CN102465694A - Automatic reset system of rotary drilling rig - Google Patents

Abstract

The invention provides an automatic reset system for a rotary drilling rig, which includes: a state detector for detecting the current state parameters of the parallel linkage mechanism of the rotary drilling rig; a control device for: after receiving a reset command, set the The stored reset state parameter is compared with the current state parameter from the state detector, and under the condition that the comparison result is consistent, the movement of the parallel linkage mechanism is stopped; it is characterized in that the automatic reset system also It includes: a working range detector and a safety device connected thereto; the working range detector is used for: detecting the working range of the rotary drilling rig, and sending the detection result to the safety device, and the safety device uses In: comparing the detection result with a pre-stored operating range threshold, and stopping the movement of the parallel linkage mechanism when the detection result reaches the operating range threshold.

Description

Automatic Reset System of Rotary Drilling Rig

technical field

The invention relates to a rotary drilling rig in construction engineering machinery, in particular to the automatic reset of the rotary drilling rig for returning the excavating bucket to the original digging position through a parallel link mechanism when the excavating bucket is returned from the soil discharge position to the excavating position system.

Background technique

A rotary drilling rig is a machine that digs a vertical hole in the ground for foundation construction. Among the rotary drilling rigs, in addition to the type that hangs the excavation drill on the arm, there are also types that are equipped with a guide rod to raise and lower the working device to perform foundation excavation. . A rotary drilling rig equipped with a guide rod includes a parallel link mechanism 6 shown in FIG. 1 , which adjusts the position of the guide rod 5 in the horizontal direction while maintaining the attitude of the guide rod 5 on which the working equipment is attached. Details of the rotary drilling machine are described in detail later.

In the rotary drilling rig shown in FIG. 1 , during foundation excavation work, it is necessary to temporarily stop the excavation work when the bucket 25 is filled with excavated soil and discharge the excavated soil in the bucket 25 . Wherein, after lifting the excavating bucket 25 from the ground, the rotary drilling rig body is rotated, and soil is discharged to the ground next to the rotary drilling rig or to a prepared truck. At this time, the parallel link mechanism 6 is deformed to move the bucket 25 to a position away from the rotary drilling machine body. The movement due to the deformation of the parallel link mechanism 6 maintains the posture of the guide rod 5 and becomes a movement in the horizontal direction accompanying the movement in the vertical direction. Therefore, in order to return the bucket 25 to the center of the excavation again, it is necessary to perform the so-called aligning of the bucket 25 to the center of the excavation by rotating the rotary drilling machine and moving the guide rod 5 in the horizontal direction through the parallel link mechanism 6. core.

When core alignment is performed to return to the excavation center after the excavation of the bucket 25 , it is difficult for an operator who drives and operates the rotary drilling machine to return the position of the bucket 25 to the excavation center independently by visual inspection. That is, positioning by operating the parallel link mechanism 6 and moving the bucket 25 in the horizontal direction, since the bucket 25 and the center of the excavation coincide on a straight line, it is difficult for the operator to grasp the sense of distance between the front and rear. Difficult to confirm. Therefore, during the core alignment operation, it is necessary to stand beside the rotary drilling machine to confirm the positional relationship between the excavating bucket 25 and the excavation center. Dig center core. Therefore, when excavation is frequently performed to discharge soil, the operator has to receive instructions from his co-worker every time, which becomes a very troublesome operation.

In order to solve the above-mentioned problems, Patent Document 1 discloses an automatic reset system for a rotary drilling rig capable of restoring the parallel link mechanism to a specific original operating state. However, for the rotary drilling rig itself, due to considerations of stability or strength, there is a limit to the scope of operation when discharging soil. Existing rotary drilling rigs, when the automatic reset system breaks down and cannot work normally, may exceed the working range and cause accidents.

[Patent Document 1] JP Unexamined Publication No. 2005-97888

Contents of the invention

In order to solve the above-mentioned problems, the present invention is proposed, and its purpose is to provide an automatic reset system for a rotary drilling rig that can restore the parallel mechanism to a specific original operating state, to provide an action that can maintain the operating range limit, and to provide In the case of system malfunction, it can also ensure the function of not exceeding the scope of work.

In order to achieve the above object, the automatic reset system of the rotary drilling rig in the first form of the present invention has: a state detector for detecting the current state parameters of the parallel linkage mechanism of the rotary drilling rig; a control device for: receiving After the reset command, compare the stored reset state parameter with the current state parameter from the state detector, and stop the movement of the parallel linkage mechanism under the condition that the comparison result is consistent. The automatic reset system also includes: a working range detector and a safety device connected thereto, the working range detector is used to: detect the working range of the rotary drilling rig, and send the detection result to the safety device, The safety device is configured to: compare the detection result with a pre-stored operating range threshold, and stop the movement of the parallel linkage mechanism when the detection result reaches the operating range threshold.

In addition, in the automatic reset system according to the second aspect of the present invention, the control device and the safety device are respectively connected to control valves, and the control valves are arranged in oil for pushing the lifting cylinder of the parallel linkage mechanism. On the way, the control device and the safety device stop the lift cylinder by closing the oil passage through the control valve, thereby stopping the movement of the parallel linkage mechanism.

In addition, in the automatic reset system according to the third aspect of the present invention, the working range detector is a critical angle sensor, which is attached to the lifting boom constituting the parallel link mechanism, and detects that the lifting boom is The angle is sent to the security device as the detection result.

In addition, in the automatic reset system according to a fourth aspect of the present invention, the working range detector is a stroke sensor attached to the lift cylinder that operates the parallel link mechanism, and detects the stroke of the lift cylinder. As a detection result, it is sent to the security device.

According to the present invention, have following effect:

The automatic reset system of the present invention can prevent the rotary drilling machine from exceeding the safe operation area through the safety device, so safety can be ensured. Moreover, since the safety device and the control device work independently, even if the control device fails or is incorrectly set, it can be stopped safely before an accident occurs.

In addition, since the control device and the safety device in the automatic reset system are independent of each other, the control logic becomes simple, the cost is low, and the reliability can be improved. Furthermore, the safety device itself may utilize an inclination limiting device or the like of other industrial machines.

Description of drawings

Fig. 1 is an overall view of a rotary drilling rig having a guide rod.

Fig. 2 is a block diagram of the automatic reset system of the rotary drilling rig.

Fig. 3 is an excavation work drawing (excavation position) of the rotary drilling rig.

Fig. 4 is an excavation operation drawing (soil discharge position) of the rotary drilling rig.

Detailed ways

Hereinafter, an embodiment of an automatic reset system for a rotary drilling rig according to the present invention will be described with reference to the drawings.

First, FIG. 1 is an overall view of a rotary drilling rig having a guide rod. The rotary drilling rig 1 has a rotatable upper revolving body 3 on an undercarriage 2 capable of traveling by a crawler traction device. The upper revolving body 3 includes a cab, a hydraulic unit, and the like.

The upper rotating body 3 is provided with a parallel link mechanism 6, and the parallel link mechanism 6 is composed of the following parts: an elevating boom 11 and an elevating link 12 arranged in parallel to each other with one end supported by the upper rotating body 3 ; the triangle frame 13 that supports the other end of the lifting boom 11 and the lifting connecting rod 12 respectively; and the lifting cylinder 14 . The lift cylinder 14 is pivotally supported between the lift boom 11 and the upper revolving body 3, and the shape of the parallel link is changed by the expansion and contraction thereof. On the triangular frame 13 , the guide rod 5 is pivotally supported by a bracket protruding forward, and the other end of the back support cylinder 7 pivotally supported by the guide rod 5 at one end is also pivotally supported on the triangular frame 13 . Therefore, the guide rod 5 is supported from behind by the back support cylinder 7, and the guide rod 5 is brought into an upright state as shown in the figure by the extension operation of the back support cylinder 7, and becomes The state of lodging to the right side of the drawing, that is, the rear.

A driving device 21 as a working device is attached to the upright guide rod 5 in a manner that can be raised and lowered. That is, the guide rod 5 has guide pipes 15 in the axial direction on both left and right sides thereof, and the driving device 21 is mounted so as to be fitted into a guide rail 22 slidable with respect to the guide pipes 15 . The drive unit 21 outputs rotational torque from a hollow shaft, and a drill rod 23 is attached to pass through the hollow shaft to receive the rotational torque. In addition, a guide rail 24 is provided at the upper end of the drill rod 23 and slides on the guide pipe 15 so that the drill rod 23 moves up and down while being parallel to the guide rod 5 .

A sky pulley 16 is provided at the upper end of the guide rod 5 , and the drill pipe 23 is hoisted by the hoisting rope 17 sent through the sky pulley 16 . The hoisting rope 17 is fed out from a hoist provided on the upper rotating body 3, and the drill pipe 23 is sent out or pulled up in a descending direction by uncoiling or rewinding of the hoist. And, the excavation bucket 25 is attached to the lower end of the drill rod 23, and is filled with excavated soil while rotating the excavated ground.

An automatic reset system is installed on the rotary drilling rig 1, which returns the axis of the drill rod 23 to the center of the excavation hole after the excavation bucket 25 is moved during the excavation operation.

Next, the function of the automatic reset system of the rotary drilling rig 1 according to this embodiment will be described with reference to the drawings. First, the rotary drilling rig 1 performs earth-boring excavation work as follows. 3 and 4 are schematic diagrams showing the earth-boring excavation work.

In the earth-boring excavation work, first, the bushing 26 is arranged at an excavation position for inserting the bucket 25 therein. Then, the rotary drilling rig 1 enters the working position by running the undercarriage 2 . Positioning of the guide rod 5 is then carried out in the rotary drilling rig 1 so that the bucket 25 enters the casing 26 . That is, the inclination angle of the parallel link mechanism 6 is adjusted by the telescopic operation of the lifting cylinder 14 to determine the position of the guide rod 5 in the horizontal direction. In addition, the guide rod 5 is adjusted to a vertically erect state by the telescopic operation of the back support cylinder 7 .

After the guide rod 5 is positioned in this way, the drill rod 23 is vertically lowered along the guide rod 5, and the excavating bucket 25 at the lower end enters the sleeve pipe 26, and the foundation is excavated while the excavating bucket 25 is rotated. When the excavated soil fills the bucket 25, the drill pipe 23 is pulled up. The drill rod 23 is raised until the bucket 25 is pulled out from the bushing 26, and then the upper rotating body 3 is rotated to move the bucket 25 to the soil discharge position. Assume that the soil discharge position at this time is the rear of the rotary drilling rig 1 as shown in FIG. 4 . Therefore, the upper rotating body 3 rotates 180 degrees, and the excavating bucket 25 moves to the rear, where the excavating bucket 25 is opened to discharge the soil therein. Thereafter, it is rotated in the reverse direction, so that the bucket 25 can be inserted into the bushing 26 again, and positioning for returning to the center of excavation is required.

When excavating soil by bucket 25 , by changing the inclination angle of parallel link mechanism 6 to move horizontally while revolving upper body 3 rotates, bucket 25 discharges soil over a wide range away from revolving upper body 3 . Therefore, returning to the excavation center requires not only the rotation of the rotary drilling rig upper rotating body 3 but also the positioning of the parallel link mechanism 6 in the horizontal direction. The direction of rotation can be relatively easily determined by the operator's line of sight. However, positioning of the guide rod 5 in the front-rear direction of the upper revolving body 3 is relatively difficult, and in this embodiment, it is automatically performed by the automatic reset system shown in FIG. 2 .

Fig. 2 is a block diagram showing an automatic reset system of the rotary drilling rig. The automatic reset system of this embodiment controls the position of the guide rod 5 in the horizontal direction, and particularly detects the angle of the lifting boom 11 constituting the parallel link mechanism 6 to control the extension and contraction of the lifting cylinder 14 .

In the automatic reset system, an angle sensor 32 installed on the lifting boom 11 is connected to the control device 31 provided on the rotary drilling rig 1 to obtain angle information of the parallel linkage mechanism 6 .

Inside the cab, there is an elevating rod 33 for the operator to directly operate the parallel link mechanism 6 . Moreover, a pile core reset switch 34 and an automatic stop switch 35 are provided, and they are respectively connected with the control device 31 . The core reset switch 34 sends a signal for storing the value of the angle sensor 32 of the lifting boom 11 to the control device 31, and the automatic stop switch 35 sends a signal for performing automatic reset. Also, a program for executing automatic reset is stored in the control device 31 .

In this rotary drilling rig, the operator controls the hydraulic pressure by manipulating the lifting lever 33 in the cab, and supplies the driving oil from the pump to the lifting cylinder 14 through the hydraulic circuit, or cuts off the supply of the driving oil, thereby adjusting the lifting pressure. The expansion and contraction of the cylinder 14 adjusts the operating state of the parallel link mechanism 6 , that is, the inclination angle. This oil pressure control is performed by a control valve provided on the upper revolving body 3 , and the control valve is provided on a drive oil circuit between the pump and the lift cylinder 14 . Next, the guide rod reset process based on this automatic reset system will be described.

First, when the operator pulls the excavating bucket 25 out of the bushing 26 , he presses the core reset switch 34 in order to determine the reset state related to the parallel linkage mechanism 6 . At this time, an operation state storage signal is sent from the core reset switch 34 to the control device 31 . When receiving the operation state storage signal, the control device 31 stores the current operation state of the parallel link mechanism 6 based on the signal sent from the angle sensor 32 at that time.

Thereafter, the drill rod 23 is raised to pull the bucket 25 out of the bushing 26, and then the tilt angle of the parallel link mechanism 6 is changed while the upper rotating body 3 is rotated to move the bucket 25 to the soil discharge position and Perform soil dumping. After the soil is discharged, the upper rotating body 3 is reversely rotated to the original position.

Next, positioning is performed to return the guide rod 5 to the center of the excavation. At this time, the operator presses the automatic stop switch 35 to send an automatic stop signal to the control device 31, and manipulates the lifting lever 33 in the cab.

After receiving the automatic stop signal, the control device 31 compares the operating state based on the state signal periodically sent from the angle sensor 32 with the operating state stored in the control device 31, and automatically activates the parallel link mechanism when the two are consistent. The telescopic action of the lifting cylinder 14 of 6 stops. As a result, the parallel link mechanism 6 returns to the reset state stored by the control device 31 , realizing the positioning of the guide rod 5 in the horizontal direction.

In addition, as shown in FIG. 2 , the automatic reset system of the rotary drilling rig also has a boundary angle sensor 36 and a safety device 37 . The boundary angle sensor 36 is installed on the elevating boom 11 and sends detection signals to the safety device 37 periodically. The safety device 37 pre-stores the operating range threshold, and compares the operating range threshold with the range determined according to the detection signal of the boundary angle sensor 36, and when the range determined according to the detection signal of the boundary angle sensor 36 reaches the pre-stored When the operating range threshold is reached, the safety device 37 performs hydraulic control to control the supply/cutoff of the driving oil of the lifting cylinder 14 of the parallel linkage mechanism 6 in the hydraulic circuit, and stops the telescopic movement of the lifting cylinder 14, thereby stopping Increased working radius.

Therefore, according to the automatic reset system of the rotary drilling rig of this embodiment, when the excavation is interrupted to discharge soil, the operation state during excavation is stored in the control system for the parallel link mechanism 6 based on the detection signal sent from the angle sensor 32. In the device 31, when returning to the excavation state after soil discharge, the operation of the parallel link mechanism 6 can be automatically stopped in the stored operation state, and the operator can operate without receiving instructions from the partner. At this time, the operator can perform core alignment by simply operating the pile core return switch 34 and the automatic stop switch 35 in addition to the conventional operation of the elevating rod 33 .

In addition, according to the automatic reset system of the rotary drilling rig of this embodiment, even if the control device fails or is incorrectly set, the hydraulic control of the safety device can prevent the working radius of the rotary drilling rig from exceeding the working range, thereby Prevent accidents from happening.

As mentioned above, although one embodiment of the automatic reset system of the rotary drilling machine of this invention was demonstrated, this invention is not limited to this, In the range which does not deviate from the summary, various changes are possible.

For example, in the above-described embodiment, the angle sensor 32 is used to determine the operating state of the parallel link mechanism 6 during excavation, but in addition, the stroke sensor that detects the stroke of the lift cylinder 14 may be used to determine the operating state of the parallel link mechanism 6 . 6 action states.

In addition, in the above embodiment, the safety device 37 determines the working range according to the detection signal from the boundary angle sensor 36 installed on the elevating boom 11 constituting the parallel linkage mechanism 6, However, the safety device 37 can also determine the working range according to the stroke sensor installed on the lift cylinder 14 that makes the parallel link mechanism 6 move.

To sum up, according to the automatic reset system of the rotary drilling rig of the present invention, the safety device can prevent the rotary drilling rig from exceeding the safe operation area, thus ensuring safety. Moreover, since the safety device and the control device work independently, even if the control device fails or is incorrectly set, it can be stopped safely before an accident occurs.

In addition, since the control device and the safety device in the automatic reset system are independent of each other, the control logic becomes simple, the cost is low, and the reliability can be improved. Furthermore, the safety device itself may utilize an inclination limiting device or the like of other industrial machines.

As mentioned above, although the specific embodiment of this invention was described, it is clear for those skilled in the art that various corrections and changes can be added in the range which does not deviate from the summary of this invention.

Claims (4)

1. An automatic reset system for a rotary drilling rig, comprising: The state detector is used to detect the current state parameters of the parallel linkage mechanism of the rotary drilling rig; The control device is used to: compare the stored reset state parameters with the current state parameters from the state detector after receiving the reset command, and stop the parallel connecting rods under the condition that the comparison results are consistent movement of the institution; It is characterized in that, The automatic reset system also includes: a working range detector and a safety device connected thereto; The operating range detector is configured to: detect the operating range of the rotary drilling rig, and send the detection result to the safety device, The safety device is configured to: compare the detection result with a pre-stored operating range threshold, and stop the movement of the parallel linkage mechanism when the detection result reaches the operating range threshold. 2. The automatic reset system according to claim 1, characterized in that, The control device and the safety device are respectively connected with a control valve, and the control valve is arranged on the oil circuit for pushing the lifting cylinder of the parallel linkage mechanism, and the control device and the safety device are respectively connected through the The control valve shuts off the oil passage to stop the lift cylinder, thereby stopping the movement of the parallel link mechanism. 3. The automatic reset system according to claim 1 or 2, characterized in that, The working range detector is a critical angle sensor, which is installed on the lifting boom constituting the parallel linkage mechanism, detects the angle of the lifting boom as a detection result, and sends it to the safety device. 4. The automatic reset system according to claim 1 or 2, characterized in that, The working range detector is a stroke sensor, which is installed on the lift cylinder that operates the parallel link mechanism, detects the stroke of the lift cylinder as a detection result, and sends it to the safety device.

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