls the rotating mechanism to increase the rotating speed by 50%; and when the real-time rotating speed is lower than 60% of the lower limit of the acceleration threshold value, the processor controls the slewing mechanism to stop rotating.
According to the embodiment, the rotating speed of the slewing mechanism of the drilling machine is calculated through the detecting magnet of the rotating speed sensor, the structure is simple and easy to realize, meanwhile, the device can be used for monitoring the operation process of unscrewing the drill rod by the double holders, and the probability of drilling machine accidents in the screw thread disassembling process is reduced. Through combining rotational speed and rotation acceleration cooperative control rig's rotational speed, reduce the condition that the rig stuck the drill in the drilling process, through rotational speed sensor and magnet complex design, improved rotation angle recognition accuracy to this has solved the problem that the holder slipped.
Example 3
As shown in fig. 1, the present embodiment will clearly and completely describe the technical solution, and the described embodiment is only a part of embodiments, but not all embodiments of the present application. The embodiment discloses a drilling machine rotating speed application method, which mainly comprises the following steps:
72 magnets are arranged on a rotary disc of the rotary mechanism, and a rotating speed sensor is arranged on the chassis, so that the sensor can detect a magnet signal;
when the slewing mechanism rotates, the time difference t of every two magnet signals is recorded by the rotating speed sensor N Each time difference t N Is 5 deg.. The processor controls the fixed clamp holder to execute clamping operation, the floating clamp holder is loosened, the reversing mechanism is reversed, the rotation fixing angle of the floating clamp holder in the double clamp holders is 20 degrees, the minimum reversing angle of unscrewing of threads between drill rods is 15 degrees, in the reversing process of the floating clamp holder clamping the drill rods, the situation that slip slipping phenomenon occurs in the unscrewing process of the double clamp holders can be judged as long as the frequency of the proximity switch sensing a magnet signal is less than 3 times, the possibility that threads are not unscrewed exists between the drill rods can be judged, and the system needs to be suspended and manually processed.
The above description is only illustrative of the preferred embodiments of the present application and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the application referred to in the present application is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present application (but not limited to) having similar functions are replaced with each other.
It should be understood that, the sequence numbers of the steps in the summary and the embodiments of the present application do not necessarily mean the order of execution, and the execution order of the processes should be determined by the functions and the internal logic, and should not be construed as limiting the implementation process of the embodiments of the present application.
Claims (4)
1. An application method for monitoring the rotation speed of a drilling machine is characterized in that,
be applied to rig rotational speed detecting system, rig rotational speed detecting system includes:
the rotary mechanism comprises a rotary disc, and N magnets are arranged on the rotary disc;
the rotating speed sensor comprises a bracket and a sensor body, the bracket is vertically arranged at the bottom of the rotary mechanism, the sensor body is vertically arranged on the bracket, and the top end of the sensor body is opposite to the magnet of the rotary disk; the processor is internally provided with a rotating speed threshold value and is used for controlling the rotating speed of the slewing mechanism;
the drilling machine rotating speed detection system also comprises a floating clamp holder and a fixed clamp holder;
the rotation speed sensor records the time difference t between every two magnets N ；
The application method of the drilling machine rotating speed monitoring comprises the following steps:
n magnets are arranged on a rotary disc of the rotary mechanism, and a rotating speed sensor is arranged on the chassis, so that the sensor can detect magnet signals;
when the slewing mechanism rotates, the time difference t of every two magnet signals is recorded by the rotating speed sensor N Each time difference t N The rotation angle of (2) is 360 DEG/N;
the processor controls the clamping and fixing clamp holder and the floating clamp holder to turn over, drives the drill rod and the rotary mechanism to reversely rotate, and loosens threads between the drill rod and the drill rod;
and judging the number N of time differences recorded by the rotating speed sensor in the process of reverse rotation, and if N is smaller than the threshold value of the number of time differences, judging that a slipping phenomenon exists between the clamps, and stopping the slewing mechanism.
2. A method for monitoring the rotational speed of a drilling machine according to claim 1,
when the slewing mechanism rotates, the time difference t of every two magnet signals is recorded by the rotating speed sensor N Each time difference t N The rotation angle of the rotary mechanism is 360 degrees/N, and the time for one rotation of the rotary mechanism is N time differences t N Sum ofThe processor calculates the real-time rotation speed w of the slewing mechanism as divided by +/per minute>The processor simultaneously records the time difference t between adjacent circles x The rotational acceleration of the slewing mechanism is obtained as +.>
Judging whether the rotation acceleration of the slewing mechanism is within an acceleration threshold range, if not, reducing the rotating speed; and judging whether the real-time rotating speed w of the slewing mechanism is within a rotating speed threshold range, and if not, reducing the rotating speed.
3. The method according to claim 2, wherein the step of determining whether the rotational acceleration of the slewing mechanism is within an acceleration threshold range, and if not, reducing the rotational speed comprises:
when the rotational acceleration exceeds 10% of the upper limit of the acceleration threshold, the processor controls the slewing mechanism to reduce the rotating speed by 5%;
when the rotational acceleration exceeds 20% of the upper limit of the acceleration threshold, the processor controls the slewing mechanism to reduce the rotating speed by 20%;
when the rotation acceleration exceeds 50% of the upper limit of the acceleration threshold value, the processor controls the slewing mechanism to stop rotating;
when the rotational acceleration is lower than 10% of the lower limit of the acceleration threshold, the processor controls the slewing mechanism to increase the rotating speed by 15%;
when the rotational acceleration is lower than 20% of the lower limit of the acceleration threshold, the processor controls the slewing mechanism to increase the rotating speed by 40%;
and when the rotation acceleration is lower than 50% of the lower limit of the acceleration threshold value, the processor controls the slewing mechanism to stop rotating.
4. The method for monitoring the rotational speed of a drilling machine according to claim 3, wherein the step of determining whether the real-time rotational speed w of the slewing mechanism is within a rotational speed threshold range, and if not, reducing the rotational speed comprises:
when the real-time rotating speed exceeds 10% of the upper limit of the rotating speed threshold, the processor controls the rotating mechanism to reduce the rotating speed by 10%;
when the real-time rotating speed exceeds 20% of the upper limit of the rotating speed threshold, the processor controls the rotating mechanism to reduce the rotating speed by 30%;
when the real-time rotating speed exceeds 60% of the upper limit of the rotating speed threshold, the processor controls the slewing mechanism to stop rotating; when the real-time rotating speed is lower than 10% of the lower limit of the rotating speed threshold, the processor controls the rotating mechanism to increase the rotating speed by 20%;
when the real-time rotating speed is lower than 20% of the lower limit of the rotating speed threshold, the processor controls the rotating mechanism to increase the rotating speed by 50%;
and when the real-time rotating speed is lower than 60% of the lower limit of the acceleration threshold value, the processor controls the slewing mechanism to stop rotating.
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| CN202110172102.1A CN112780251B (en) | 2021-02-08 | 2021-02-08 | Drilling machine rotating speed monitoring system, control method and application method |
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| CN202110172102.1A CN112780251B (en) | 2021-02-08 | 2021-02-08 | Drilling machine rotating speed monitoring system, control method and application method |
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| CN112780251B true CN112780251B (en) | 2023-09-19 |
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