JP3590743B2 - Drilling rig drive control device - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a drive control device for excavating equipment, more particularly, to a drive control device for controlling the drive movement of the AC induction motor for rotating the digging pipes rotating portion and drawworks.
[0002]
[Prior art]
FIG. 5 shows an example of a drilling device used for drilling various wells represented by water wells, hot spring wells, geothermal wells, underground resource mining wells, or earthquake observation wells. The excavator 100 includes a mast 101 constructed on the ground, and a crown block 102, which is a fixed pulley, is supported on the top of the mast 101. In addition, a drawworks 103 as a hoisting device is installed near the base of the mast 101. One end of a work line 104 for hoisting work is connected to a drum (not shown) of the draw works 103, and the other end of the work line 104 is wound around a crown block 102. It makes several round trips to and from the hook block 105 which is a moving pulley located below.
[0003]
At the lower end of the hook block 105, a drill string 106 is rotatably supported around a vertical axis. From the lower end of the drill string 106, a drill collar 107 extends downward. A bit 108 is provided. Reference numeral 109 denotes a rotary (drill tube rotating unit) that rotates the drill string 106 by receiving a driving force of a rotary driving device (not shown) included in the draw works 103.
[0004]
When the drill string 106 is pulled up from the mine, the work line 104 is wound up by rotating the drum of the draw works 103. On the other hand, when lowering the drill string 106 into the mine, the clutch of the drum is operated while the motor (not shown) for driving the drum of the drawworks 103 is stopped or rotated in the lifting direction. Then, the drill string 106 is lowered by its own weight while intermittently braking the rotation of the freed drum after disconnecting the drum string from the drive unit of the drum. In the case of performing an excavation operation, after the drill string 106 is lowered into the mine, the drill string 106 is rotated via the rotary 109 while applying a downward force to the bit 108 by the weight of the drill collar 107.
[0005]
[Problems to be solved by the invention]
By the way, in the case of the above-described drilling device 100, the drill string 106, the drill collar 107, the bit 108, and the like may be held in the mine for some reason. However, if an AC induction motor that cannot perform torque control is used as the rotary drive, the drill string 106 may be damaged if the torque generated by the rotary drive is greater than the damage torque of the drill string 106. .
[0006]
The present invention has been made in view of the above circumstances, and has as its object to prevent breakage of the drill string 106 due to the retention of the drill string 106, the drill collar 107, the bit 108, and the like in the mine.
[0007]
[Means for Solving the Problems]
The present invention relates to a drive control apparatus for excavating device, an AC induction motor by frequency control of the applied voltage rotational speed is controlled to drive the digging pipe rotating unit and the drawworks of the drilling device, the rotational speed for the AC induction motor A rotation speed setting device for setting a command value, and a pressure sensor unit for setting a rotation speed command value for the AC induction motor during a lifting operation by a pressure sensor that detects an air pressure that changes in proportion to the amount of depression of a foot pedal, A pressure switch that outputs a confirmation signal indicating that the pressure sensor unit has output a rotation speed command value equal to or greater than the minimum rotation speed required for the operation of the drawworks by confirming depression of a foot pedal; and A torque limit setting device for setting a torque limit command value, and a rotation based on a rotation speed command value set by the rotation speed setting device during excavation work. The torque generated by the AC induction motor is controlled to be equal to or less than the torque limit command value to limit the torque generated in the rotating direction of the excavated pipe rotating unit, and is checked by the pressure switch during lifting work. only if a signal is output, it is characterized that you have a control unit for variably controlling the rotational speed of the AC induction motor by the rotational speed command value of the pressure sensor unit.
[0009]
In this case, the torque generated by the AC induction motor is limited so that the torque generated in the rotation direction of the drill pipe rotation unit is equal to or less than the breakage torque in the rotation direction of the drill string rotated by the drill pipe rotation unit. Is desirable.
[0010]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, members having the same configurations as those shown in FIG. 5 are denoted by the same reference numerals, and description thereof will be omitted.
[0011]
1 and 2 show an example of the structure of the drive control device 1 of the excavator according to the present invention. The drive control device 1 is applied to the rotary 109 of the excavator 100, and includes a motor unit 3 including an AC induction motor (hereinafter, referred to as a motor) 2, which is a rotary drive device, and rotation of the motor 2. It is roughly composed of a control unit 4 for controlling the number and torque, a driller operation unit 5 for an operator to operate the excavator 100, and a pressure sensor unit 6 for controlling the rotation speed of the motor 2.
[0012]
The motor 2 is an AC induction motor dedicated to an inverter whose rotation speed is controlled by frequency control, and includes a cooling fan (not shown). The motor unit 3 includes a tachometer 7 for detecting the number of revolutions of the motor 2 and a thermistor detecting unit (not shown) for detecting the temperature of the motor 2. When an abnormal value is indicated, the motor 2 stops operating.
[0013]
Control unit 4 includes an AC power distribution unit 8, and an inverter device unit 9, and a control device 10. Ac distribution unit 8, by receiving AC voltage supplied from a power source located outside, to distribute power to the inverter device unit 9 and the control device 10. The inverter device unit 9 controls the rotation speed of the motor 2 based on the rotation speed command value and the torque regulation value input from the control device unit 10, and limits the torque of the motor 2 to a predetermined regulation value or less. Further, in the inverter device unit 9, the tachometer 7 of the motor unit 3, the rotation speed of the motor 2 is inputted.
[0014]
The control device unit 10 includes an A / D unit 11, a D / A unit 12, an I / O unit 13, an arithmetic unit 14, and a storage unit (not shown). During operation of the motor 2, the actual rotation value and the actual load torque value of the motor 2 are input to the control device 10 from the inverter device 9. Further, the control device unit 10 has a rotation speed command value set by the rotation speed setting unit 15 (see FIG. 3) of the driller operation unit 5 and a torque set by the torque limit setting unit 25 (see FIG. 3). A limit command value and a rotational speed command value set by the pressure sensor unit 6 are input.
[0015]
The control unit 10 sends a rotation speed command value and a torque regulation value according to the input rotation speed command value and torque limit command value to the inverter device unit 9, and the motor 2 controls the rotation speed and torque of the motor 2. The motor 2 is controlled to rotate at the set rotation speed and the torque of the motor 2 becomes equal to or less than the torque limit command value. In this case, foot pedal operated and the actual rotational speed value of the motor 2 that is input from the inverter device unit 9, rotational speed command value input from the driller operation unit 5, or by an operator provided in the pressure sensor unit 6 ( (Not shown)) is constantly compared with a rotation speed command value from a pressure sensor (not shown) that detects an air pressure that changes in proportion to the amount of depression of the controller. Based on the deviation, the number of rotations of the motor 2 is feedback-controlled.
[0016]
The driller operation unit 5 includes an operation unit 17 and a display unit 18 as shown in FIG. The operation unit 17 sets a rotation speed of the motor 2 in a range of, for example, 0 to 2400 rpm, an emergency stop button 19, a buzzer stop button 20, and a lifting work for driving the drawworks 103. And a changeover switch 21 for switching the operation content and control content of the motor 2 during excavation work for driving the rotary 109. The display unit 18 includes a tachometer 22, a torque meter 23, and an indicator light 24.
[0017]
The details of the indicator light 24 are shown in FIG. The “inverter power supply” of the indicator lamp 24 is turned on when the power is supplied to the inverter device unit 9. The “blower power supply” is turned on when power is supplied to the cooling fan of the motor 2. “During inverter operation” is lit when the motor 2 is rotated by the inverter unit 9. When “MAX torque is being output”, the load torque is maximum (for example, 150%), and the inverter unit 9 lights up while the motor 2 is operating at the maximum torque. “Failure” is turned on when an electrical component of the drive control device 1 fails. The “DW mode” is lit when the changeover switch 21 is switched to the draw works 103 side. The “RT mode” is lit when the changeover switch 21 is switched to the rotary 109 side. The “constant output area” is lit while the motor 2 is rotating in the rated output area (for example, 1500 to 2400 rpm). The “torque command MAX” is turned on when the torque regulation value in the inverter unit 9 is set to the maximum value (for example, 150%). “Torque command regulation” is turned on when the torque in the inverter device section 9 is set to a predetermined regulation value (for example, 80% or 100%). “Inverter failure” lights when the inverter device section 9 fails.
[0018]
The pressure sensor section 6 includes the foot pedal and the pressure sensor described above. The rotation speed of the motor 2 increases according to the amount of depression of the foot pedal, and the pressure sensor outputs an output voltage that changes in proportion to the change in the air pressure as an analog signal corresponding to the rotation speed command value of the motor 2. .
[0019]
Reference numeral 30 denotes a pressure switch that outputs a contact signal when the pressure sensor unit 6 detects a pressure equal to or higher than the pressure corresponding to the minimum number of times required for the operation of the drawworks 103. This signal is used as a confirmation signal indicating that the foot pedal has been securely depressed. That is, only when both the rotation speed command value from the pressure sensor unit 6 and the contact signal from the pressure switch 30 are input to the control device unit 10, the control device unit 10 outputs the rotation speed command value to the inverter device unit 9. To control the rotation speed of the motor 2.
[0020]
In addition, due to air pressure leakage in the pressure sensor unit 6, the pressure sensor of the pressure sensor unit 6 outputs an analog signal even though the foot pedal is not depressed, An analog signal may be output due to the change. However, in the case of the present excavator 1, since the pressure switch 30 is provided, the rotation speed of the motor 2 is set only when the operator actually steps on the foot pedal to increase the rotation speed of the motor 2. Is controlled.
[0021]
Next, the operation of the drive control device 1 having the above configuration will be described.
During the lifting operation (when the drill string 106 is pulled up from the mine), the changeover switch 21 is set to the drawworks 103 side, and the drum of the drawworks 103 is rotated by the motor 2 to wind up the work line 104. The rotation speed of the motor 2 can be set by any of the foot pedal of the pressure sensor unit 6 and the rotation speed setting unit 15 of the driller operation unit 5. In the former case, the drill string 106 is pulled up from the pit by depressing the foot pedal. Further, the rotation speed of the motor 2 is set to a larger value among the set values in the pressure sensor unit 6 or the rotation speed setting unit 15.
[0022]
Further, at the time Agekan work, in order to prevent the occurrence of inverter trip, the actual load torque of the motor 2 that is input to the controller unit 10 from the inverter device unit 9, is constantly monitored by the operation unit 14 of the controller unit 10 You. As a result, the torque regulation value is automatically controlled before the occurrence of the inverter trip, and stable operation is performed.
[0023]
When performing drilling work, after lowering the drill string 106 into the mine, the changeover switch 21 is set to the rotary 109 side, and a downward force is applied to the bit 108 by its own weight of the drill collar 107, and the drill 108 is turned through the rotary 109. To rotate the drill string 106. Further, the rotation speed of the motor 2 can be set only by the rotation speed setting unit 15, and the setting by the pressure sensor unit 6 is not accepted.
[0024]
During excavation work, the torque limitation value sent from the controller unit 10 to the inverter 9, the torque of the motor 2 is controlled. Further, actual load torque of the motor 2 due to the drilling is input from the inverter device unit 9 to the control device 10 and the driller operation unit 5. The actual load torque value input to the driller operation unit 5 is displayed on the torque meter 23. The actual load torque value is compared with the torque limit command value input from the driller operation unit 5 by the arithmetic unit 14 of the control unit 10 and is constantly monitored so that the actual load torque value does not exceed the torque limit command value. You. When the actual load torque value exceeds the torque limit command value, the control unit 10 issues an alarm. When the alarm is issued, the motor 2 can be stopped to prevent breakage or breakage of the drill string 106.
[0025]
According to the drive control device 1 having the above configuration, the torque of the motor 2 during excavation is limited by the torque limit setting unit 25 of the driller operation unit 5 to an arbitrary torque limit command value or less. Accordingly, by setting the torque limiting command value so that the torque generated in the rotation direction of the drill string 106 driven by the motor 2 via the rotary 109 is equal to or less than the breakage torque of the drill string 106, the motor 2 Even when an induction motor is used, the torque generated in the drill string 106 is constantly suppressed to a value equal to or less than the torque at which the drill string 106 is damaged. As a result, according to the present invention, the breakage of the drill string 106 due to the generation of excessive torque due to the detention of the drill string 106, the drill collar 107, the bit 108 and the like in the pit is prevented.
[0026]
The number of the motors 2 may be such that one motor 2 drives both the draw works 103 and the rotary 109 as shown in the illustrated example. May be driven by the motor 2. Further, the rotation speed command value and the torque limit command value may be set continuously (steplessly) or stepwise.
[0027]
Furthermore, the present invention is a technology applicable not only to the excavator 100 in which the drawworks 103 and the rotary 109 are integrally formed, but also to a drive control device of a spindle type excavator using an AC induction motor as a drive source. is there.
[0028]
【The invention's effect】
As described above, according to the present invention, the torque of the drive source is controlled such that the torque generated in the rotating portion of the drilling pipe of the drilling apparatus due to the rotation is equal to or less than the breaking torque of the drill string . Therefore, even if the drill string is held in the mine, the drill string does not break. Also, when the pressure sensor unit that sets the rotation speed of the motor that rotates the draw works that lifts the drill string during lifting work, due to air pressure leakage, outputs a rotation speed command signal even though the foot pedal is not depressed Also, even if the pressure sensor unit may output a rotation speed command signal due to a temperature change of the internal pressure sensor, the operator is provided with a pressure switch for confirming depression of the foot pedal of the pressure sensor unit. The rotation speed of the drive source can be controlled only when the operation of increasing the rotation speed of the drive source is actually performed by depressing the foot pedal.
[Brief description of the drawings]
FIG. 1 is a diagram showing an example of the configuration of a drive control device according to the present invention.
FIG. 2 is a diagram showing a part of the configuration of the drive control device shown in FIG. 1 in more detail.
FIG. 3 is an enlarged view of a driller operation unit of the drive control device shown in FIG.
FIG. 4 is an enlarged view of an indicator light of the driller operation unit shown in FIG.
FIG. 5 is a top perspective view showing an example of a drilling rig to which the present invention is applied.
[Explanation of symbols]
1 Drive control device (of excavator) 2 AC induction motor (motor)
4 control unit
6 Pressure sensor
15 Rotation speed setting section
25 Torque limit setting section
30 pressure switch 100 excavator
103 Draw Works 106 Drill String 109 Rotary

Claims (2)

An AC induction motor whose rotation speed is controlled by frequency control of an applied voltage to drive a drilling tube rotating unit and a drawworks of the excavator; a rotation speed setting device for setting a rotation speed command value for the AC induction motor ; A pressure sensor for setting a rotation speed command value for the AC induction motor during a lifting operation by a pressure sensor that detects an air pressure that changes in proportion to the amount of depression of a pedal, and the pressure sensor is required for operation of the drawworks. A pressure switch that outputs a confirmation signal indicating that a rotation speed command value equal to or greater than the minimum rotation speed has been output, and confirms depression of a foot pedal, and a torque limit setting device that sets a torque limit command value for the AC induction motor. In the excavation operation, the AC induction motor rotating on the basis of the rotation speed command value set by the rotation speed setting device is generated. The torque is controlled to be equal to or less than the torque limit command value to limit the torque generated in the rotation direction of the excavated pipe rotating unit, and only when a confirmation signal is output by the pressure switch during lifting work, drive control apparatus for drilling and wherein that you have a control unit for variably controlling the rotational speed of the AC induction motor by the rotational speed command value of the pressure sensor unit. Limiting the torque generated by the AC induction motor so that the torque generated in the rotation direction of the drill pipe rotation unit is equal to or less than the breakage torque in the rotation direction of the drill string rotated by the drill pipe rotation unit. The drive control device for an excavator according to claim 1 , wherein

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