A cantilever drilling rig and a method of adjusting the centre of gravity thereof

Abstract

The application discloses an arm support type drilling machine and a method for adjusting the gravity center of the drilling machine, and comprises a platform, a track assembly, a drilling arm, a mast, a power head, a first driving mechanism, a second driving mechanism, a third driving mechanism, a fourth driving mechanism, a fifth driving mechanism, a sixth driving mechanism, a platform inclination sensor, a drilling arm pitch angle sensor, a drilling arm left-right swing angle sensor, a mast pitch angle sensor, a mast left-right roll angle sensor, a power head displacement sensor and a controller. The controller is used for controlling the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism, the fifth driving mechanism and the sixth driving mechanism to move according to the collected signals of the platform inclination sensor, the drilling arm pitch angle sensor, the drilling arm left-right swing angle sensor, the mast pitch angle sensor, the mast left-right roll angle sensor and the power head displacement sensor, so that the gravity center of the arm support type drilling machine meets the requirements and the automatic adjustment of the gravity center can be realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of boom drilling rigs, and more particularly to a boom drilling rig. BACKGROUND

[0002] Drilling rigs are mainly used for drilling blast holes in underground mines or open-pit mines, and the drilling conditions on site are very poor. The ground surface is uneven, and the drilling rig sometimes needs to pass through steep slopes or side slopes. In this process, if the center of gravity of the drilling rig deviates too much from its stable center or the center of gravity of the drilling rig is unstable, an overturning accident is likely to occur, which poses a safety hazard.

[0003] Therefore, how to provide a boom drilling rig capable of automatically adjusting the center of gravity is a problem that needs to be solved by those skilled in the art at present. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a boom drilling rig capable of automatically adjusting the center of gravity.

[0005] Another purpose of the present application is to provide a method for adjusting the center of gravity of the boom drilling rig, which can automatically adjust the center of gravity of the boom drilling rig.

[0006] In order to achieve the above-mentioned purposes, the present application provides the following technical solutions:

[0007] A boom drilling rig comprises:

[0008] a platform;

[0009] a track assembly arranged on both sides of the platform and capable of rotating relative to the platform, so that the platform can perform pitching motion relative to the ground;

[0010] a drill boom arranged on the platform and capable of rotating relative to the platform in two mutually perpendicular directions, so that the drill boom can perform pitching and lifting motion and left-right swinging motion relative to the platform;

[0011] a mast arranged on the end of the drill boom away from the platform and capable of rotating relative to the drill boom in two mutually perpendicular directions, so that the mast can perform front-rear pitching motion and left-right tilting motion relative to the drill boom;

[0012] a power head arranged on the mast and capable of sliding along the length direction of the mast;

[0013] a first driving mechanism connected between the platform and the track assembly and used for driving the track assembly and the platform to rotate relative to each other;

[0014] a second driving mechanism connected between the platform and the drill boom and used for driving the drill boom to perform pitching and lifting motion relative to the platform;

[0015] a third driving mechanism connected between the platform and the drill boom for driving the drill boom to swing left and right relative to the platform;

[0016] a fourth driving mechanism connected between the drill boom and the mast for driving the mast to pitch forward and backward relative to the drill boom;

[0017] a fifth driving mechanism connected between the drill boom and the mast for driving the mast to roll left and right relative to the drill boom;

[0018] a sixth driving mechanism connected between the mast and the power head for driving the power head to slide along the mast;

[0019] a platform inclination sensor for collecting an inclination angle of the platform;

[0020] a drill boom pitch angle sensor for collecting a pitch angle of the drill boom;

[0021] a drill boom swing angle sensor for collecting a swing angle of the drill boom;

[0022] a mast pitch angle sensor for collecting a pitch angle of the mast;

[0023] a mast roll angle sensor for collecting a roll angle of the mast;

[0024] a power head displacement sensor for collecting a displacement of the power head;

[0025] a controller connected with the platform inclination sensor, the drill boom pitch angle sensor, the drill boom swing angle sensor, the mast pitch angle sensor, the mast roll angle sensor, the power head displacement sensor, the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism, the fifth driving mechanism and the sixth driving mechanism respectively, for controlling the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism, the fifth driving mechanism and the sixth driving mechanism to act according to the collection signals of the platform inclination sensor, the drill boom pitch angle sensor, the drill boom swing angle sensor, the mast pitch angle sensor, the mast roll angle sensor and the power head displacement sensor, so that the center of gravity of the boom-type drilling rig meets the requirements.

[0026] Optionally, the track assembly comprises a track frame and a track wrapped around the outer periphery of the track frame, the track frame being rotatably arranged on the platform; the first driving mechanism comprises a track leveling oil cylinder.

[0027] The arm-type drilling rig further comprises:

[0028] a pressure sensor for collecting hydraulic oil pressure of an inlet and outlet oil circuit of the track leveling oil cylinder to sense whether the track compacts the ground, the pressure sensor being connected to the controller to enable the controller to control the track leveling oil cylinder according to a detection signal of the pressure sensor.

[0029] Optionally, the drill arm is connected to the platform through a first cross hinge shaft; and / or the mast is connected to the drill arm through a second cross hinge shaft.

[0030] A method for adjusting the center of gravity of an arm-type drilling rig, applied to the controller of any one of the above arm-type drilling rigs, the method comprising:

[0031] collecting sensor signals collected by the platform inclination sensor, the drill arm pitch angle sensor, the drill arm roll angle sensor, the mast pitch angle sensor, the mast roll angle sensor and the power head displacement sensor;

[0032] controlling the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism, the fifth driving mechanism and the sixth driving mechanism to act according to the sensor signals to make the center of gravity of the arm-type drilling rig meet the requirements.

[0033] Optionally, controlling the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism, the fifth driving mechanism and the sixth driving mechanism to act according to the sensor signals to make the center of gravity of the arm-type drilling rig meet the requirements comprises:

[0034] calculating the actual center of gravity of the arm-type drilling rig according to the sensor signals;

[0035] calculating a deviation amount of the actual center of gravity from a theoretical center of gravity of the arm-type drilling rig;

[0036] judging whether the deviation amount exceeds a pre-set maximum allowable deviation amount;

[0037] if yes, controlling the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism, the fifth driving mechanism and / or the sixth driving mechanism to act to make the center of gravity of the arm-type drilling rig meet the requirements.

[0038] Optionally, the deviation amount comprises a first deviation amount, which is a deviation amount of the actual center of gravity being higher than the theoretical center of gravity in a vertical direction; and the maximum allowable deviation amount comprises a first maximum allowable deviation amount.

[0039] controlling the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism, the fifth driving mechanism and the sixth driving mechanism to act, comprises:

[0040] when the first deviation exceeds the first maximum allowable deviation, controlling the second driving mechanism to act to swing the drill arm downwardly; and / or, controlling the fourth driving mechanism to act to swing the mast downwardly; and / or, controlling the sixth driving mechanism to act to lower the power head; and / or, controlling the fifth driving mechanism to act to tilt the mast to the other side in the left-right direction; and / or, controlling the first driving mechanism to act to lower the platform.

[0041] Optionally, the deviation includes a second deviation, the second deviation being a deviation of the actual center of gravity from the theoretical center of gravity in the left-right direction; and the maximum allowable deviation includes a second maximum allowable deviation.

[0042] the first driving mechanism includes a left track cylinder and a right track cylinder;

[0043] controlling the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism, the fifth driving mechanism and the sixth driving mechanism to act, comprises:

[0044] when the second deviation exceeds the second maximum allowable deviation and the actual center of gravity deviates from the theoretical center of gravity to one side in the left-right direction, controlling one of the left track cylinder and the right track cylinder to shorten and the other to lengthen to tilt the platform to the other side in the left-right direction; and / or, controlling the fifth driving mechanism to act to tilt the mast to the other side in the left-right direction; and / or, controlling the third driving mechanism to act to swing the drill arm to the other side in the left-right direction.

[0045] Optionally, the deviation includes a third deviation, the third deviation being a deviation of the actual center of gravity from the theoretical center of gravity in the front-rear direction; and the maximum allowable deviation includes a third maximum allowable deviation.

[0046] controlling the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism, the fifth driving mechanism and the sixth driving mechanism to act, comprises:

[0047] when the third deviation exceeds the third maximum allowable deviation and the actual center of gravity deviates from the theoretical center of gravity to one side in the front-rear direction, controlling the second driving mechanism to act so as to swing the drill boom to the other side in the front-rear direction; and / or, controlling the fourth driving mechanism to act so as to swing the mast to the other side in the front-rear direction; and / or, controlling the sixth driving mechanism to act so as to move the power head to the other side in the front-rear direction.

[0048] Optionally, the controlling the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism, the fifth driving mechanism and the sixth driving mechanism to act comprises:

[0049] when the boom-type drilling rig is traveling uphill, controlling the first driving mechanism to act so as to compact the ground with the track assembly; and / or, controlling the second driving mechanism to act so as to swing the drill boom forward; and / or, controlling the fourth driving mechanism to act so as to swing the mast forward; and / or, controlling the sixth driving mechanism to act so as to move the power head forward;

[0050] when the boom-type drilling rig is traveling downhill, controlling the first driving mechanism, the second driving mechanism, the fourth driving mechanism and the sixth driving mechanism to act in the opposite way as when the boom-type drilling rig is traveling uphill.

[0051] Optionally, the first driving mechanism comprises a left track cylinder and a right track cylinder.

[0052] the controlling the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism, the fifth driving mechanism and the sixth driving mechanism to act comprises:

[0053] when the boom-type drilling rig is traveling laterally on a side slope that is inclined to the right, controlling the right track cylinder to extend; and / or, controlling the fifth driving mechanism to act so as to incline the mast to the left; and / or, controlling the second driving mechanism to act so as to swing the drill boom downward; and / or, controlling the fourth driving mechanism to act so as to swing the mast downward;

[0054] when the boom-type drilling rig is traveling laterally on a side slope that is inclined to the left, controlling the left track cylinder to extend; and / or, controlling the fifth driving mechanism, the second driving mechanism and the fourth driving mechanism to act in the opposite way as when the boom-type drilling rig is traveling laterally on a side slope that is inclined to the left.

[0055] The arm support type drilling machine provided by the present application respectively utilizes a platform inclination sensor, a drilling arm pitch angle sensor, a drilling arm swing angle sensor, a mast pitch angle sensor, a mast roll angle sensor and a power head displacement sensor to collect the inclination angle of the platform, the pitch angle of the drilling arm relative to the platform, the swing angle of the drilling arm relative to the platform, the pitch angle of the mast relative to the drilling arm, the roll angle of the mast relative to the drilling arm and the displacement of the power head in real time.

[0056] The arm support type drilling machine center of gravity adjusting method provided by the present application is applied to the controller of the above arm support type drilling machine and has the above beneficial effects. BRIEF DESCRIPTION OF DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from the provided drawings without creative labor.

[0058] Figure 1 The structural schematic diagram of the arm support type drilling machine provided by the embodiment of the present application is shown in the figure.

[0059] Figure 2 The structural schematic diagram of the middle platform and the track assembly is shown in the figure. Figure 1

[0060] Figure 3 The control principle diagram of the arm support type drilling machine shown in the figure is shown in the figure. Figure 1

[0061] The reference signs in the figures are as follows: Figures 1 to 3

[0062] ​​1 is the platform, 2 is the drill arm, 3 is the mast, 4 is the power head, 5 is the first drive mechanism, 51 is the left track cylinder, 52 is the right track cylinder, 6 is the second drive mechanism, 7 is the third drive mechanism, 8 is the fourth drive mechanism, 9 is the fifth drive mechanism, 10 is the sixth drive mechanism, 11 is the platform tilt sensor, 12 is the drill arm pitch angle sensor, 13 is the drill arm left and right swing angle sensor, 14 is the mast pitch angle sensor, 15 is the mast left and right tilt angle sensor, 16 is the power head displacement sensor, 17 is the controller, 181 is the track frame, 182 is the track, 19 is the first cross hinge, 20 is the second cross hinge, 21 is the hinge, 221 is the first pressure sensor, 222 is the second pressure sensor, and 23 is the slide rail. Detailed Implementation

[0063] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0064] The core of this invention is to provide a boom-type drilling rig that can automatically adjust its center of gravity. Another core aspect of this invention is to provide a method for adjusting the center of gravity of the aforementioned boom-type drilling rig, which can automatically adjust the center of gravity of the boom-type drilling rig.

[0065] Please refer to Figures 1-3 , Figure 1 This is a schematic diagram of the boom-type drilling rig provided in a specific embodiment of the present invention; Figure 2 for Figure 1 Schematic diagram of the structure of the mid-platform and track components; Figure 3 for Figure 1 The diagram shows the control principle of the boom-type drilling rig.

[0066] This invention provides a boom-type drilling rig, including a platform 1, a track assembly, a drill arm 2, a mast 3, a power head 4, a first drive mechanism 5, a second drive mechanism 6, a third drive mechanism 7, a fourth drive mechanism 8, a fifth drive mechanism 9, a sixth drive mechanism 10, a platform tilt sensor 11, a drill arm pitch angle sensor 12, a drill arm left and right swing angle sensor 13, a mast pitch angle sensor 14, a mast left and right tilt angle sensor 15, a power head displacement sensor 16, and a controller 17.

[0067] Specifically, the track assemblies are arranged on both sides of the platform 1 and can rotate relative to the platform 1 so that the platform 1 can pitch relative to the ground; the drill arm 2 is arranged on the platform 1 and can rotate relative to the platform 1 in two directions perpendicular to each other so that the drill arm 2 can pitch and swing left and right relative to the platform 1; the mast 3 is arranged at the end of the drill arm 2 away from the platform 1 and can rotate relative to the drill arm 2 in two directions perpendicular to each other so that the mast 3 can pitch and roll left and right relative to the drill arm 2.

[0068] The first driving mechanism 5 is connected between the platform 1 and the track assemblies and is used to drive the track assemblies and the platform 1 to rotate relative to each other; the second driving mechanism 6 is connected between the platform 1 and the drill arm 2 and is used to drive the drill arm 2 to pitch relative to the platform 1; the third driving mechanism 7 is connected between the platform 1 and the drill arm 2 and is used to drive the drill arm 2 to swing left and right relative to the platform 1; the fourth driving mechanism 8 is connected between the drill arm 2 and the mast 3 and is used to drive the mast 3 to pitch relative to the drill arm 2; the fifth driving mechanism 9 is connected between the drill arm 2 and the mast 3 and is used to drive the mast 3 to roll left and right relative to the drill arm 2; and the sixth driving mechanism 10 is connected between the mast 3 and the power head 4 and is used to drive the power head 4 to slide along the mast 3.

[0069] The platform inclination sensor 11 is used to collect the inclination angle of the platform 1; the drill arm pitch angle sensor 12 is used to collect the pitch angle of the drill arm 2; the drill arm swing angle sensor 13 is used to collect the swing angle of the drill arm 2; the mast pitch angle sensor 14 is used to collect the pitch angle of the mast 3; the mast roll angle sensor 15 is used to collect the roll angle of the mast 3; and the power head displacement sensor 16 is used to collect the displacement of the power head.

[0070] The controller 17 is connected with the platform inclination sensor 11, the drill arm pitch angle sensor 12, the drill arm swing angle sensor 13, the mast pitch angle sensor 14, the mast roll angle sensor 15, the power head displacement sensor 16, the first driving mechanism 5, the second driving mechanism 6, the third driving mechanism 7, the fourth driving mechanism 8, the fifth driving mechanism 9 and the sixth driving mechanism 10, respectively, and is used to control the first driving mechanism 5, the second driving mechanism 6, the third driving mechanism 7, the fourth driving mechanism 8, the fifth driving mechanism 9 and the sixth driving mechanism 10 to act according to the collection signals of the platform inclination sensor 11, the drill arm pitch angle sensor 12, the drill arm swing angle sensor 13, the mast pitch angle sensor 14, the mast roll angle sensor 15 and the power head displacement sensor 16, so that the center of gravity of the boom-type drilling rig meets the requirements.

[0071] That is, the embodiment respectively utilizes the platform inclination sensor 11, the drill boom pitch angle sensor 12, the drill boom swing angle sensor 13, the mast pitch angle sensor 14, the mast roll angle sensor 15, and the power head displacement sensor 16 to collect the inclination angle of the platform 1, the pitch angle of the drill boom 2, the swing angle of the drill boom 2, the pitch angle of the mast 3, the roll angle of the mast 3, and the displacement of the power head 4 in real time. During operation, each sensor sends the collected signal to the controller 17. The controller 17 controls the first driving mechanism 5, the second driving mechanism 6, the third driving mechanism 7, the fourth driving mechanism 8, the fifth driving mechanism 9, and the sixth driving mechanism 10 according to the received signals, so as to adjust the position of the platform 1, the drill boom 2, the mast 3, and the power head 4, and to adjust the center of gravity of the boom-type drilling rig, so as to make the center of gravity of the boom-type drilling rig meet the requirements, avoid the center of gravity of the boom-type drilling rig deviating from the stable center too much and the center of gravity being unstable, prevent overturning accidents, and ensure driving safety.

[0072] It should be noted that the embodiment does not limit the specific structure and detection principle of the platform inclination sensor 11, the drill boom pitch angle sensor 12, the drill boom swing angle sensor 13, the mast pitch angle sensor 14, the mast roll angle sensor 15, and the power head displacement sensor 16, as long as they can realize their respective functions. Those skilled in the art can select appropriate sensors from mature sensors on the market.

[0073] In addition, the embodiment does not limit the specific structure of the first driving mechanism 5, the second driving mechanism 6, the third driving mechanism 7, the fourth driving mechanism 8, the fifth driving mechanism 9, and the sixth driving mechanism 10. In some embodiments, the first driving mechanism 5, the second driving mechanism 6, the third driving mechanism 7, the fourth driving mechanism 8, the fifth driving mechanism 9, and the sixth driving mechanism 10 respectively include a cylinder and an electro-hydraulic control valve, and each electro-hydraulic control valve is connected with the controller 17, so that the controller 17 controls the corresponding cylinder by controlling the electro-hydraulic control valve. That is, the embodiment controls the on-off and reversing of the hydraulic oil circuit of the corresponding cylinder by controlling the electro-hydraulic control valve through the controller 17, so as to realize the extension and retraction of each cylinder, and further realize the inclination adjustment of the platform 1, the rotation of the drill boom 2 and the mast 3, and the sliding of the power head 4, which is simple in structure and convenient to control. For example, the first driving mechanism 5 includes a left track leveling cylinder and a right track leveling cylinder; the second driving mechanism 6 includes a drill boom lifting cylinder; the third driving mechanism 7 includes a drill boom swing angle cylinder; the fourth driving mechanism 8 includes a mast luffing cylinder; the fifth driving mechanism 9 includes a mast roll cylinder; and the sixth driving mechanism 10 includes a drilling motor.

[0074] Further, the embodiment is not limited to the specific process of the controller 17 controlling the first driving mechanism 5, the second driving mechanism 6, the third driving mechanism 7, the fourth driving mechanism 8, the fifth driving mechanism 9 and the sixth driving mechanism 10 according to the signals collected by the platform inclination sensor 11, the drill boom pitch angle sensor 12, the drill boom swing angle sensor 13, the mast pitch angle sensor 14, the mast roll angle sensor 15 and the power head displacement sensor 16. For example, the controller 17 can calculate the actual center of gravity of the drilling rig according to the signals collected by the platform inclination sensor 11, the drill boom pitch angle sensor 12, the drill boom swing angle sensor 13, the mast pitch angle sensor 14, the mast roll angle sensor 15 and the power head displacement sensor 16, compare the actual center of gravity with the theoretical center of gravity of the drilling rig, and control the first driving mechanism 5, the second driving mechanism 6, the third driving mechanism 7, the fourth driving mechanism 8, the fifth driving mechanism 9 or the sixth driving mechanism 10 to make corresponding actions according to the deviation between the actual center of gravity and the theoretical center of gravity. Alternatively, the controller 17 can compare the signals collected by each of the platform inclination sensor 11, the drill boom pitch angle sensor 12, the drill boom swing angle sensor 13, the mast pitch angle sensor 14, the mast roll angle sensor 15 and the power head displacement sensor 16 with the corresponding set values, respectively, control the actuators corresponding to each sensor to act according to the deviation between each signal and the corresponding set value, and achieve the purpose of adjusting the center of gravity.

[0075] Further, the embodiment is not limited to the specific structure of the track assembly. In some embodiments, the track assembly includes a track frame 181 and a track 182 wrapped around the outer circumferential portion of the track frame 181, and the track frame 181 is rotatably arranged on the platform 1. The first driving mechanism 5 includes a track leveling oil cylinder. The drilling rig further includes a pressure sensor for collecting the hydraulic oil pressure of the inlet and outlet oil circuits of the track leveling oil cylinder to sense whether the track 182 compacts the ground. The pressure sensor is connected to the controller 17, so that the controller 17 controls the track leveling oil cylinder to act according to the detection signal of the pressure sensor.

[0076] That is, the embodiment adjusts the relative rotation between the track assembly and the platform 1 through the track leveling oil cylinder. During operation, the platform inclination sensor 11 collects the inclination angle of the platform 1, and the controller 17 controls the action of the track leveling oil cylinder according to the collection signal of the platform inclination sensor 11, adjusts the pitch angle of the platform 1 by the extension and retraction of the track leveling oil cylinder, so that the pitch direction of the platform 1 remains in a substantially horizontal state. In addition, the pressure sensor collects the hydraulic oil pressure of the inlet and outlet oil ways of the track leveling oil cylinder, senses whether the track 182 compacts the ground, and the controller 17 controls the action of the track leveling oil cylinder according to the collection signal of the pressure sensor, so that the track 182 compacts the ground. For example, when the track leveling oil cylinder on the right side of the platform 1 is pressed, and the track leveling oil cylinder on the left side of the platform 1 is pulled, it is judged that the left track 182 does not compact the ground. At this time, in order to improve the adhesion, the controller 17 outputs a signal to control the track leveling oil cylinder on the left side of the platform 1 to elongate, so that the left track 182 compacts the ground.

[0077] It should be noted that the pressure sensor includes a first pressure sensor 221 and a second pressure sensor 222, the first pressure sensor 221 is used to detect the large cavity pressure of the track leveling oil cylinder; and the second pressure sensor 222 is used to detect the small cavity pressure of the track leveling oil cylinder.

[0078] In some embodiments, the track frame 181 is arranged on the platform 1 through the hinge shaft 21.

[0079] In addition, the embodiment does not limit the specific connection mode of the drill arm 2 and the platform 1 and the mast 3 and the drill arm 2. Considering the simplicity of the structure, in some embodiments, the drill arm 2 is connected with the platform 1 through the first cross hinge shaft 19; and / or, the mast 3 is connected with the drill arm 2 through the second cross hinge shaft 20. That is, in the embodiment, the drill arm 2 is connected with the platform 1 through the first cross hinge shaft 19, so as to ensure that the drill arm 2 is rotatably arranged on the platform 1 around two mutually perpendicular directions; and the mast 3 is connected with the drill arm 2 through the second cross hinge shaft 20, so as to ensure that the mast 3 is rotatably arranged on the drill arm 2 around two mutually perpendicular directions, which is simple in structure and convenient in connection.

[0080] Further, the convenience of the arrangement of the drill boom pitch angle sensor 12, the drill boom roll angle sensor 13, the mast pitch angle sensor 14 and the mast roll angle sensor 15, in some embodiments, the drill boom pitch angle sensor 12 and the drill boom roll angle sensor 13 are arranged on the first cross hinge shaft 19 respectively; and / or, the mast pitch angle sensor 14 and the mast roll angle sensor 15 are arranged on the second cross hinge shaft 20 respectively. That is, the first cross hinge shaft 19 is used to support the drill boom pitch angle sensor 12 and the drill boom roll angle sensor 13 in the present embodiment, so as to facilitate the drill boom pitch angle sensor 12 and the drill boom roll angle sensor 13 to collect the pitch angle of the drill boom 2 and the roll angle of the drill boom 2 respectively. The second cross hinge shaft 20 is used to support the mast pitch angle sensor 14 and the mast roll angle sensor 15, so as to facilitate the mast pitch angle sensor 14 and the mast roll angle sensor 15 to collect the pitch angle of the mast 3 and the roll angle of the mast 3 respectively.

[0081] In order to improve the stability of the sliding of the power head 4, in some embodiments, the power head 4 and the mast 3 are connected through the slide rail 23 and the slide groove. That is, when the sixth driving mechanism 10 drives the power head 4 to slide along the mast 3, the slide rail 23 and the slide groove are matched to slide, so as to ensure the stability and the correctness of the sliding direction of the power head 4.

[0082] In addition to the above-described boom drilling rig, the present application also provides a boom drilling rig gravity center adjusting method, which is applied to the controller 17 of any one of the boom drilling rigs disclosed in the above embodiments. The boom drilling rig gravity center adjusting method comprises:

[0083] Obtaining the sensor signals collected by the platform roll angle sensor 11, the drill boom pitch angle sensor 12, the drill boom roll angle sensor 13, the mast pitch angle sensor 14, the mast roll angle sensor 15 and the power head displacement sensor 16 respectively;

[0084] According to the sensor signals, the first driving mechanism 5, the second driving mechanism 6, the third driving mechanism 7, the fourth driving mechanism 8, the fifth driving mechanism 9 and the sixth driving mechanism 10 are controlled to act, so as to make the gravity center of the boom drilling rig meet the requirements.

[0085] That is, the controller 17 controls the first driving mechanism 5, the second driving mechanism 6, the third driving mechanism 7, the fourth driving mechanism 8, the fifth driving mechanism 9 and the sixth driving mechanism 10 to act according to the sensor signals collected by the platform inclination sensor 11, the drill boom pitch angle sensor 12, the drill boom swing angle sensor 13, the mast pitch angle sensor 14, the mast roll angle sensor 15 and the power head displacement sensor 16, so as to adjust the poses of the platform 1, the drill boom 2, the mast 3 and the power head 4, to adjust the center of gravity of the drilling rig, to make the center of gravity of the drilling rig meet the requirements, to avoid the center of gravity of the drilling rig deviating from the stable center too much and the center of gravity being unstable, to prevent overturning accidents, and to ensure driving safety.

[0086] The embodiment does not limit the specific method of the controller 17 controlling the first driving mechanism 5, the second driving mechanism 6, the third driving mechanism 7, the fourth driving mechanism 8, the fifth driving mechanism 9 and the sixth driving mechanism 10 to act according to the sensor signals, and in some embodiments, the method includes:

[0087] calculating the actual center of gravity of the drilling rig according to the sensor signals;

[0088] calculating the deviation of the actual center of gravity from the theoretical center of gravity of the drilling rig;

[0089] judging whether the deviation exceeds the maximum allowable deviation;

[0090] if yes, controlling the first driving mechanism 5, the second driving mechanism 6, the third driving mechanism 7, the fourth driving mechanism 8, the fifth driving mechanism 9 and the sixth driving mechanism 10 to act so as to make the center of gravity of the drilling rig meet the requirements.

[0091] That is, the embodiment calculates the actual center of gravity of the drilling rig according to the sensor signals collected by the platform inclination sensor 11, the drill boom pitch angle sensor 12, the drill boom swing angle sensor 13, the mast pitch angle sensor 14, the mast roll angle sensor 15 and the power head displacement sensor 16, calculates the deviation of the actual center of gravity from the theoretical center of gravity of the drilling rig, judges whether the deviation exceeds the maximum allowable deviation, and controls the first driving mechanism 5, the second driving mechanism 6, the third driving mechanism 7, the fourth driving mechanism 8, the fifth driving mechanism 9 or the sixth driving mechanism 10 to act accordingly. This control method directly compares the actual center of gravity with the theoretical center of gravity, controls the adjustment of the driving mechanisms, and is conducive to quickly adjusting the center of gravity to a suitable position to meet the requirements.

[0092] It can be understood that, according to the sensor signals collected by the platform inclination sensor 11, the drill boom pitch angle sensor 12, the drill boom swing angle sensor 13, the mast pitch angle sensor 14, the mast roll angle sensor 15, and the power head displacement sensor 16, the poses of the platform 1, the drill boom 2, the mast 3, and the power head 4 can be determined, and according to the geometric structure dimensions, the center of gravity of the drilling rig can be calculated.

[0093] Further, for the convenience of adjusting the center of gravity, in some embodiments, the deviation amount includes a first deviation amount, the first deviation amount being the deviation amount of the actual center of gravity from the theoretical center of gravity in the vertical direction; the maximum allowable deviation amount includes a first maximum allowable deviation amount; and the control of the actions of the first driving mechanism 5, the second driving mechanism 6, the third driving mechanism 7, the fourth driving mechanism 8, the fifth driving mechanism 9, and the sixth driving mechanism 10 includes:

[0094] When the first deviation amount exceeds the first maximum allowable deviation amount, the second driving mechanism 6 is controlled to act so that the drill boom 2 swings downward; and / or, the fourth driving mechanism 8 is controlled to act so that the mast 3 swings downward; and / or, the sixth driving mechanism 10 is controlled to act so that the power head 4 descends; and / or, the fifth driving mechanism 9 is controlled to act so that the mast 3 rolls; and / or, the first driving mechanism 5 is controlled to act so that the platform 1 descends.

[0095] That is, when the center of gravity is too high, in order to lower the center of gravity, the second driving mechanism 6, the fourth driving mechanism 8, the sixth driving mechanism 10, the fifth driving mechanism 9, and / or the first driving mechanism 5 can be controlled to act to achieve the purpose of lowering the center of gravity.

[0096] In addition, in some embodiments, the deviation amount includes a second deviation amount, the second deviation amount being the deviation amount of the actual center of gravity from the theoretical center of gravity in the left-right direction; the maximum allowable deviation amount includes a second maximum allowable deviation amount; the first driving mechanism 5 includes a left track cylinder 51 and a right track cylinder 52; and the control of the actions of the first driving mechanism 5, the second driving mechanism 6, the third driving mechanism 7, the fourth driving mechanism 8, the fifth driving mechanism 9, and the sixth driving mechanism 10 includes:

[0097] When the second deviation amount exceeds the second maximum allowable deviation amount and the actual center of gravity deviates from the theoretical center of gravity in the left-right direction to one side, one of the left track cylinder 51 and the right track cylinder 52 is controlled to shorten and the other is controlled to lengthen so that the platform 1 tilts to the other side in the left-right direction; and / or, the fifth driving mechanism 9 is controlled to act so that the mast 3 tilts to the other side in the left-right direction; and / or, the third driving mechanism 7 is controlled to act so that the drill boom 2 swings to the other side in the left-right direction.

[0098] That is, when the center of gravity of the drilling rig is inclined to the right, the left track cylinder 51 is controlled to be shortened, the right track cylinder 52 is controlled to be lengthened, the platform 1 is inclined to the left, the fifth driving mechanism 9 is controlled to act, the mast 3 is inclined to the left, the third driving mechanism 7 is controlled to act, the drilling arm 2 is swung to the left, and thus the center of gravity of the drilling rig is moved to the left. Similarly, when the center of gravity of the drilling rig is inclined to the left, the left track cylinder 51, the right track cylinder 52, the fifth driving mechanism 9 and the third driving mechanism 7 are controlled to perform actions opposite to those when the center of gravity is inclined to the right.

[0099] Further, in some embodiments, the deviation amount includes a third deviation amount, the third deviation amount being an amount of deviation of the actual center of gravity from the theoretical center of gravity in the front-rear direction; the maximum allowable deviation amount includes a third maximum allowable deviation amount; and the controlling the first driving mechanism 5, the second driving mechanism 6, the third driving mechanism 7, the fourth driving mechanism 8, the fifth driving mechanism 9 and the sixth driving mechanism 10 to act includes:

[0100] when the third deviation amount exceeds the third maximum allowable deviation amount and the actual center of gravity is deviated from the theoretical center of gravity to one side in the front-rear direction, the second driving mechanism 6 is controlled to act, the drilling arm 2 is swung to the other side in the front-rear direction, the fourth driving mechanism 8 is controlled to act, the mast 3 is swung to the other side in the front-rear direction, and the sixth driving mechanism 10 is controlled to act, the power head 4 is moved in the direction of the other side in the front-rear direction.

[0101] That is, when the center of gravity of the drilling rig is inclined to the rear, the second driving mechanism 6 is controlled to act, the drilling arm 2 is inclined to the front, the fourth driving mechanism 8 is controlled to act, the mast 3 is inclined to the front, the sixth driving mechanism 10 is controlled to act, the power head 4 is moved downward when the mast 3 is inclined to the rear, and thus the center of gravity of the drilling rig is moved to the front. Similarly, when the center of gravity of the drilling rig is inclined to the front, the second driving mechanism 6, the fourth driving mechanism 8 and the sixth driving mechanism 10 are controlled to perform actions opposite to those when the center of gravity is inclined to the rear.

[0102] In addition, in some embodiments, the controlling the first driving mechanism 5, the second driving mechanism 6, the third driving mechanism 7, the fourth driving mechanism 8, the fifth driving mechanism 9 and the sixth driving mechanism 10 to act includes:

[0103] when the drilling rig is running uphill, the first driving mechanism 5 is controlled to act, the track 182 is pressed against the ground, the second driving mechanism 6 is controlled to act, the drilling arm 2 is swung forward, the fourth driving mechanism 8 is controlled to act, the mast 3 is swung forward, the sixth driving mechanism 10 is controlled to act, the power head 4 is moved forward;

[0104] When the boom drill travels downhill, the first driving mechanism 5, the second driving mechanism 6, the fourth driving mechanism 8 and the sixth driving mechanism 10 are controlled to perform actions opposite to those when the boom drill travels uphill.

[0105] That is, when the boom drill travels uphill, the boom drill is in danger of overturning backward due to the rearwardly shifted center of gravity, at this time, the first driving mechanism 5 is controlled to compact the ground with the crawler belt 182; and / or the second driving mechanism 6 is controlled to swing the drill boom 2 forward, so as to move the center of gravity forward and downward; and / or the fourth driving mechanism 8 is controlled to swing the mast 3 forward, so as to move the center of gravity forward; and / or the sixth driving mechanism 10 is controlled to move the power head 4 forward, so as to move the center of gravity forward, thereby ensuring the safety of the boom drill when traveling uphill; similarly, when the boom drill travels downhill, the first driving mechanism 5, the second driving mechanism 6, the fourth driving mechanism 8 and the sixth driving mechanism 10 are controlled to perform actions opposite to those when the boom drill travels uphill, thereby ensuring the safety of the boom drill when traveling downhill.

[0106] In addition, in some embodiments, the first driving mechanism 5 includes a left crawler oil cylinder 51 and a right crawler oil cylinder 52; and controlling the first driving mechanism 5, the second driving mechanism 6, the third driving mechanism 7, the fourth driving mechanism 8, the fifth driving mechanism 9 and the sixth driving mechanism 10 to perform actions includes:

[0107] When the boom drill travels laterally on a side slope that is inclined to the right, the right crawler oil cylinder 52 is controlled to extend; and / or the fifth driving mechanism 9 is controlled to act so as to incline the mast 3 to the left; and / or the second driving mechanism 6 is controlled to act so as to swing the drill boom 2 downward; and / or the fourth driving mechanism 8 is controlled to act so as to swing the mast 3 downward;

[0108] When the boom drill travels laterally on a side slope that is inclined to the left, the left crawler oil cylinder 51 is controlled to extend; and / or the fifth driving mechanism 9, the second driving mechanism 6 and the fourth driving mechanism 8 are controlled to perform actions opposite to those when the boom drill travels laterally on a side slope that is inclined to the left.

[0109] That is, when the boom drill travels laterally on a side slope that is inclined to the right, the boom drill is in danger of overturning to the right due to the rightwardly shifted center of gravity, at this time, the right crawler oil cylinder 52 is controlled to extend, so as to prevent the boom drill from overturning to the right; and / or the fifth driving mechanism 9 is controlled to act so as to incline the mast 3 to the left, so as to move the center of gravity of the boom drill to the left; and / or the second driving mechanism 6 is controlled to act so as to swing the drill boom 2 downward, so as to move the center of gravity downward; and / or the fourth driving mechanism 8 is controlled to act so as to swing the mast 3 downward, so as to move the center of gravity downward; thereby moving the center of gravity of the boom drill to the left or downward, so as to prevent the boom drill from overturning to the right.

[0110] It should be further noted that the relational terms herein, such as first and second, and the like, are used solely to distinguish one from another entity or action without necessarily requiring or implying any actual relationship or order between such entities or actions.

[0111] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be mutually referred to.

[0112] The arm type drilling rig and the gravity center adjusting method thereof are described in detail above. The principles and implementation manners of the present application are described by using specific examples. The above embodiment is only used to help understand the method and core idea of the present application. It should be pointed out that, for those skilled in the art, some improvements and modifications can be made to the present application without departing from the principles of the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A boom-type drilling rig, characterized in that, include: Platform (1); Track assemblies are located on both sides of the platform (1) and can rotate relative to the platform (1) so that the platform (1) can pitch relative to the ground; The drill arm (2) is rotatably mounted on the platform (1) in two mutually perpendicular directions, so that the drill arm (2) can perform pitching and lifting movements and swing left and right relative to the platform (1); The mast (3) is rotatably mounted on the end of the drill arm (2) away from the platform (1) in two mutually perpendicular directions, so that the mast (3) can perform pitching and tilting relative to the drill arm (2); The power head (4) is slidably mounted on the mast (3) along the length of the mast (3); The first drive mechanism (5) is connected between the platform (1) and the track assembly, and is used to drive the track assembly and the platform (1) to rotate relative to each other; The second drive mechanism (6) is connected between the platform (1) and the drill arm (2) and is used to drive the drill arm (2) to perform pitching and lifting motion relative to the platform (1); The third drive mechanism (7) is connected between the platform (1) and the drill arm (2) and is used to drive the drill arm (2) to swing left and right relative to the platform (1). The fourth drive mechanism (8) is connected between the drill arm (2) and the mast (3) and is used to drive the mast (3) to pitch back and forth relative to the drill arm (2); The fifth drive mechanism (9) is connected between the drill arm (2) and the mast (3) and is used to drive the mast (3) to tilt left and right relative to the drill arm (2); The sixth drive mechanism (10) is connected between the mast (3) and the power head (4) and is used to drive the power head (4) to slide along the mast (3); Platform tilt sensor (11) is used to collect the tilt angle of the platform (1); A drill arm pitch angle sensor (12) is used to collect the pitch angle of the drill arm (2); A drill arm swing angle sensor (13) is used to collect the swing angle of the drill arm (2); A mast pitch angle sensor (14) is used to collect the pitch angle of the mast (3); A mast tilt angle sensor (15) is used to collect the tilt angle of the mast (3); A power head displacement sensor (16) is used to collect the displacement of the power head (4); The controller (17) is connected to the platform tilt sensor (11), the drill arm pitch angle sensor (12), the drill arm swing angle sensor (13), the mast pitch angle sensor (14), the mast tilt angle sensor (15), the power head displacement sensor (16), the first drive mechanism (5), the second drive mechanism (6), the third drive mechanism (7), the fourth drive mechanism (8), the fifth drive mechanism (9), and the sixth drive mechanism (10), respectively. It is used to control the first drive mechanism (5), the second drive mechanism (6), the third drive mechanism (7), the fourth drive mechanism (8), the fifth drive mechanism (9), and the sixth drive mechanism (10) to operate according to the collected signals of the platform tilt sensor (11), the drill arm pitch angle sensor (12), the drill arm swing angle sensor (13), the mast pitch angle sensor (14), the mast tilt angle sensor (15), and the power head displacement sensor (16), so that the center of gravity of the boom drilling rig meets the requirements.

2. The boom-type drilling rig according to claim 1, characterized in that, The track assembly includes a track frame (181) and a track (182) covering the outer periphery of the track frame (181), the track frame (181) being rotatably mounted on the platform (1); the first drive mechanism (5) includes a track leveling cylinder. The boom-type drilling rig also includes: A pressure sensor is used to collect the hydraulic oil pressure in the inlet and outlet oil circuits of the track leveling cylinder to sense whether the track (182) is compacted on the ground. The pressure sensor is connected to the controller (17) so that the controller (17) controls the track leveling cylinder to operate according to the detection signal of the pressure sensor.

3. The boom-type drilling rig according to claim 1 or 2, characterized in that, The drill arm (2) is connected to the platform (1) via a first cross hinge (19); and / or, the mast (3) is connected to the drill arm (2) via a second cross hinge (20).

4. A method for adjusting the center of gravity of a boom-type drilling rig, characterized in that, The controller (17) applied to the boom-type drilling rig according to any one of claims 1-3, the method for adjusting the center of gravity of the boom-type drilling rig includes: Acquire the sensor signals collected by the platform tilt sensor (11), the drill arm pitch angle sensor (12), the drill arm left and right swing angle sensor (13), the mast pitch angle sensor (14), the mast left and right tilt angle sensor (15), and the power head displacement sensor (16). Based on the signals from each of the sensors, the first drive mechanism (5), the second drive mechanism (6), the third drive mechanism (7), the fourth drive mechanism (8), the fifth drive mechanism (9), and the sixth drive mechanism (10) are controlled to operate so that the center of gravity of the boom drilling rig meets the requirements.

5. The method for adjusting the center of gravity of a boom-type drilling rig according to claim 4, characterized in that, Based on the sensor signals, the first drive mechanism (5), the second drive mechanism (6), the third drive mechanism (7), the fourth drive mechanism (8), the fifth drive mechanism (9), and the sixth drive mechanism (10) are controlled to operate so that the center of gravity of the boom-type drilling rig meets the requirements, including: The actual center of gravity of the boom-type drilling rig is calculated based on the signals from each of the aforementioned sensors. Calculate the deviation between the actual center of gravity and the theoretical center of gravity of the boom-type drilling rig; Determine whether the deviation exceeds the preset maximum allowable deviation; If so, control the first drive mechanism (5), the second drive mechanism (6), the third drive mechanism (7), the fourth drive mechanism (8), the fifth drive mechanism (9) and / or the sixth drive mechanism (10) to make the center of gravity of the boom drilling rig meet the requirements.

6. The method for adjusting the center of gravity of a boom-type drilling rig according to claim 5, characterized in that, The deviation includes a first deviation, which is the deviation of the actual center of gravity from the theoretical center of gravity in the vertical direction; the maximum permissible deviation includes a first maximum permissible deviation. The control of the first drive mechanism (5), the second drive mechanism (6), the third drive mechanism (7), the fourth drive mechanism (8), the fifth drive mechanism (9), and the sixth drive mechanism (10) includes: When the first deviation exceeds the first maximum allowable deviation, control the second drive mechanism (6) to swing the drill arm (2) downward; and / or control the fourth drive mechanism (8) to swing the mast (3) downward; and / or control the sixth drive mechanism (10) to lower the power head (4); and / or control the fifth drive mechanism (9) to tilt the mast (3); and / or control the first drive mechanism (5) to lower the platform (1).

7. The method for adjusting the center of gravity of a boom-type drilling rig according to claim 5, characterized in that, The deviation includes a second deviation, which is the deviation of the actual center of gravity from the theoretical center of gravity in the left-right direction; the maximum permissible deviation includes a second maximum permissible deviation. The first drive mechanism (5) includes a left track cylinder (51) and a right track cylinder (52); The control of the first drive mechanism (5), the second drive mechanism (6), the third drive mechanism (7), the fourth drive mechanism (8), the fifth drive mechanism (9), and the sixth drive mechanism (10) includes: When the second deviation exceeds the second maximum permissible deviation, and the actual center of gravity deviates from the theoretical center of gravity to one side in the left-right direction, control one of the left track cylinder (51) and the right track cylinder (52) to shorten and the other to extend, so that the platform (1) tilts to the other side in the left-right direction; and / or, control the fifth drive mechanism (9) to move, so that the mast (3) tilts to the other side in the left-right direction; and / or, control the third drive mechanism (7) to move, so that the drill arm (2) swings to the other side in the left-right direction.

8. The method for adjusting the center of gravity of a boom-type drilling rig according to claim 5, characterized in that, The deviation includes a third deviation, which is the deviation of the actual center of gravity from the theoretical center of gravity in the front-back direction; The maximum permissible deviation includes a third maximum permissible deviation; The control of the first drive mechanism (5), the second drive mechanism (6), the third drive mechanism (7), the fourth drive mechanism (8), the fifth drive mechanism (9), and the sixth drive mechanism (10) includes: When the third deviation exceeds the third maximum allowable deviation, and the actual center of gravity deviates from the theoretical center of gravity to one side in the front-back direction, control the second drive mechanism (6) to swing the drill arm (2) to the other side in the front-back direction; and / or, control the fourth drive mechanism (8) to swing the mast (3) to the other side in the front-back direction; and / or, control the sixth drive mechanism (10) to move the power head (4) to the other side in the front-back direction.

9. The method for adjusting the center of gravity of a boom-type drilling rig according to claim 4, characterized in that, The control of the first drive mechanism (5), the second drive mechanism (6), the third drive mechanism (7), the fourth drive mechanism (8), the fifth drive mechanism (9), and the sixth drive mechanism (10) includes: When the boom-type drilling rig travels uphill, the first drive mechanism (5) is controlled to move, causing the tracks (182) of the track assembly to compact the ground; and / or, the second drive mechanism (6) is controlled to move, causing the drill arm (2) to swing forward; and / or, the fourth drive mechanism (8) is controlled to move, causing the mast (3) to swing forward; and / or, the sixth drive mechanism (10) is controlled to move, causing the power head (4) to move forward. When the boom drilling rig is traveling downhill, the first drive mechanism (5), the second drive mechanism (6), the fourth drive mechanism (8) and the sixth drive mechanism (10) are controlled to perform the opposite actions as when traveling uphill.

10. The method for adjusting the center of gravity of a boom-type drilling rig according to claim 4, characterized in that, The first drive mechanism (5) includes a left track cylinder (51) and a right track cylinder (52); The control of the first drive mechanism (5), the second drive mechanism (6), the third drive mechanism (7), the fourth drive mechanism (8), the fifth drive mechanism (9), and the sixth drive mechanism (10) includes: When the boom-type drilling rig travels laterally on a side slope tilted to the right, the right track cylinder (52) is extended; and / or, the fifth drive mechanism (9) is activated to tilt the mast (3) to the left; and / or, the second drive mechanism (6) is activated to swing the drill arm (2) downward; and / or, the fourth drive mechanism (8) is activated to swing the mast (3) downward. When the boom-type drilling rig travels laterally on a side slope tilted to the left, the left track cylinder (51) is extended; and / or the fifth drive mechanism (9) is controlled to tilt the mast (3) to the right; and / or the second drive mechanism (6) is controlled to swing the drill arm (2) downward; and / or the fourth drive mechanism (8) is controlled to swing the mast (3) downward.

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