Walking Drilling Rig

Abstract

The present invention discloses a walking drilling rig, including a chassis assembly, wherein the rectangular array on the circumference of the chassis assembly has four groups of leg assemblies and a crawler walking assembly that can move independently of each other, the leg assembly is composed of an upper joint that can swing left and right, a middle joint that can be lifted up and down, and a lower joint that can be fixedly supported, the crawler walking assembly is fixedly installed at the lower joint of the leg assembly, and the crawler walking assembly is an independently driven crawler wheel. The present invention arranges four groups of leg assemblies and crawler walking assemblies on the side of the chassis assembly, and changes the traditional crawler-type strip wheels into walking-type walking wheels, which can effectively lift the chassis assembly from a higher ground height, can adapt to the uneven ground in multiple working conditions existing in mountain operations, can directly open and pass through higher obstacles, and each group of leg assemblies and crawler walking assemblies can realize independent movement, can cross and pass through higher fault terrain, and can have a larger climbing angle.

Description

Technical Field

[0001] The invention relates to the technical field of pile hole drilling machines, in particular to a walking type drilling machine. Background Art

[0002] The mountainous foundation of the power transmission line project has complex terrain, complex geological conditions, poor traffic conditions (there are no existing roads and in many cases there are several-meter-high fault cliffs blocking the road construction), and the cableway construction is also manually dug foundation pits and pile holes. The traditional original soil excavation foundation (excavation piles), rock embedded foundation and other types have large pile diameters, generally more than 1m, and deep burial depths (6m-30m), which require high torque for the drilling rig. The mechanical hole formation for foundation pit excavation requires high torque equipment, which is large in size and weight, difficult to carry on the mountain, and cannot be mechanized.

[0003] Due to the difficult walking conditions on mountain roads, uneven construction foundations (slopes), loose soil layers, protruding rocks and other unfavorable conditions, traditional crawler drilling rigs are difficult to walk, and have strict requirements on construction site conditions, which seriously affects the construction progress. Therefore, a crawler drilling rig is proposed to solve the above problems. Summary of the invention

[0004] In view of the shortcomings of the existing mountain micro-pile multifunctional drilling rigs in the construction process mentioned in the background technology, the present invention provides a walking drilling rig with the advantages of strong obstacle crossing ability and strong adaptability to various mountain terrains, thereby solving the problems raised in the above background technology.

[0005] The present invention provides the following technical solution: a walking drilling rig, including a chassis assembly, wherein the peripheral rectangular array of the chassis assembly has four groups of leg assemblies and a crawler walking assembly that can move independently of each other, the leg assembly is composed of an upper joint that can swing left and right, a middle joint that can be lifted up and down, and a lower joint that can be fixedly supported, the crawler walking assembly is fixedly installed at the lower joint of the leg assembly, and the crawler walking assembly is an independently driven crawler wheel.

[0006] Preferably, the outrigger assembly consists of a fixing part, a horizontal hinge part, a span-adjusting hydraulic rod, a connecting part, a height-adjusting hydraulic rod, a supporting part, a supporting hydraulic rod, a reversing part and a direction-adjusting hydraulic rod, one end of the fixing part is fixedly mounted on the top of the chassis assembly, the other end of the fixing part is hinged with a horizontal hinge part through a pin shaft, a span-adjusting hydraulic rod is provided on the back side of the fixing part and the horizontal hinge part, the fixed end of the span-adjusting hydraulic rod is hinged to the back side of the fixing part, the telescopic end of the span-adjusting hydraulic rod is hinged to the back side of the horizontal hinge part, the other end bottom of the horizontal hinge part is hinged with a connecting part through a pin shaft, A height-adjusting hydraulic rod is hinged to the top of the flat hinge through a pin, and the other end of the height-adjusting hydraulic rod is hinged to the top of the connecting piece through a pin, and a support is hinged to the other end of the connecting piece through a pin, and a supporting hydraulic rod is hinged to the top of the support, and the free telescopic end of the supporting hydraulic rod is hinged to the top of the connecting piece, and a reversing piece is hinged to the other end of the support through a pin, one end of the reversing piece is fixedly connected to one side of the crawler walking assembly, and the other end of the reversing piece is located inside the support and is hinged to a direction-adjusting hydraulic rod, and the other end of the direction-adjusting hydraulic rod is hinged to the inside of the support.

[0007] Preferably, the crawler walking assembly consists of a power box, a front guide wheel, a rear guide wheel, a driving disc, a support wheel, a driving wheel and a crawler belt. One side of the power box is hinged to one end of the reversing member, the left and right ends of the power box are respectively provided with a front guide wheel and a rear guide wheel, the upper and lower ends of the power box are respectively provided with a driving disc and a support wheel, the outside of the driving disc is fixedly mounted with a driving wheel, the outside of the power box is provided with a crawler belt, the front guide wheel, the rear guide wheel, the support wheel and the driving wheel are connected by a crawler belt transmission, and the end of the driving disc is connected by a motor output shaft arranged in the power box.

[0008] Preferably, the front guide wheel is arranged elevated relative to the support wheel and the rear guide wheel.

[0009] The present invention has the following beneficial effects:

[0010] 1. The present invention arranges four groups of outrigger assemblies and crawler walking assemblies on the side of the chassis assembly, changing the traditional crawler-type strip wheels into crawler-type walking wheels, which can effectively lift the chassis assembly from a higher ground height, can adapt to the uneven ground in multiple working conditions existing in mountain operations, can directly open and pass through higher obstacles, and each group of outrigger assemblies and crawler walking assemblies can realize independent movement, can cross higher fault terrain, and can have a larger climbing angle.

[0011] 2. The present invention sets the outrigger assembly in a three-joint form, so that when the vehicle body encounters a partially uneven ground during walking, the joint extension and contraction of the outrigger assembly at the corresponding position can be adjusted to keep the vehicle body level. At the same time, when working on a gentle slope or climbing a slope, the joint extension and contraction of the front and rear outrigger assemblies can be adjusted to keep the vehicle body level, which can effectively ensure the comfort and safety of the operator.

[0012] 3. The crawler drill can easily move across obstacles below 1.4m, and the crossing height is safe below 3.7m. The maximum crossing height can reach 4.2m, which is convenient for walking on various complex mountains and for working on mountains. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a complete assembly diagram of each structure of the present invention;

[0014] Figure 2 For the present invention Figure 1 A top view of

[0015] Figure 3 It is a schematic diagram of the distribution and installation of the outrigger assembly, the crawler walking assembly and the chassis assembly of the present invention;

[0016] Figure 4 It is a schematic diagram of the installation structure of the outrigger assembly and the crawler walking assembly of the present invention;

[0017] Figure 5 This is an exploded view of the outrigger assembly of the present invention;

[0018] Figure 6 This is an exploded view of the crawler walking assembly of the present invention;

[0019] Figure 7 This is a top view schematic diagram of the drilling rig turning of the present invention;

[0020] Figure 8 This is a schematic diagram of the drilling rig of the present invention in a large-angle climbing state;

[0021] Fig. 9 This is a schematic diagram of the drilling rig of the present invention in a small-angle climbing state;

[0022] Fig.10 This is a schematic diagram of the obstacle-crossing operation of the drilling rig of the present invention;

[0023] Fig.11 This is a schematic diagram of the initial state of the drilling rig of the present invention crossing a fault;

[0024] Fig.12 This is a schematic diagram of the drilling rig of the present invention successfully crossing a fault.

[0025] In the figure: 1. chassis assembly; 2. cab and intelligent control system assembly; 3. main pump and power station assembly; 4. hydraulic oil tank assembly; 5. diesel tank assembly; 6. telescopic arm assembly; 7. manipulator assembly; 8. outrigger assembly; 81. fixing parts; 82. horizontal hinge parts; 83. span adjustment hydraulic rod; 84. connecting parts; 85. height adjustment hydraulic rod; 86. supporting parts; 87. supporting hydraulic rod; 88. reversing parts; 89. direction adjustment hydraulic rod; 9. crawler walking assembly; 91. power box; 92. front guide wheel; 93. rear guide wheel; 94. driving plate; 95. supporting wheel; 96. driving wheel; 97. walking track; 10. obstacle body. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] See also Figure 1-12 A walking drilling rig includes a chassis assembly 1, a cab and intelligent control system assembly 2, a main pump and power station assembly 3, a hydraulic oil tank assembly 4, a diesel tank assembly 5, a telescopic arm assembly 6, a manipulator assembly 7, an outrigger assembly 8 and a crawler walking assembly 9. The chassis assembly 1 adopts an excavator-type chassis and can achieve 360-degree rotation. The outrigger assembly 8 and the crawler walking assembly 9 are a group, and there are four groups in total, which are arranged in a rectangular array on the periphery of the chassis assembly 1. The outrigger assembly 8 and the crawler walking assembly 9 can be adjusted individually or synchronously. The outrigger assembly 8 is composed of a fixing member 81, a horizontal hinge 82, a span adjustment hydraulic rod 83, a connecting member 84, a height adjustment hydraulic rod 85, a supporting member 86, a supporting hydraulic rod 87, a reversing member 88 and a direction adjustment hydraulic rod 89. One end of the fixing member 81 is fixedly installed on the top of the chassis assembly 1, and the other end of the fixing member 81 is hinged with a horizontal hinge 82 through a pin shaft. See Figure 3A span-adjusting hydraulic rod 83 is provided on the back side of the fixing member 81 and the horizontal hinged member 82. The fixed end of the span-adjusting hydraulic rod 83 is hinged to the back side of the fixing member 81, and the telescopic end of the span-adjusting hydraulic rod 83 is hinged to the back side of the horizontal hinged member 82. The telescopic end of the span-adjusting hydraulic rod 83 is used to drive the horizontal hinged member 82 to rotate horizontally relative to the fixing member 81. The bottom of the other end of the horizontal hinged member 82 is hinged to a connecting member 84 through a pin shaft. A height-adjusting hydraulic rod 85 is hinged to the top of the horizontal hinged member 82 through a pin shaft. The other end of the height-adjusting hydraulic rod 85 is hinged to the top of the connecting member 84 through a pin shaft. The telescopic end of the height-adjusting hydraulic rod 85 is used to adjust the vertical height of the fixing member 81. The end is hinged with a support member 86 through a pin shaft, and a support hydraulic rod 87 is hinged at the top of the support member 86. The freely retractable end of the support hydraulic rod 87 is hinged to the top of the connecting member 84. The support hydraulic rod 87 is used to assist in lifting and supporting the connecting member 84. The other end of the support member 86 is hinged with a reversing member 88 through a pin shaft. One end of the reversing member 88 is fixedly connected to one side of the crawler traveling assembly 9, and the other end of the reversing member 88 is located inside the support member 86 and is hinged with a direction adjusting hydraulic rod 89. The other end of the direction adjusting hydraulic rod 89 is hinged to the inside of the support member 86. The retraction of the direction adjusting hydraulic rod 89 is used to realize the rotation of the crawler traveling assembly 9 relative to the hinge axis of the reversing member 88 by a certain angle.

[0028] In the above mechanism, the fixing part 81, the connecting part 84 and the supporting part 86 divide the outrigger assembly 8 into three joint parts, the fixing part 81 is the fixing part, the connecting part 84 is the movable adjustment part, and the supporting part 86 is the supporting part. The span adjustment hydraulic rod 83, the height adjustment hydraulic rod 85, the support hydraulic rod 87 or the direction adjustment hydraulic rod 89 are provided between the two connected joints to provide driving force to the corresponding joint parts, so that the fixing part 81 can complete the lifting action and height adjustment of the chassis assembly 1, and at the same time can complete the span adjustment between the two crawler walking assemblies 9.

[0029] The crawler walking assembly 9 is composed of a power box 91, a front guide wheel 92, a rear guide wheel 93, a drive disc 94, a support wheel 95, a drive wheel 96 and a crawler belt 97. One side of the power box 91 is hinged to one end of the reversing member 88. The left and right ends of the power box 91 are respectively provided with a front guide wheel 92 and a rear guide wheel 93. The upper and lower ends of the power box 91 are respectively provided with a drive disc 94 and a support wheel 95. The outside of the drive disc 94 is fixedly installed with a drive wheel 96. The outside of the power box 91 is provided with a crawler belt 97. The front guide wheel 92, the rear guide wheel 93, the support wheel 95 and the drive wheel 96 are connected by the crawler belt 97. The end of the drive disc 94 is connected by the motor output shaft provided in the power box 91. There are three groups of support wheels 95, and the three groups of support wheels 95 are horizontally evenly spaced. Among them, the front guide wheel 92 is elevated relative to the support wheel 95 and the rear guide wheel 93, so that the walking track 97 is an oblique section from the support wheel 95 to the front guide wheel 92, which is convenient for walking on uneven terrain in the mountains. At the same time, the setting of the oblique belt wheel can make the outrigger assembly 8 obliquely support and transmit force to the track when the chassis assembly 1 is lifted, and the oblique belt section of the track bears most of the tensile stress rather than the shear stress, thereby ensuring that the track load-bearing characteristics are well adapted to the structural arrangement of the outrigger assembly 8.

[0030] By arranging four sets of outrigger assemblies 8 and crawler walking assemblies 9 on the side of the chassis assembly 1, the traditional crawler-type strip wheels are changed into crawler-type walking wheels, which can effectively lift the chassis assembly 1 from a higher ground height, can adapt to the uneven ground in various working conditions existing in mountain operations, and can directly open and pass through higher obstacles. Figure 1 In the figure, the obstacle body 10 is in a flat open state to pass through higher obstacles, and each set of leg assemblies 8 and crawler walking assemblies 9 can realize independent movement, can cross higher fault terrain, and the climbing angle can be larger.

[0031] By setting the outrigger assembly 8 to a three-joint form, when the vehicle body encounters a partially uneven ground during walking, the vehicle body can be adjusted to remain level by individually adjusting the extension and contraction of the joints of the outrigger assembly 8 at the corresponding position. At the same time, when working on a gentle slope or climbing a slope, the vehicle body can also be adjusted to remain level by adjusting the extension and contraction of the joints at the front and rear outrigger assemblies 8, thereby effectively ensuring the comfort and safety of the operator.

[0032] A specification and usage status of the present invention after actual production implementation are as follows:

[0033] The front and rear steering angle of the crawler is 15°. When traveling on a horizontal road, the chassis maintains a 1000mm gap with the ground, and the maximum gap between the chassis and the ground can reach 1400mm. When any of the four crawlers encounters an uneven ground, the crawler can automatically adjust the crawler to swing downward according to the unevenness ±400mm, that is, the crawler is adjusted through the crawler walking assembly 9, so that the vehicle body can pass through the pit smoothly, and it can also ensure that the vehicle body is in a horizontal state, and at the same time, the crawler is always parallel to the vehicle body.

[0034] When the height of the obstacle is within ±1000mm, the machine body has an automatic leveling function. The clearance between the chassis and the ground is adjusted to 1400mm, that is, the leg assembly 8 and the crawler walking assembly 9 are automatically adjusted, and any crawler walking assembly 9 can be easily lifted to cross the obstacle. It can also ensure that the body is in a horizontal state, and the crawler is always parallel to the body.

[0035] When the height of the obstacle exceeds ±1000mm but is within ±1400mm, the operator can perform manual operation, and the machine body no longer has the automatic leveling function. The clearance between the chassis and the ground is adjusted to 1400mm, that is, through the outrigger assembly 8 and the crawler walking assembly 9, any crawler walking assembly 9 can be easily lifted to cross the obstacle. It can also ensure that the body is in a horizontal state, and at the same time, the crawler and the body are always parallel.

[0036] The four legs of the crawler drilling rig can be extended and retracted simultaneously or individually, and they always remain parallel to the base frame during the extension and retraction process.

[0037] When turning, the front left and right tracks must turn at the same time and the steering angles must be consistent. The rear left and right tracks must turn at the same time and the steering angles must be consistent. The steering of the front and rear tracks is controlled separately.

[0038] When the machine is traveling on a slope not greater than 19°, the machine body can always remain level, and the crawler tracks can automatically adapt to road conditions and automatically adjust the angle; when the machine is traveling on a slope greater than 19°, the body should climb a larger angle while maintaining the previous walking state, and the display should display the actual slope and the front and rear inclination angle of the body in real time (for example, if the actual slope is displayed as 30°, the front and rear inclination angle of the body should be displayed as 11°). When the actual slope is greater than 35°, a voice alarm will prompt that there is a risk of sliding down the slope, and the machine will be forcibly prohibited from moving forward at this time; the left and right inclination angles of the body can be displayed in real time. When the left and right automatic leveling reaches the limit position, a voice broadcast will be given that there is a risk of rollover, and the machine is forced to stop moving forward.

[0039] When crossing obstacles, the obstacle height is no more than 3.7m, and the front and rear crawlers can be adjusted to a horizontal state. When the height is greater than 3.7m, an alarm light is set to prompt the operator to stop climbing. However, it can also be manually set, and the maximum height can reach 4.2m.

[0040] It adopts a dual-speed travel motor, with a fast travel speed of 3-5Km / h and a slow climbing speed of 1.5-2Km / h. It has strong climbing ability and can climb a slope angle of 25°; if a winch is added, it can climb a slope angle of 35°.

[0041] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0042] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A walking drilling rig, comprising a chassis assembly (1), characterized in that: The rectangular array around the chassis assembly (1) has four groups of leg assemblies (8) and a crawler walking assembly (9) that move independently of each other. The leg assembly (8) is composed of an upper joint that swings left and right, a middle joint that lifts up and down, and a lower joint that is fixed and supported. The crawler walking assembly (9) is fixedly installed at the lower joint of the leg assembly (8), and the crawler walking assembly (9) is an independently driven crawler wheel; The outrigger assembly (8) is composed of a fixing member (81), a horizontal hinge member (82), a span adjustment hydraulic rod (83), a connecting member (84), a height adjustment hydraulic rod (85), a supporting member (86), a supporting hydraulic rod (87), a reversing member (88) and a direction adjustment hydraulic rod (89), one end of the fixing member (81) is fixedly mounted on the top of the chassis assembly (1), the other end of the fixing member (81) is hingedly connected to the horizontal hinge member (82) via a pin, a span adjustment hydraulic rod (83) is provided on the back side of the fixing member (81) and the horizontal hinge member (82), the fixed end of the span adjustment hydraulic rod (83) is hingedly connected to the back side of the fixing member (81), the telescopic end of the span adjustment hydraulic rod (83) is hingedly connected to the back side of the horizontal hinge member (82), and the bottom of the other end of the horizontal hinge member (82) is hingedly connected to the connecting member (84) via a pin. ), a height adjustment hydraulic rod (85) is hingedly connected to the top of the horizontal hinge (82) through a pin shaft, the other end of the height adjustment hydraulic rod (85) is hingedly connected to the top of a connecting member (84) through a pin shaft, a support member (86) is hingedly connected to the other end of the connecting member (84) through a pin shaft, a support hydraulic rod (87) is hingedly connected to the top of the supporting member (86), the free telescopic end of the support hydraulic rod (87) is hingedly connected to the top of the connecting member (84), the other end of the supporting member (86) is hingedly connected to a reversing member (88) through a pin shaft, one end of the reversing member (88) is fixedly connected to one side of the crawler walking assembly (9), the other end of the reversing member (88) is located inside the supporting member (86) and is hingedly connected to a direction adjustment hydraulic rod (89), the other end of the direction adjustment hydraulic rod (89) is hingedly connected to the inside of the supporting member (86); The crawler walking assembly (9) is composed of a power box (91), a front guide wheel (92), a rear guide wheel (93), a driving disc (94), a support wheel (95), a driving wheel (96) and a crawler belt (97). One side of the power box (91) is hinged to one end of the reversing member (88). The left and right ends of the power box (91) are respectively provided with a front guide wheel (92) and a rear guide wheel (93). The upper and lower ends of the power box (91) are respectively provided with a driving disc (94) and a support wheel (95). The outside of the driving disc (94) is fixedly mounted with a driving wheel (96). The outside of the power box (91) is provided with a crawler belt (97). The front guide wheel (92), the rear guide wheel (93), the support wheel (95) and the driving wheel (96) are connected in driving connection via the crawler belt (97). The end of the driving disc (94) is connected in driving connection with a motor output shaft arranged in the power box (91). When encountering an obstacle within a height of ±1000 mm, the machine body has an automatic leveling function; the clearance between the chassis and the ground is adjusted to 1400 mm, that is, the outrigger assembly (8) and the crawler walking assembly (9) are automatically adjusted, so that any one of the crawler walking assemblies (9) can be lifted to cross the obstacle; and the body can also be kept in a horizontal state, while always ensuring that the crawler and the body are parallel; When the height of the obstacle exceeds ±1000mm but is within ±1400mm, the operator performs manual operation and the machine body no longer has the automatic leveling function; The four legs of the crawler drilling rig can be extended and retracted simultaneously or individually, and they always remain parallel to the base frame during the extension and retraction process. When turning, the front left and right tracks must turn at the same time, and the steering angles must be consistent. The rear left and right tracks must turn at the same time, and the steering angles must be consistent. The steering of the front and rear tracks is controlled separately. When the machine is traveling on a slope of no more than 19°, the machine body can always remain horizontal, and the crawler tracks can automatically adapt to the road conditions and adjust the angle automatically; when the machine is traveling on a slope greater than 19°, the body will climb a larger angle while maintaining the previous walking state, and the display should show the actual slope and the front and rear inclination angle of the body in real time; when the actual slope is greater than 35°, a voice alarm will be issued to prompt that there is a risk of sliding down the slope, and the machine will be forced to stop moving forward; the left and right inclination angles of the body can be displayed in real time, and when the left and right automatic leveling reaches the limit position, a voice broadcast will be issued that there is a risk of rollover, and the machine will be forced to stop moving forward; When crossing obstacles, the obstacle height shall not exceed 3.7m, and the front and rear tracks can be adjusted to a horizontal state. When the height is greater than 3.7m, an alarm light is set to prompt the operator to stop climbing.

2. A walking drilling rig according to claim 1, characterized in that: The front guide wheel (92) is arranged to be elevated relative to the support wheel (95) and the rear guide wheel (93).

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