Electric pole assembly vertical drilling device and control method

Abstract

The invention provides an electric pole assemblage vertical drilling device and a control method.The vertical drilling device comprises a rotary platform, a large arm, a small arm and a drilling device which are sequentially hinged, a first working oil cylinder is arranged between the rotary platform and the large arm, a second working oil cylinder is arranged between the large arm and the small arm, and the drilling device is arranged on the rotary platform. A working oil cylinder III is arranged between the small arm and the drilling device; according to the control method, the first working oil cylinder or the second working oil cylinder is selected as the driving oil cylinder, and the remaining oil cylinders are cooperatively controlled along with the driving oil cylinder, so that the drill rod of the drilling device always keeps vertically downward movement, the operability and reliability of drilling are guaranteed, the control complexity of the vertical drilling device is effectively reduced, and the drilling efficiency is improved. The construction efficiency and the perpendicularity of holes in the drilling process can be effectively improved, and the drilling deviation phenomenon is prevented.

Description

Technical Field

[0001] The invention relates to the technical field of engineering machinery, and in particular to a pole assembly vertical drilling device and a control method. Background Art

[0002] For the mechanized operation of pole assembly in the distribution network, geotechnical drilling construction is the first step in pole assembly. In traditional drilling construction, the operator replaces the bucket of the excavator with a drill rod, and the operator simultaneously controls the two handles of the excavator to complete compound actions to achieve vertical drilling operations. The operator needs to make judgments on the working environment and operate the two handles based on experience to complete the vertical drilling operation, which requires a high level of operator proficiency. When the operator lacks experience, it may cause problems such as inaccurate drilling positioning, drilling deviation, and insufficient drilling depth, which may seriously affect the construction effect and construction safety. For this reason, how to improve the vertical drilling device and its control method to reduce the difficulty of equipment operation and improve construction efficiency and construction quality has become a technical problem that needs to be solved urgently.

[0003] In summary, there is an urgent need for a pole assembly vertical drilling device and a control method to solve the problems existing in the prior art. Summary of the invention

[0004] The present invention aims to provide a vertical drilling device for electric pole assembly, aiming to solve the problems of high complexity and complicated operation of existing electric pole hole excavation devices, and difficulty in ensuring drilling depth and verticality. The specific technical scheme is as follows:

[0005] A vertical drilling device for electric pole assembly, comprising a rotating platform, a boom, a forearm and a drilling device; wherein one end of the boom is hinged to the rotating platform, the other end of the boom is hinged to one end of the forearm, and the other end of the forearm is hinged to the drilling device; a working cylinder 1 is provided between the rotating platform and the boom, a working cylinder 2 is provided between the boom and the forearm, and a working cylinder 3 is provided between the forearm and the drilling device;

[0006] The arm is provided with an inclination sensor 1 for measuring its inclination, and the measuring axis direction of the inclination sensor 1 is parallel to the line between the hinge points at both ends of the arm;

[0007] The forearm is provided with a second inclination sensor for measuring its inclination, and the measuring axis direction of the second inclination sensor is parallel to the line between the hinge points at both ends of the forearm;

[0008] The drilling device is provided with an inclination sensor 3 for measuring its inclination, and the measuring axis direction of the inclination sensor 3 is perpendicular to the axial direction of the drill rod in the drilling device.

[0009] The present invention also provides a control method for the pole assembly vertical drilling device, comprising the following steps:

[0010] S1. After the pole hole positioning is completed, the coordinate matrix of the forearm end position is calculated according to the measurement data of the inclination sensor 1 and the inclination sensor 2;

[0011] S2, between the working cylinder 1 and the working cylinder 2, select one as the active cylinder and the other as the follower cylinder;

[0012] S3, controlling the active cylinder to move, obtaining the real-time inclination angle of the mechanism driven by the active cylinder; calculating the desired inclination angle of the mechanism driven by the follower cylinder according to the obtained real-time inclination angle and the coordinate matrix of the end position of the forearm;

[0013] S4, calculating the telescopic displacement of the follower cylinder according to the desired inclination angle, and the follower cylinder moves so that the driven mechanism moves to the desired inclination angle position;

[0014] S5. Determine whether the working cylinder three needs to move based on the measurement data of the inclination sensor three; if it needs to move, calculate the telescopic displacement of the working cylinder three based on the expected inclination and the real-time inclination in step S3, and the working cylinder three moves so that the drill rod of the drilling device is in a vertical state; if it does not need to move, the working cylinder three remains stationary.

[0015] In the above technical solution, preferably, the coordinate matrix of the position of the end of the forearm is calculated in step S1, specifically:

[0016]

[0017] Among them, L AB L is the length of the line between the hinge points at both ends of the boom, BC is the length of the line between the hinge points at both ends of the forearm, is the inclination sensor at t 0 The real-time inclination angle of the boom is measured at all times. The second inclination sensor is at t 0 The real-time inclination angle of the forearm is measured at all times. t 0 The horizontal coordinate of the position of the end of the forearm at the moment,

[0018] t 0 The ordinate of the position of the end of the forearm at the moment.

[0019] In the above technical solution, preferably, when the working cylinder 1 is the active cylinder and the working cylinder 2 is the follower cylinder in step S2, the expected inclination angle of the mechanism driven by the follower cylinder in step S3 is:

[0020]

[0021] in, is the expected inclination angle of the forearm at time t, is the real-time inclination angle of the boom at time t.

[0022] In the above technical solution, preferably, in step S4, the telescopic displacement of the follower cylinder is calculated according to the expected inclination angle, specifically:

[0023]

[0024] Among them, λ 2 L is the telescopic displacement of the second working cylinder. GB L is the distance between the hinge point between the working cylinder 2 and the boom and the hinge point between the boom and the forearm. BH is the distance between the hinge point between the upper arm and the lower arm to the hinge point between the working cylinder 2 and the lower arm, ∠GBA is L GB With L AB The angle between

[0025] ∠CBH is L BH With L BC The angle between them, π is the circumference of a circle.

[0026] In the above technical solution, preferably, the telescopic displacement of the working cylinder 3 is calculated in step S5, specifically:

[0027]

[0028] Among them, λ 3 is the telescopic displacement of the working cylinder 3, L CI L is the distance between the hinge point between the forearm and the drilling device and the hinge point between the forearm and the working cylinder 3. CJ is the distance from the hinge point between the forearm and the drilling device to the hinge point between the working cylinder 3 and the drilling device, ∠BCI is L BC With L CI The angle between them, π is the circumference of a circle.

[0029] In the above technical solution, preferably, when the working cylinder 2 is the active cylinder and the working cylinder 1 is the follower cylinder in step S2, the desired inclination angle of the mechanism driven by the follower cylinder in step S3 is:

[0030]

[0031] in, is the real-time inclination angle of the forearm at time t, y t is the ordinate of the end position of the forearm at time t, is the expected inclination angle of the boom at time t.

[0032] In the above technical solution, preferably, in step S4, the telescopic displacement of the follower cylinder is calculated according to the expected inclination angle, specifically:

[0033]

[0034] Among them, λ 1 L is the telescopic displacement of the working cylinder 1. AE L is the distance between the hinge point between the boom and the slewing platform and the hinge point between the working cylinder and the slewing platform. AF is the distance from the hinge point between the boom and the slewing platform to the hinge point between the working cylinder and the boom, ∠EAD is L AE With horizontal line L AD The angle between them, ∠BAF is L AB With L AF The angle between.

[0035] In the above technical solution, preferably, the telescopic displacement of the working cylinder 3 is calculated in step S5, specifically:

[0036]

[0037] Among them, λ 3 is the telescopic displacement of the working cylinder 3, L CI L is the distance between the hinge point between the forearm and the drilling device and the hinge point between the forearm and the working cylinder 3. CJ is the distance from the hinge point between the forearm and the drilling device to the hinge point between the working cylinder 3 and the drilling device, ∠BCI is L BC With L CI The angle between them, π is the circumference of a circle.

[0038] In the above technical solution, preferably, in step S2, if the inclination sensor t 0 Real-time inclination measured at all times When it is greater than 0, the working cylinder 2 is the active cylinder and the working cylinder 1 is the follower cylinder; if the inclination sensor 2 t 0 Real-time inclination measured at all times When it is less than or equal to 0, the working cylinder 1 is the active cylinder and the working cylinder 2 is the follower cylinder;

[0039] In step S5, the inclination sensor 3 collects the real-time inclination angle of the drilling device at time t. when When Then the working cylinder is extended. Then the working cylinder 3 is shortened; when When , the working cylinder will not move; ε is the set threshold.

[0040] The application of the technical solution of the present invention has the following beneficial effects:

[0041] The present invention only needs to control one active cylinder to move, and the remaining two cylinders follow the active cylinder to perform coordinated actions, so that the drill rod of the drilling device always keeps moving vertically downward, ensuring the operability and reliability of drilling, and effectively reducing the control complexity of the vertical drilling device. Due to the automatic coordinated control of the remaining two cylinders, the construction efficiency and the verticality of the hole in the drilling process can be effectively improved, and the drilling deviation phenomenon can be prevented.

[0042] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0044] Figure 1 It is a schematic structural diagram of the vertical drilling device of the present invention;

[0045] Figure 2 is a flow chart of a control method of a vertical drilling device of the present invention;

[0046] Among them, 1. Rotating platform, 2. Working cylinder 1, 3. Upper arm, 4. Inclination sensor 1, 5. Working cylinder 2, 6. Lower arm, 7. Inclination sensor 2, 8. Working cylinder 3, 9. Inclination sensor 3, 10. Drilling device. DETAILED DESCRIPTION

[0047] In order to facilitate the understanding of the present invention, the present invention will be described more fully below, and preferred embodiments of the present invention are provided. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0049] Example:

[0050] See also Figure 1The present embodiment provides a vertical drilling device for electric pole assembly, comprising a rotating platform 1, a boom 3, a forearm 6 and a drilling device 10; wherein one end of the boom 3 is hinged to the rotating platform 1, and the other end thereof is hinged to one end of the forearm 6, and the other end of the forearm 6 is hinged to the drilling device 10; a working cylinder 1 2 is provided between the rotating platform 1 and the boom 3, a working cylinder 2 5 is provided between the boom 3 and the forearm 6, and a working cylinder 3 8 is provided between the forearm 6 and the drilling device 10;

[0051] The arm 3 is provided with an inclination sensor 4 for measuring its inclination, and the measuring axis direction of the inclination sensor 4 is parallel to the connecting line L between the hinge points at both ends of the arm 3. AB ;

[0052] The forearm 6 is provided with an inclination sensor 7 for measuring its inclination, and the measuring axis direction of the inclination sensor 7 is parallel to the connecting line L between the hinge points at both ends of the forearm 6. BC ;

[0053] The drilling device 10 is provided with an inclination sensor 3 9 for measuring its inclination, and the measuring axis direction of the inclination sensor 3 9 is perpendicular to the axial direction of the drill rod in the drilling device 10.

[0054] The vertical drilling device in this embodiment can drive the arm 3, the arm 6 and the drilling device 10 to move separately through the working cylinder 1, the working cylinder 2 and the working cylinder 3. The corresponding control effect can be achieved by controlling the three cylinders separately. However, under this control mode, the operator needs to control the three cylinders separately, which requires the operator to have a high level of operating proficiency. When the operator lacks experience, it may cause problems such as inaccurate drilling positioning, drilling deviation and insufficient drilling depth, which may seriously affect the construction effect and construction safety. In order to reduce the requirements of vertical drilling for operators and reduce the difficulty of operation for operators, such as Figure 2 As shown, this embodiment also provides a control method for the pole assembly vertical drilling device, comprising the following steps:

[0055] S1, after the pole hole positioning is completed, the coordinate matrix of the end position of the forearm 6 is calculated according to the measurement data of the inclination sensor 1 4 and the inclination sensor 2 7;

[0056] S2, between the working cylinder 1 2 and the working cylinder 2 5, select one as the active cylinder and the other as the follower cylinder;

[0057] S3, control the active cylinder to move, obtain the real-time inclination angle of the mechanism driven by the active cylinder; calculate the desired inclination angle of the mechanism driven by the follower cylinder according to the obtained real-time inclination angle and the coordinate matrix of the end position of the small arm 6;

[0058] S4, calculating the telescopic displacement of the follower cylinder according to the desired inclination angle, and the follower cylinder moves so that the driven mechanism moves to the desired inclination angle position;

[0059] S5. Determine whether the working cylinder 3 8 needs to move based on the measurement data of the inclination sensor 3 9. If it needs to move, calculate the telescopic displacement of the working cylinder 3 based on the expected inclination and the real-time inclination in step S3. The working cylinder 3 8 moves so that the drill rod of the drilling device 10 is in a vertical state. If it does not need to move, the working cylinder 3 8 remains stationary.

[0060] Preferably, in step S1, the coordinate matrix of the end position of the forearm 6 is calculated 0 P, specifically:

[0061]

[0062] Among them, L AB L is the length of the line between the hinge points A and B at both ends of the arm, BC is the length of the line between the hinge points B and C at both ends of the forearm, is the inclination sensor at t 0 The real-time inclination angle of the boom is measured at all times. The second inclination sensor is at t 0 The real-time inclination angle of the forearm is measured at all times. t 0 The horizontal coordinate of the position of the end of the forearm at the moment, t 0 The ordinate of the position of the end of the forearm at the moment.

[0063] Preferably, in step S2, if the inclination sensor 2 is at t 0 Real-time inclination measured at all times When it is greater than 0, the working cylinder 25 is the active cylinder and the working cylinder 12 is the follower cylinder; if the inclination sensor 2t 0 Real-time inclination measured at all times When it is less than or equal to 0, the working cylinder 1 2 is the active cylinder and the working cylinder 2 5 is the slave cylinder.

[0064] Specifically, when the working cylinder 1 2 is the active cylinder and the working cylinder 2 5 is the follower cylinder in step S2, the expected inclination angle of the mechanism (herein, the forearm) driven by the follower cylinder (herein, the working cylinder 2) in step S3 is:

[0065]

[0066] in, is the expected inclination angle of the forearm at time t, is the real-time inclination angle of the boom at time t.

[0067] Furthermore, in step S4, the telescopic displacement of the follower cylinder is calculated according to the expected inclination angle, specifically:

[0068]

[0069] Among them, λ 2 L is the telescopic displacement of the second working cylinder. GB L is the distance from the hinge point G between the working cylinder 2 and the boom to the hinge point B between the boom and the forearm. BH is the distance from the hinge point B between the boom and the forearm to the hinge point H between the working cylinder 2 and the forearm, ∠GBA is L GB With L AB The angle between them, ∠CBH is L BH With L BC The angle between them, π is the circumference of a circle.

[0070] Working cylinder two extension 2 The displacement is calculated to achieve the follow-up movement of the forearm to the desired tilt angle position, and the working cylinder 2 moves following the movement of the working cylinder 1. After both the working cylinders 1 and 2 move, it is necessary to determine whether the working cylinder 3 needs to move. If it needs to move, the telescopic displacement λ of the working cylinder 3 is calculated when the working cylinder 1 2 is the active cylinder and the working cylinder 2 5 is the follower cylinder. 3 ; Further, in this case, the telescopic displacement of the working cylinder three is calculated in step S5:

[0071]

[0072] Among them, λ 3 is the telescopic displacement of the working cylinder 3, L CI L is the distance from the hinge point C between the forearm and the drilling device to the hinge point I between the forearm and the working cylinder 3. CJ is the distance from the hinge point C between the forearm and the drilling device to the hinge point J between the working cylinder 3 and the drilling device, ∠BCI is L BC With L CI The angle between them, π is the circumference of a circle.

[0073] Specifically, when the working cylinder 2 5 is the active cylinder and the working cylinder 1 2 is the slave cylinder in step S2, the expected inclination angle of the mechanism (herein, the boom) driven by the slave cylinder (herein, the working cylinder 1) in step S3 is:

[0074]

[0075] in, is the real-time inclination angle of the forearm at time t, y t is the ordinate of the end position of the forearm at time t, is the expected inclination angle of the boom at time t. Calculate the ordinate y of the end position of the forearm at time t t When t The coordinate symbol value rule is: when |y t |>a, y t The value is selected according to the principle of proximity, that is, y t The sign of is consistent with that of the previous moment; when |y t |≤a, when When y increases relative to the previous moment, t The value is positive; when When y decreases relative to the previous moment, t The value is negative; a is the set threshold.

[0076] Furthermore, in step S4, the telescopic displacement of the follower cylinder is calculated according to the expected inclination angle, specifically:

[0077]

[0078] Among them, λ 1 L is the telescopic displacement of the working cylinder 1. AE L is the distance from the hinge point A between the boom and the slewing platform to the hinge point E between the working cylinder 1 and the slewing platform. AF = L is the distance from the hinge point A between the boom and the slewing platform to the hinge point F between the working cylinder and the boom, ∠EAD is L AE With horizontal line L AD The angle between the horizontal line L AD Through the hinge point A between the boom and the slewing platform, ∠BAF is L AB With L AF The angle between.

[0079] Working cylinder - extension 1 The displacement is used to achieve the follow-up movement of the boom to the desired tilt angle position, and the working cylinder 1 moves following the movement of the working cylinder 2. After both the working cylinders 1 and 2 move, it is necessary to determine whether the working cylinder 3 needs to move. If it needs to move, the telescopic displacement λ of the working cylinder 3 is calculated when the working cylinder 2 is the active cylinder and the working cylinder 1 is the follower cylinder. 3 ; Further, in this case, the telescopic displacement of the working cylinder three is calculated in step S5, specifically:

[0080]

[0081] Among them, λ 3 is the telescopic displacement of the working cylinder 3, L CI L is the distance from the hinge point C between the forearm and the drilling device to the hinge point I between the forearm and the working cylinder 3. CJis the distance from the hinge point C between the forearm and the drilling device to the hinge point J between the working cylinder 3 and the drilling device, ∠BCI is L BC With L CI The angle between them, π is the circumference of a circle.

[0082] Preferably, in step S5, judging whether the working cylinder 3 8 needs to be moved according to the measurement data of the inclination sensor 3 9 is as follows:

[0083] Inclination sensor 3 collects the real-time inclination of the drilling device at time t when When Then the working cylinder three extension λ 3 ,like Then the working cylinder is shortened by λ 3 ;when When , the working cylinder will not move; ε is the set threshold.

[0084] In the control method of this embodiment, only one active cylinder needs to be controlled to move, and the remaining two cylinders follow the active cylinder to perform coordinated actions, so that the drill rod of the drilling device always keeps moving vertically downward, ensuring the operability and reliability of drilling, and effectively reducing the complexity of controlling the vertical drilling device. Due to the automatic coordinated control of the remaining two cylinders, the construction efficiency and the verticality of the hole in the drilling process can be effectively improved, and the drilling deviation phenomenon can be prevented.

[0085] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A vertical drilling device for electric pole assembly, characterized in that: The invention comprises a slewing platform (1), a boom (3), a forearm (6) and a drilling device (10); wherein one end of the boom (3) is hinged to the slewing platform (1), and the other end thereof is hinged to one end of the forearm (6), and the other end of the forearm (6) is hinged to the drilling device (10); a working cylinder 1 (2) is provided between the slewing platform (1) and the boom (3), a working cylinder 2 (5) is provided between the boom (3) and the forearm (6), and a working cylinder 3 (8) is provided between the forearm (6) and the drilling device (10); The upper arm (3) is provided with an inclination sensor (4) for measuring its inclination, and the measuring axis direction of the inclination sensor (4) is parallel to the line between the hinge points at both ends of the upper arm (3); The forearm (6) is provided with a second inclination sensor (7) for measuring its inclination, and the measuring axis direction of the second inclination sensor (7) is parallel to the line between the hinge points at both ends of the forearm (6); The drilling device (10) is provided with an inclination sensor three (9) for measuring its inclination, and the measuring axis direction of the inclination sensor three (9) is perpendicular to the axial direction of the drill rod in the drilling device (10).

2. A control method for the vertical drilling device for electric pole assembly according to claim 1, characterized in that: The following steps are involved: S1, after the pole hole positioning is completed, the coordinate matrix of the end position of the forearm (6) is calculated according to the measurement data of the inclination sensor 1 (4) and the inclination sensor 2 (7); S2, between the working cylinder 1 (2) and the working cylinder 2 (5), select one as the active cylinder and the other as the follower cylinder; S3, controlling the active cylinder to move, obtaining the real-time inclination angle of the mechanism driven by the active cylinder; calculating the desired inclination angle of the mechanism driven by the follower cylinder according to the obtained real-time inclination angle and the coordinate matrix of the end position of the forearm (6); S4, calculating the telescopic displacement of the follower cylinder according to the desired inclination angle, and the follower cylinder moves so that the driven mechanism moves to the desired inclination angle position; S5. Determine whether the working cylinder three (8) needs to move based on the measurement data of the inclination sensor three (9); if it needs to move, calculate the telescopic displacement of the working cylinder three based on the expected inclination and the real-time inclination in step S3, and the working cylinder three (8) moves so that the drill rod of the drilling device (10) is in a vertical state; if it does not need to move, the working cylinder three (8) remains stationary.

3. The control method according to claim 2, characterized in that: The coordinate matrix of the end position of the forearm (6) is calculated in step S1, specifically: Among them, L AB L is the length of the line between the hinge points at both ends of the boom, BC is the length of the line between the hinge points at both ends of the forearm, is the real-time inclination angle of the boom measured by the inclination sensor 1 at time t0, is the real-time inclination angle of the forearm measured by the inclination sensor 2 at time t0, is the horizontal coordinate of the end position of the forearm at time t0, is the ordinate of the position of the end of the forearm at time t0.

4. The control method according to claim 3, characterized in that: When the working cylinder 1 (2) is the active cylinder and the working cylinder 2 (5) is the follower cylinder in step S2, the expected inclination angle of the mechanism driven by the follower cylinder in step S3 is: in, is the expected inclination angle of the forearm at time t, is the real-time inclination angle of the boom at time t.

5. The control method according to claim 4, characterized in that: In step S4, the telescopic displacement of the follower cylinder is calculated according to the expected inclination angle, specifically: Among them, λ2 is the telescopic displacement of the second working cylinder, L GB L is the distance between the hinge point between the working cylinder 2 and the boom and the hinge point between the boom and the forearm. BH is the distance between the hinge point between the upper arm and the lower arm to the hinge point between the working cylinder 2 and the lower arm, ∠GBA is L GB With L AB The angle between ∠CBH is L BH With L BC The angle between them, π is the circumference of a circle.

6. The control method according to claim 4, characterized in that: In step S5, the telescopic displacement of the working cylinder 3 is calculated, specifically: Among them, λ3 is the telescopic displacement of the working cylinder 3, L CI L is the distance between the hinge point between the forearm and the drilling device and the hinge point between the forearm and the working cylinder 3. CJ is the distance from the hinge point between the forearm and the drilling device to the hinge point between the working cylinder 3 and the drilling device, ∠BCI is L BC With L CI The angle between them, π is the circumference of a circle.

7. The control method according to claim 3, characterized in that: When the working cylinder 2 (5) is the active cylinder and the working cylinder 1 (2) is the follower cylinder in step S2, the expected inclination angle of the mechanism driven by the follower cylinder in step S3 is: in, is the real-time inclination angle of the forearm at time t, y t is the ordinate of the end position of the forearm at time t, is the expected inclination angle of the boom at time t.

8. The control method according to claim 7, characterized in that: In step S4, the telescopic displacement of the follower cylinder is calculated according to the expected inclination angle, specifically: Among them, λ1 is the telescopic displacement of the working cylinder, L AE L is the distance between the hinge point between the boom and the slewing platform and the hinge point between the working cylinder and the slewing platform. AF is the distance from the hinge point between the boom and the slewing platform to the hinge point between the working cylinder and the boom, ∠EAD is L AE With horizontal line L AD The angle between them, ∠BAF is L AB With L AF The angle between.

9. The control method according to claim 7, characterized in that: In step S5, the telescopic displacement of the working cylinder 3 is calculated, specifically: Among them, λ3 is the telescopic displacement of the working cylinder 3, L CI L is the distance between the hinge point between the forearm and the drilling device and the hinge point between the forearm and the working cylinder 3. CJ is the distance from the hinge point between the forearm and the drilling device to the hinge point between the working cylinder 3 and the drilling device, ∠BCI is L BC With L CI The angle between them, π is the circumference of a circle.

10. The control method according to claim 2, characterized in that: In step S2, if the real-time inclination angle measured by the inclination sensor at time t0 is When it is greater than 0, the working cylinder 2 (5) is the active cylinder and the working cylinder 1 (2) is the follower cylinder; if the real-time inclination angle measured by the inclination sensor 2 at time t0 is When it is less than or equal to 0, the working cylinder 1 (2) is the active cylinder and the working cylinder 2 (5) is the slave cylinder; In step S5, the inclination sensor 3 collects the real-time inclination angle of the drilling device at time t. when When Then the working cylinder is extended. Then the working cylinder 3 is shortened; when When , the working cylinder will not move; ε is the set threshold.

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