Method for autonomously monitoring drilling depth through multi-joint non-guide-rail type drilling device

Abstract

The invention discloses a method for autonomously monitoring the drilling depth of a multi-joint non-guide-rail type drilling device, which comprises the following steps of: arranging an angle sensor on a movable arm of the multi-joint non-guide-rail type drilling device, measuring a real-time inclination angle of the movable arm through the angle sensor, transmitting the real-time inclination angle to a calculation center, and calculating the drilling depth of the multi-joint non-guide-rail type drilling device by the calculation center in combination with set geometric parameters of the movable arm. The real-time position of the drill rod is monitored in real time in a geometric calculation mode, and the position change of the drill rod can directly reflect the depth of the rod hole. The installation position of the angle sensor can be freely adjusted according to the installation space, the flexibility is high, and the construction quality and the construction efficiency of the rod hole can be guaranteed. According to the invention, the angle sensor can be ingeniously utilized to convert monitoring of the depth of the rod hole into monitoring of the real-time position of the drill rod, so that the excavation depth of the rod hole is accurately controlled, and the defect that in the prior art, accurate control of the depth of the rod hole by non-guide-rail type drilling equipment, especially multi-joint mechanical arm drilling equipment, cannot be realized is overcome.

Description

Technical Field

[0001] The present invention belongs to the field of distribution network pole assembly equipment, and specifically relates to a method for autonomously monitoring drilling depth of a multi-joint non-guide type drilling device. Background Art

[0002] In the construction of distribution network pole assembly, the excavation of cement pole holes is an important part of the construction process. There are strict specifications for the burial depth of different types of cement poles, which requires that the excavation depth of the pole hole must be accurately controlled during the excavation. Therefore, how to monitor the excavation depth of the pole hole in real time and efficiently is a key issue to ensure construction quality and efficiency.

[0003] Pole hole excavation can be done manually or with mechanized equipment.

[0004] The manual excavation process requires construction workers to use a measuring tape to test the depth of the hole in real time, which is time-consuming and labor-intensive.

[0005] The application of mechanical equipment has achieved "de-manualization" and high drilling efficiency. Rotary drilling rigs and equipment with guide-type spiral drill bits are the most common drilling equipment. The drilling depth of rotary drilling rigs is determined by installing an encoder on the winch, and the encoder angle and the diameter of the winch drum are used to solve the real-time drilling depth. Drilling equipment with guide-type spiral drill bits uses displacement sensors to measure the real-time drilling depth.

[0006] One of the most common methods in the existing technology of measuring depth is through displacement sensors, such as CN102808610B (real-time monitoring device and monitoring method for drilling depth in coal mines), CN111852439B (a comprehensive monitoring system for drilling depth of tunnel drilling rigs), CN217652718U (a drilling depth measurement system for mines), CN116104517A (a drilling depth control method for rock drilling rigs), etc., all use displacement sensors to measure depth technology solutions. The installation position of the displacement sensor is relatively fixed, and the displacement sensor is required to be installed behind the drilling rig and must be parallel to the guide rail.

[0007] However, for non-guided drilling equipment, especially multi-joint robotic arm drilling equipment, it is impossible to directly measure the depth through displacement sensors. Under such working conditions, there is still a lack of effective real-time depth measurement technology solutions. Summary of the invention

[0008] The purpose of the present invention is to provide a method for indirectly monitoring the depth of a drilled rod hole in real time for a multi-joint non-guide type drilling device.

[0009] The method for autonomously monitoring drilling depth of the multi-joint non-guide rail drilling device provided by the present invention comprises: setting an angle sensor on the movable arm of the multi-joint non-guide rail drilling device; measuring the real-time inclination angle of the movable arm by the angle sensor and transmitting the measured value to the computing center; the computing center monitors the real-time position of the drill rod in real time by means of geometric calculation based on the set geometric parameters of the movable arm; the position change of the drill rod can directly reflect the depth of the rod hole.

[0010] When the above method is implemented, the movable arm includes a first movable arm and a second movable arm which are hinged to each other.

[0011] When the above method is implemented, the rear end of the first movable arm is hinged to the base, and the front end of the second movable arm is hinged to the drilling rig.

[0012] When the above method is implemented, a first actuator is hinged between the first movable arm and the base for controlling the pitching movement of the first movable arm, and a second actuator is hinged between the first movable arm and the second movable arm for controlling the pitching movement of the second movable arm.

[0013] When the above method is implemented, a first angle sensor is arranged on the first movable arm, and a second angle sensor is arranged on the second movable arm.

[0014] The method for autonomously monitoring drilling depth of the multi-joint non-guide type drilling device provided by the present invention comprises the following steps:

[0015] Step 1: The first angle sensor measures the angle θ between the two ends of the first boom and the horizontal line. 10 The second angle sensor measures the angle θ between the connecting points at both ends of the second boom and the horizontal line 30 , and transmit the angle signal to the computing center;

[0016] Step 2: Calculate the center based on θ 10 and θ 30 The initial height signal of the drilling rig is calculated according to the following formula:

[0017] H0=L2 sin(θ 10 +θ 20 )+L1sinθ 10 Among them, H0 is the initial height signal of the drilling rig 8, L1 is the length of the line connecting the two ends of the first boom, and L2 is the length of the line connecting the two ends of the second boom, both in mm, θ 20 The difference between the initial angle measured by the first angle sensor and the initial angle measured by the second angle sensor, that is, θ 20 =θ 10 -θ 30 .

[0018] Step 3: The first angle sensor and the second angle sensor transmit the collected real-time tilt angle signal to the computing center;

[0019] Step 4: Calculate the real-time data of the angle sensor received by the calculation center and calculate the real-time height signal Hr of the drilling rig according to the following formula:

[0020] H r =L2 sin(θ 11 +θ 21 )+L1sinθ 11

[0021] ΔH=H0-H r

[0022] Among them, ΔH is the required hole depth, θ 11 The real-time angle measured by the first angle sensor, θ 31 The real-time angle measured by the second angle sensor, θ 21 The difference between the real-time angle measured by the first angle sensor and the real-time angle measured by the second angle sensor, that is, θ 21 =θ 11 -θ 31 .

[0023] The present invention measures the spatial posture angle of the drilling device boom in real time through the angle sensor on the drilling device boom and transmits it to the computing center. The computing center can calculate the initial height and real-time height of the drill rod of the drilling rig in combination with the set geometric parameters of the drilling device structure, thereby indirectly monitoring the depth of the drill rod hole (the difference between the initial height and the real-time height of the drill rod) by directly monitoring the real-time position of the drill rod. The installation position of the angle sensor can be freely adjusted according to the installation space, with high flexibility, and can ensure the construction quality and construction efficiency of the rod hole. That is, the present invention can cleverly use the angle sensor to convert the monitoring rod hole depth into the monitoring drill rod real-time position, so as to accurately control the rod hole excavation depth, overcoming the defect that the prior art cannot realize non-guide drilling equipment, especially multi-joint mechanical arm drilling equipment, to accurately control the rod hole depth. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic structural diagram of a multi-joint non-guide rail drilling device in one embodiment of the present invention.

[0025] Detailed serial numbers in the figure:

[0026] 1. Base; 2. First actuator; 3. First boom; 4. First angle sensor; 5. Second actuator; 6. Second angle sensor; 7. Second boom; 8. Drilling rig. DETAILED DESCRIPTION

[0027] The method for autonomously monitoring the drilling depth of the multi-joint non-guide type drilling device disclosed in this embodiment has the following general ideas:

[0028] An angle sensor is set on the boom of the multi-joint non-guided drilling device. The inclination angle of the boom is measured by the angle sensor and transmitted to the computing center. The computing center combines the set device geometric parameters and autonomously monitors the drilling depth information in real time through geometric calculation.

[0029] The boom of the drilling device includes a first boom 3 and a second boom 7 which are hinged to each other, the rear end of the first boom is hinged to the base 1, and the front end of the second boom is hinged to the drilling machine 8. The first boom 3 is provided with a first angle sensor 4, and the second boom 7 is provided with a second angle sensor 6.

[0030] A first actuator 2 is hinged between the first movable arm 3 and the base 1 , and a second actuator 5 is hinged between the first movable arm 3 and the second movable arm 7 .

[0031] The first actuator and the second actuator are both retractable actuators, which control the pitching motion of the first mechanism and the second mechanism respectively.

[0032] Figure 1 Each hinge shown is hinged by a pin and can rotate around the pin. Under the action of gravity and the hinge point C, the drill rod of the drilling rig moves vertically downward.

[0033] The drilling device autonomously monitors the depth of the drilled rod hole, including the following steps:

[0034] Step 1: The first angle sensor 4 measures the angle θ between the two ends of the first movable arm 3 and the horizontal line. 10 The second angle sensor 6 measures the angle θ between the connecting points at both ends of the second movable arm 7 and the horizontal line. 30 , and transmit the angle signal to the computing center;

[0035] Step 2: Calculate the center based on θ 10 and θ 30 The initial height signal of the drilling rig 8 is calculated according to the following formula:

[0036] H0=L2 sin(θ 10 +θ 20 )+L1sinθ 10 Among them, H0 is the initial height signal of the drilling rig 8, L1 is the length of the line connecting the two ends of the first boom 3, and L2 is the length of the line connecting the two ends of the second boom 7, all in mm, θ 20 is the difference between the initial angle measured by the first angle sensor 4 and the initial angle measured by the second angle sensor 6, that is, θ 20 =θ 10 -θ 30 .

[0037] Step 3: The first angle sensor 4 and the second angle sensor 6 transmit the collected real-time tilt angle signal to the computing center;

[0038] Step 4: Calculate the real-time data of the angle sensor received by the calculation center and calculate the real-time height signal Hr of the drilling rig according to the following formula:

[0039] H r =L2sin(θ 11 +θ 21 )+L1sinθ 11

[0040] ΔH=H0-H r

[0041] Among them, ΔH is the required hole depth, θ 11 is the real-time angle measured by the first angle sensor, θ 31 is the real-time angle measured by the second angle sensor, θ 21 The difference between the real-time angle measured by the first angle sensor and the real-time angle measured by the second angle sensor, that is, θ 21 =θ 11 -θ 31 .

[0042] The present invention measures the spatial posture angle of the drilling device boom in real time through the angle sensor on the drilling device boom and transmits it to the computing center. The computing center can calculate the initial height and real-time height of the drilling rig drill rod in combination with the set geometric parameters of the drilling device structure, thereby indirectly monitoring the depth of the drilled rod hole (the difference between the initial height and the real-time height of the drill rod) by directly monitoring the real-time position of the drill rod. The installation position of the angle sensor can be freely adjusted according to the installation space, with high flexibility, which can ensure the construction quality and efficiency of the rod hole.

[0043] That is, the present invention can cleverly use the angle sensor to convert the monitored rod hole depth into the real-time position of the monitored drill rod, thereby accurately controlling the rod hole excavation depth, overcoming the defect that the prior art cannot realize non-guided drilling equipment, especially multi-joint robotic arm drilling equipment, to accurately control the rod hole depth.

Claims

1. A method for autonomously monitoring drilling depth of a multi-joint non-guide type drilling device, characterized in that: This method sets an angle sensor on the boom of a multi-joint non-guided drilling device, measures the real-time inclination angle of the boom through the angle sensor and transmits it to a computing center. The computing center monitors the real-time position of the drill rod in real time through geometric calculation based on the set geometric parameters of the boom. The position change of the drill rod can directly reflect the depth of the rod hole.

2. The method for autonomously monitoring drilling depth of a multi-joint non-guided drilling device according to claim 1, characterized in that: The movable arm comprises a first movable arm and a second movable arm which are hinged to each other.

3. The method for autonomously monitoring drilling depth of a multi-joint non-guide type drilling device as claimed in claim 2, characterized in that: The rear end of the first movable arm is hinged on the base, and the front end of the second movable arm is hinged to the drilling rig.

4. The method for autonomously monitoring drilling depth of a multi-joint non-guide type drilling device as claimed in claim 3, characterized in that: A first actuator is hinged between the first movable arm and the base for controlling the pitching movement of the first movable arm. A second actuator is hinged between the first movable arm and the second movable arm for controlling the pitching movement of the second movable arm.

5. The method for autonomously monitoring drilling depth of a multi-joint non-guide type drilling device as claimed in claim 4, characterized in that: A first angle sensor is disposed on the first movable arm, and a second angle sensor is disposed on the second movable arm.

6. The method for autonomously monitoring drilling depth of a multi-joint non-guided drilling device as claimed in claim 5, characterized in that The following steps are involved: Step 1: The first angle sensor measures the angle θ between the two ends of the first boom and the horizontal line. 10 The second angle sensor measures the angle θ between the connecting points at both ends of the second boom and the horizontal line 30 , and transmit the angle signal to the computing center; Step 2: Calculate the center based on θ 10 and θ 30 The initial height signal of the drilling rig is calculated according to the following formula: H0=L2sin(θ 10 +θ 20 )+L1sinθ 10 Among them, H0 is the initial height signal of the drilling rig 8, L1 is the length of the line connecting the two ends of the first boom, and L2 is the length of the line connecting the two ends of the second boom, both in mm, θ 20 The difference between the initial angle measured by the first angle sensor and the initial angle measured by the second angle sensor, that is, θ 20 =θ 10 -θ 30 ; Step 3: The first angle sensor and the second angle sensor transmit the collected real-time tilt angle signal to the computing center; Step 4: Calculate the real-time data of the angle sensor received by the calculation center and calculate the real-time height signal Hr of the drilling rig according to the following formula: H r =L2 sin(θ 11 +θ 21 )+L1sinθ 11 ΔH=H0-H r Among them, ΔH is the required hole depth, θ 11 The real-time angle measured by the first angle sensor, θ 31 The real-time angle measured by the second angle sensor, θ 21 The difference between the real-time angle measured by the first angle sensor and the real-time angle measured by the second angle sensor, that is, θ 21 =θ 11 -θ 31 .

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