CN-122014206-A - Large-aperture deep hole raise boring machine and integrated electrohydraulic cooperative control system thereof

CN122014206ACN 122014206 ACN122014206 ACN 122014206ACN-122014206-A

Abstract

The invention discloses a large-aperture deep hole raise boring machine and an integrated electrohydraulic cooperative control system thereof, and relates to the technical field of raise boring machines. The invention comprises a whole machine mechanism of a raise boring machine and an integrated electrohydraulic cooperative control system, wherein the whole machine mechanism of the raise boring machine comprises a frame assembly, the frame assembly is used as a device bearing matrix, and a power system, a travelling mechanism, a power head assembly, a manipulator assembly, a lubricating system, a double-power station unit, a hydraulic system, an electric system and an operating platform are fixedly integrated on the frame assembly. The invention adopts the high integration and modularization design of the whole machine, integrates the core function assembly on the frame assembly, has compact structure and is suitable for a narrow underground operation space, simultaneously, the standardized modularization design of each assembly greatly reduces the underground operation and maintenance difficulty and the maintenance cost, and innovatively adopts the framework of combining independent division and dynamic synergy of the double power stations, and provides independent power for feeding and rotating actions through the first power station and the second power station.

Inventors

LI ENTAO
Lu Xianzeng
ZHANG XIAOYONG
ZHANG XINGBO
ZHAO JIA
WANG XUEJIAN
GAO XIAOWEI

Assignees

四川辰鹤建筑工程有限公司

Dates

Publication Date: 20260512
Application Date: 20260327

Claims (10)

1. The large-aperture deep hole raise boring machine and the integrated electrohydraulic cooperative control system thereof comprise a raise boring machine complete machine mechanism (1) and the integrated electrohydraulic cooperative control system (2), and are characterized in that the raise boring machine complete machine mechanism (1) comprises a frame assembly (11), wherein the frame assembly (11) is used as a device bearing matrix, a power system (12), a traveling mechanism (13), a power head assembly (14), a manipulator assembly (15), a lubricating system (16), a double-power station unit (17), a hydraulic system (18), an electric system (19) and an operating table (110) are fixedly integrated on the frame assembly (11), and the power output end of the power system (12) is respectively in transmission connection with the double-power station unit (17), the traveling mechanism (13) and the power head assembly (14); The integrated electrohydraulic cooperative control system (2) comprises a central controller (21), and an electric control subsystem (22), a hydraulic execution subsystem (23) and an all-condition monitoring unit (24) which are electrically connected with the central controller (21) in a bidirectional manner, wherein the electric control subsystem (22) is integrated with the electric system (19) in hardware, the hydraulic execution subsystem (23) is integrated with the hydraulic system (18) in hardware, and the central controller (21) realizes closed-loop cooperative control of the electric control subsystem (22) and the hydraulic execution subsystem (23) through real-time feedback data of the all-condition monitoring unit (24); The electric control subsystem (22) comprises a power control module (2201), an operation interaction module (2202), a safety protection module (2203) and a data acquisition module (2204), wherein the power control module (2201) is electrically connected with a power system (12) and a double-power station unit (17) and is used for adjusting power output and start-stop control, the operation interaction module (2202) comprises an operation table (110) and a driving operation panel assembly and is used for receiving a user control instruction, the safety protection module (2203) is integrated with an emergency stop protection unit, an electric overload protection unit, a leakage protection unit and a hydraulic working condition protection unit and is used for realizing full-working condition redundancy safety protection, and the data acquisition module (2204) is electrically connected with a full-working condition monitoring unit (24) and is used for acquiring real-time operation parameters of equipment; The hydraulic execution subsystem (23) comprises a feeding hydraulic circuit (2301), a rotary hydraulic circuit (2302), a walking hydraulic circuit (2303) and an auxiliary action hydraulic circuit (2304) which are mutually independent and can be cooperatively matched, wherein the feeding hydraulic circuit (2301) and the rotary hydraulic circuit (2302) are respectively communicated with two power stations of the double-power station unit (17) in one-to-one correspondence, each hydraulic circuit is provided with an electric proportional control valve group, a pressure sensor and a flow sensor, the control end of the electric proportional control valve group is electrically connected with the central controller (21), and the signal ends of the pressure sensor and the flow sensor are electrically connected with the data acquisition module (2204) to form single-circuit closed-loop control.
2. The large-aperture deep hole raise boring machine and integrated electrohydraulic cooperative control system thereof according to claim 1, wherein the double power station unit (17) comprises a first power station (1701) and a second power station (1702) which are arranged in parallel, the output end of the first power station (1701) is communicated with a feed pump station assembly of a feed hydraulic circuit (2301) to provide hydraulic power for feeding and auxiliary actions of the boring machine, the output end of the second power station (1702) is communicated with a rotary pump station assembly of a rotary hydraulic circuit (2302) to provide hydraulic power for rotary actions of the boring machine, a converging block is arranged between the first power station (1701) and the second power station (1702), an electric proportional overflow valve is arranged on the converging block, and the control end of the electric proportional overflow valve is electrically connected with a central controller (21) to realize dynamic power converging and load distribution of the double power stations.
3. The deep hole and the integrated electro-hydraulic cooperative control system of the deep hole and the electric well drilling machine are characterized in that the electric system (19) comprises an electric control box assembly, a driving operation panel assembly, an electric control cabinet assembly, a junction box assembly, an electric element and a wire harness installation assembly, wherein an intermediate relay, a wiring terminal group, a safety terminal group, a relay and a power failure delay relay are integrated in the electric control box assembly to serve as a field control unit of an electric control subsystem (22), a key switch, an emergency stop button, a selection switch, an indicator lamp group, a fuel gauge and a hand throttle knob are integrated on the driving operation panel assembly and electrically connected with an operation interaction module (2202), 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 are integrated in the electric control cabinet assembly to serve as core hardware of a power control module (2201) and a safety protection module (2203), and a wiring terminal group and a grounding terminal group are integrated in the electric control cabinet assembly to serve as core hardware of a downhole field.
4. The large-aperture deep hole raise boring machine and integrated electrohydraulic cooperative control system thereof according to claim 1, characterized in that a feed hydraulic circuit (2301) of the hydraulic system (18) comprises a feed pump station assembly, a rod changing control valve bank, a gear pump, an electric proportional overflow valve, a stop valve and a variable pump are integrated in the feed pump station assembly, the rotary hydraulic circuit (2302) comprises a rotary pump station pipe distribution assembly, an electromagnetic reversing valve bank, an oil return filter, an oil suction filter, a cooler, a gear pump, a variable pump, a high-pressure filter and a counter-proportion overflow valve bank are integrated in the rotary pump station pipe distribution assembly, an electromagnetic reversing valve bank, a balance valve, a supporting cylinder, a propelling cylinder, a clamping cylinder, a swinging cylinder, a turning cylinder and an energy accumulator are integrated in the machine head pipe distribution assembly, and a supporting leg cylinder, an amplitude changing cylinder, a traveling multi-way valve, a variable motor, a speed reducer, an oil return valve bank and a variable pump are integrated in the traveling pipe distribution assembly.
5. The deep hole and the integrated electro-hydraulic cooperative control system thereof according to claim 1, wherein the full-working condition monitoring unit (24) comprises a fuel oil level sensor (2401), an oil pressure sensor (2402), an angle level meter (2403), a hydraulic oil level sensor (2404), an engine air filter monitoring sensor (2405), a DPF working condition sensor (2406), an engine working condition sensor (2407) and a storage battery voltage monitoring sensor (2408), and signal output ends of all the sensors are electrically connected with the data acquisition module (2204) and are used for acquiring power working conditions, hydraulic working conditions, attitude parameters and electric parameters of equipment in real time and transmitting the power working conditions, the hydraulic working conditions, the attitude parameters and the electric parameters to the central controller (21).
6. The deep hole and open hole well drilling rig with large aperture and the integrated electrohydraulic cooperative control system thereof according to claim 1, wherein the emergency stop protection unit of the safety protection module (2203) comprises at least 5 groups of emergency stop button boxes which are respectively arranged at a plurality of operation positions of an operation table (110), a traveling operation panel assembly and a drilling rig body, the electric overload protection unit comprises a molded case circuit breaker, a thermomagnetic circuit breaker, a direct current circuit breaker and a residual current protection circuit breaker, and the hydraulic working condition protection unit comprises a pressure relay, a vacuum signal generator, a liquid level meter and a temperature sensor and is used for triggering protection actions when the pressure of a hydraulic system (18) is abnormal, the oil is polluted and the liquid level is abnormal.
7. The large-aperture deep hole raise boring machine and integrated electrohydraulic cooperative control system thereof according to claim 2, wherein the central controller (21) is internally provided with a double power station cooperative 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 single loop load exceeds a preset threshold, the central controller (21) controls the electric proportional overflow valve of the converging block to act, and partial power of the idle power station is converged to the high-load loop to realize dynamic load matching; When the double loops are in a high-load working condition, the central controller (21) adjusts the power output of the two power stations, and keeps the feeding speed matched with the speed of the rotation action, so that the drill sticking is avoided.
8. The large-aperture deep hole raise boring machine and the integrated electrohydraulic cooperative control system thereof according to claim 1, wherein the traveling mechanism (13) is a crawler-type traveling mechanism (13), a variable motor of the traveling hydraulic circuit (2303) is in transmission connection with a speed reducer, an output end of the speed reducer is in transmission connection with a driving wheel of the crawler-type traveling mechanism (13), and a sheet type hydraulic control pilot proportional handle is arranged on the traveling hydraulic circuit (2303) and is electrically connected with an operation interaction module (2202) for realizing stepless speed regulation control of traveling.
9. The large-aperture deep hole raise boring machine and the integrated electrohydraulic cooperative control system thereof according to claim 1, wherein the driving end of the power head assembly (14) is in transmission connection with a variable motor of a rotary hydraulic circuit (2302), the feeding end of the power head assembly (14) is in transmission connection with a pushing cylinder of the feeding hydraulic circuit (2301), the manipulator assembly (15) is arranged on one side of the power head assembly (14) and is used for automatic grabbing and replacing of a drill rod, and the driving end of the manipulator assembly (15) is communicated with an auxiliary action hydraulic circuit (2304).
10. The large-aperture deep hole raise boring machine and the integrated electrohydraulic cooperative control system thereof according to claim 1, wherein the central controller (21) is further provided with a fault self-diagnosis unit and a data storage unit, the fault self-diagnosis unit is used for diagnosing equipment faults and triggering early warning in real time according to collected working condition parameters, and the data storage unit is used for storing full life cycle operation data of the equipment for subsequent operation and maintenance and optimization.

Description

Large-aperture deep hole raise boring machine and integrated electrohydraulic cooperative control system thereof Technical Field The invention belongs to the technical field of raise boring machines, and particularly relates to a large-aperture deep-hole raise boring machine and an integrated electrohydraulic cooperative control system thereof. Background The raise boring machine is core equipment for raising raise boring in underground engineering such as underground metal mine, nonmetallic mine, water conservancy and hydropower, etc., and the underground engineering has increasingly urgent requirements for raise boring machine with the increasing of mine exploitation depth, with the requirement of large aperture (more than or equal to 2 m) and deep hole (more than or equal to 500 m). The prior large-aperture deep-hole raise boring machine has the following core technical defects in practical application: the electrohydraulic system is separately designed, and the cooperative control precision is insufficient. The existing equipment adopts a framework that an electric system and a hydraulic system are independently arranged, electric control only realizes the start-stop and reversing functions of a foundation, closed loop cooperation cannot be formed with hydraulic power output, the load is severely fluctuated during deep hole drilling, the problems of response lag and power matching unbalance are easy to occur, and faults such as drill sticking, drilling deflection, insufficient hole forming precision and the like are caused. The adaptability of the power system is poor, and the requirement of deep hole and large-aperture operation cannot be met. The design of the single power station can not simultaneously meet the requirements of large flow and high pressure power of feeding and rotating actions during large-aperture drilling, and the existing double power station scheme only realizes simple power superposition, can not realize dynamic load distribution and is easy to cause the problems of uneven load, power waste or power shortage. The safety protection redundancy is low, and the adaptability of the underground working condition is poor. The existing equipment is only provided with basic scram protection, lacks of on-line monitoring and redundant protection on all working conditions of an engine, a hydraulic system and an electric system, has high equipment failure rate under severe working conditions of high humidity, high dust and strong vibration, is easy to generate safety accidents such as electric leakage, hydraulic pipe explosion and engine failure, and cannot guarantee operation safety. The integrated level of the whole machine is low, and the operation and maintenance difficulty is high. The existing equipment has low modularization degree of each assembly, scattered structure, poor spare part universality, large disassembly and assembly and maintenance difficulty in a narrow space in the pit, high maintenance cost and long downtime. Therefore, we provide a large-aperture deep hole raise boring machine and an integrated electrohydraulic cooperative control system thereof, which are used for solving the problems. Disclosure of Invention Aiming at the defects of the prior art, the invention aims to solve the technical problems of poor electrohydraulic cooperativity, insufficient load matching of a double-power station, low safety protection redundancy and poor integration level of the whole machine of the existing large-aperture deep-hole raise boring machine, and provides the large-aperture deep-hole raise boring machine and an integrated electrohydraulic cooperativity control system thereof, which have high integration degree, high electrohydraulic cooperativity control precision and high safety redundancy and are suitable for complex underground working conditions. In order to solve the technical problems, the invention is realized by the following technical scheme. The invention relates to a large-aperture deep hole raise boring machine and an integrated electrohydraulic cooperative control system thereof, comprising a raise boring machine complete machine mechanism and an integrated electrohydraulic cooperative control system, wherein the raise boring machine complete machine mechanism comprises a frame assembly, the frame assembly is used as a device bearing matrix, and a power system, a travelling mechanism, a power head assembly, a manipulator assembly, a lubricating system, a double-power station unit, a hydraulic system, an electric system and an operating platform are fixedly integrated on the frame assembly; The integrated electrohydraulic cooperative control system comprises a central controller, an electric control subsystem, a hydraulic execution subsystem and a full-working-condition monitoring unit, wherein the electric control subsystem, the hydraulic execution subsystem and the full-working-condition monitoring unit are electrically connected with the central controller in a b