Electric pole assembly vertical drilling device and drilling control method thereof

Abstract

The vertical drilling device comprises a first movable arm and a second movable arm which are hinged to each other, the rear end of the first movable arm is hinged to a rotary platform, the front end of the second movable arm is hinged to a drilling machine, and a first oil cylinder is hinged between the first movable arm and the rotary platform; and a second oil cylinder is hinged between the first movable arm and the second movable arm. A first tilt angle sensor is arranged on the first movable arm, and a second tilt angle sensor is arranged on the second movable arm. The drilling device is installed on the excavator through the rotary platform, the inclination angle of the two movable arms is measured through the inclination angle sensor and fed back to the controller in real time, cooperative movement of the two movable arms is automatically achieved through a vertical control method, and a driver only needs to control one handle to achieve automatic vertical descending of a drill rod. The control complexity of the drilling working device is effectively reduced, and due to automatic control of the drilling working device, the construction efficiency and the perpendicularity of holes in the drilling process can be effectively improved. The purposes of reducing the operation difficulty and improving the drilling efficiency and the drilling quality can be well achieved.

Description

Technical Field

[0001] The invention belongs to the field of distribution network pole assembly equipment, and specifically relates to a pole assembly vertical drilling device and a drilling control method thereof. Background Art

[0002] For the mechanized operation of pole assembly in the distribution network, geotechnical drilling construction is the first step of pole assembly. In traditional drilling construction, the excavator bucket is replaced with a drill rod, and the driver simultaneously controls the two handles of the excavator boom and the bucket rod to complete a compound action to achieve vertical drilling operation. The staff needs to make judgments on the working environment and operate the two handles based on experience to complete the vertical drilling operation, which requires high operator proficiency. If 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. Summary of the invention

[0003] The object of the present invention is to provide a vertical drilling device for an electric pole assembly and a drilling control method thereof, which can reduce the difficulty of operation, improve the drilling efficiency and the drilling quality.

[0004] The electric pole assembly vertical drilling device provided by the present invention adopts the following technical scheme: it comprises a first movable arm and a second movable arm hinged to each other, the rear end of the first movable arm is hinged to the rotary platform, the front end of the second movable arm is hinged to the drilling machine, the first movable arm and the rotary platform are hinged to the first oil cylinder, and the first movable arm and the second movable arm are hinged to the second oil cylinder. A first inclination sensor is arranged on the first movable arm, and a second inclination sensor is arranged on the second movable arm.

[0005] In one implementation of the above technical solution, the first inclination sensor is arranged with its measuring axis direction parallel to a line connecting the hinge points at both ends of the first boom, and the second inclination sensor is arranged with its measuring axis direction parallel to a line connecting the hinge points at both ends of the second boom.

[0006] The control method for drilling using the above-mentioned pole-assembled vertical drilling device provided by the present invention includes S1 mode and S2 mode, S1 mode is a normal mode, S2 mode is a vertical drilling mode, and the two modes are switched by a button switch.

[0007] In an implementation manner of the above method, in the S1 mode, two handles are used to respectively control the movements of the first oil cylinder and the second oil cylinder to respectively control the movements of the first boom and the second boom.

[0008] In one embodiment of the above method, the S2 mode includes two control modes; control mode one controls the movement of the second boom by controlling the movement of the second cylinder through a single handle. During this process, the first cylinder autonomously adjusts according to the posture of the second boom to achieve automatic follow-up control of the first boom; control mode two controls the movement of the first boom by controlling the movement of the first cylinder through a single handle. During this process, the second cylinder autonomously adjusts according to the posture of the first boom to achieve automatic follow-up control of the second boom.

[0009] In one implementation of the above method, when the control mode 1 is selected in the S2 mode, the following control calculation process is performed:

[0010] Step 1: Receive the angle signals θ1 and θ2 collected by the sensor at the initial moment and solve the kinematics of the mechanism:

[0011]

[0012] Where L1 and L2 are the lengths of the line between the hinge points at both ends of the first boom and the second boom, λ1 and λ2 are the extension and contraction amounts of the first cylinder and the second cylinder, both in mm, x and y are the position coordinates of the front end of the second boom, and the angle signals collected by the first inclination sensor and the second inclination sensor are θ1 and θ2 respectively;

[0013] Step 2: Receive the handle control signal and the real-time signals of the two tilt sensors, solve the front end position coordinates of the second boom at the next moment, and solve the inverse kinematic solution of the drilling device to obtain the posture information of the first boom at the next moment:

[0014]

[0015]

[0016] Among them, when solving the y coordinate of the front end position of the second boom, the value selection rule of the y coordinate sign is: when |y|>a, y is taken according to the principle of proximity; when |y|≤a, when θ2 increases, the y value is positive; when θ2 decreases, the y value is negative; the above a is a constant value greater than 0.

[0017] Step 3: After the desired posture of the first boom is obtained, the length and angle of the first cylinder are converted to obtain the desired telescopic displacement λ1 of the first cylinder:

[0018]

[0019] Where L AE L is the length of the line between the lower hinge point of the first boom and the lower hinge point of the first cylinder, AFis the length of the line between the hinge point at the lower end of the first boom and the hinge point at the upper end of the first cylinder, h1 is the minimum length of the first cylinder, both in mm;

[0020] The movement of the first oil cylinder is controlled to adjust and control the position coordinates of the front end of the second boom.

[0021] In one implementation of the above method, when the control mode 2 is selected in the S2 mode, the following control calculation process is performed:

[0022] Step 1: Receive the angle signals θ1 and θ2 collected by the sensor at the initial moment, and solve the kinematics of the boom:

[0023]

[0024] Where L1 and L2 are the lengths of the line between the hinge points at both ends of the first boom and the second boom, respectively; λ1 and λ2 are the extension and contraction amounts of the first cylinder and the second cylinder, respectively, both in mm; x and y are the front end position coordinates of the second boom; the angle signals collected by the first inclination sensor and the second inclination sensor are θ1 and θ2, respectively;

[0025] Step 2: Receive the handle control signal and the real-time signals of the two tilt sensors, solve the inverse kinematics solution of the drilling device of the second boom at the next moment, and obtain the posture information of the second boom at the next moment:

[0026]

[0027] Step 3: After the desired posture of the second boom is obtained, the length and angle of the second cylinder are converted to obtain the desired telescopic displacement λ2 of the second cylinder:

[0028]

[0029] Where L GB L is the length of the line between the hinge point at the rear end of the second cylinder and the hinge point at the upper end of the first boom, BH is the length of the line between the hinge point at the upper end of the first boom and the hinge point at the front end of the second cylinder, h2 is the minimum length of the second cylinder, both in mm;

[0030] Control the movement of the second oil cylinder to adjust and control the position coordinates of the front end of the second boom.

[0031] In one implementation of the above method, when the controller is in S2 mode, whether control mode one or control mode two is selected is determined and set by the control selection program, and one of the switching methods is: when the angle signal θ2 measured by the second sensor is greater than 0, control mode one is selected; when the angle signal θ2 measured by the second sensor is less than or equal to 0, the controller switches to control mode two.

[0032] The device is installed on the excavator through a slewing platform, and uses an inclination sensor to measure the inclination of the two booms and feed it back to the controller in real time. The coordinated movement of the two booms is automatically achieved through a vertical control method. The driver only needs to operate a handle to achieve the automatic vertical descent of the drill rod, which effectively reduces the complexity of the operation of the drilling work device. Due to the automatic control of the drilling work device, the construction efficiency and the verticality of the hole in the drilling process can be effectively improved. The invention purpose of reducing the difficulty of operation, improving the drilling efficiency and the drilling quality can be well achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic structural diagram of an embodiment of the vertical drilling device in the present invention.

[0034] Figure 2 This is a flow chart of selecting control mode 1 when the vertical drilling device in the present invention is in S2 mode.

[0035] Detailed serial numbers in the figure:

[0036] 1-slewing platform; 2-first oil cylinder; 3-first boom; 4-first inclination sensor; 5-second oil cylinder; 6-second inclination sensor; 7-second boom; 8-drilling rig. DETAILED DESCRIPTION

[0037] like Figure 1 As shown, the pole assembly vertical drilling device disclosed in this embodiment includes a rotary platform 1, a first oil cylinder 2, a first boom 3, a first inclination sensor 4, a second oil cylinder 5, a second inclination sensor 6, a second boom 7 and a drilling rig 8.

[0038] The rear end of the first boom 3 is hinged to the rotary platform 1 , the rear end of the second boom 7 is hinged to the front end of the first boom, and the front end is connected to the drilling rig 8 .

[0039] The first oil cylinder 2 is hinged between the first boom 3 and the revolving platform 1 , and the second oil cylinder 5 is hinged between the outer upper part of the first boom 3 and the tail of the second boom 7 .

[0040] The first inclination sensor 4 is arranged with its measuring axis direction parallel to the line connecting the hinge points at both ends of the first movable arm 3, and the second inclination sensor 6 is arranged with its measuring axis direction parallel to the line connecting the hinge points at both ends of the second movable arm 7.

[0041] This device is installed on the excavator through a slewing platform. It uses an inclination sensor to measure the inclination of the two booms and feeds back to the controller in real time. The coordinated movement of the two booms is automatically achieved through a vertical control method. The driver only needs to operate a handle to achieve automatic vertical descent of the drill rod, which effectively reduces the complexity of the operation of the drilling device. Due to the automatic control of the drilling device, it can effectively improve the drilling efficiency and the verticality of the hole during the drilling process. The details are as follows:

[0042] The above-mentioned pole assembly vertical drilling device is set with two working modes, S1 mode and S2 mode. S1 mode is the normal mode, and S2 mode is the vertical drilling mode. The two modes are switched by a button switch.

[0043] When the S1 mode is adopted, the movement of the first oil cylinder and the second oil cylinder is controlled by two handles respectively, so as to control the movement of the first boom and the second boom respectively. The movement of the two oil cylinders does not interfere with each other, is independent of each other, and has no coupling movement characteristics.

[0044] S2 mode includes the following two control methods:

[0045] Control mode 1 controls the movement of the second boom 7 by controlling the movement of the second oil cylinder 5 through a single handle. During this process, the first oil cylinder 2 is autonomously adjusted according to the posture of the second boom 7 to achieve automatic follow-up control of the first boom 3;

[0046] Control method 2 controls the movement of the first boom 3 by controlling the movement of the first cylinder 2 through a single handle. During this process, the second cylinder 5 is autonomously adjusted according to the posture of the first boom 3 to achieve automatic follow-up control of the second boom 7.

[0047] When the control mode 1 is selected in S2 mode, the following control calculation process is performed:

[0048] Step 1: Receive the angle signals θ1 and θ2 collected by two inclination sensors at the initial moment, and solve the kinematics of the boom:

[0049]

[0050] Where L1 and L2 are the lengths of the line between the hinge points at both ends of the first boom and the second boom, respectively; λ1 and λ2 are the extension and contraction amounts of the first cylinder and the second cylinder, respectively, both in mm; x and y are the position coordinates of the front end of the second boom; θ1 and θ2 are the angle signals collected by the first inclination sensor and the second inclination sensor, respectively;

[0051] Step 2: Receive the handle control signal and the real-time signals of the two tilt sensors, solve the front end position coordinates of the second boom at the next moment, and solve the inverse kinematic solution of the drilling device to obtain the posture information of the first boom at the next moment:

[0052]

[0053] Among them, when solving the y coordinate of the front end position of the second boom, the value selection rule of the y coordinate sign is: when |y|>a, y is selected according to the principle of proximity; when |y|≤a, when θ2 increases, the y value is positive; when θ2 decreases, the y value is negative; the above a is a constant value greater than 0;

[0054] Step 3: After the desired posture of the first boom is obtained, the length and angle of the first cylinder are converted to obtain the desired telescopic displacement λ1 of the first cylinder:

[0055]

[0056] Where L AE L is the length of the line between the lower hinge point of the first boom and the lower hinge point of the first cylinder, AF is the length of the line between the lower hinge point of the first boom and the upper hinge point of the first cylinder, h1 is the minimum length of the first cylinder, both in mm;

[0057] The movement of the first oil cylinder is controlled to adjust and control the position coordinates of the front end of the second boom.

[0058] When the control mode 2 is selected in S2 mode, the following control calculation process is performed:

[0059] Step 1: Receive the angle signals θ1 and θ2 collected by the two inclination sensors at the initial moment, and solve the kinematics forward solution of the drilling device:

[0060]

[0061] Where L1 and L2 are the lengths of the line between the hinge points at both ends of the first boom and the second boom, respectively; λ1 and λ2 are the extension and contraction amounts of the first cylinder and the second cylinder, respectively, both in mm; x and y are the position coordinates of the front end of the second boom; θ1 and θ2 are the angle signals collected by the first inclination sensor and the second inclination sensor, respectively;

[0062] Step 2: Receive the handle control signal and the real-time signals of the two tilt sensors, solve the inverse kinematics solution of the second boom at the next moment, and obtain the posture information of the second boom at the next moment:

[0063]

[0064] Step 3: After the desired posture of the second boom is obtained, the length and angle of the second cylinder are converted to obtain the desired telescopic displacement λ2 of the second cylinder:

[0065]

[0066] Where L GB L is the length of the line between the hinge point at the rear end of the second cylinder and the hinge point at the upper end of the first boom, BH is the length of the line between the hinge point at the upper end of the first boom and the hinge point at the front end of the second cylinder, h2 is the minimum length of the second cylinder, both in mm;

[0067] Control the movement of the second oil cylinder to adjust and control the position coordinates of the front end of the second boom.

[0068] When the controller is in S2 mode, whether to select control mode 1 or control mode 2 is determined and set by the control selection program. One of the switching methods is: when the angle signal θ2 measured by the second inclination sensor is greater than 0, control mode 1 is selected; when the angle signal θ2 measured by the second inclination sensor is less than or equal to 0, the controller switches to control mode 2.

[0069] The present invention controls the motion trajectory of the second boom end by controlling the telescopic state of the two working cylinders, thereby controlling the drilling direction of the drill rod of the drilling rig and realizing controllable intelligent drilling construction operations. When the vertical drilling device is drilling, the driver controls a handle to solve and transform the posture of the drilling device through forward and inverse kinematics according to the position information of the movement of the second boom end, realizes the coordinated action of the boom cylinder, and keeps the drill rod end of the drilling rig moving vertically downward, ensuring the operability and reliability of drilling. The invention purpose of reducing the difficulty of operation, improving the drilling efficiency and the drilling quality can be well achieved.

Claims

1. A vertical drilling device for electric pole assembly, comprising a first movable arm and a second movable arm hinged to each other, the rear end of the first movable arm is hinged to a rotary platform, the front end of the second movable arm is hinged to a drilling rig, a first oil cylinder is hinged between the first movable arm and the rotary platform, and a second oil cylinder is hinged between the first movable arm and the second movable arm, characterized in that: A first inclination sensor is arranged on the first movable arm, and a second inclination sensor is arranged on the second movable arm.

2. The vertical drilling device for electric pole assembly according to claim 1, characterized in that: The first inclination sensor is arranged with its measuring axis direction parallel to the line connecting the hinge points at both ends of the first movable arm, and the second inclination sensor is arranged with its measuring axis direction parallel to the line connecting the hinge points at both ends of the second movable arm.

3. A method for controlling drilling using the pole assembly vertical drilling device according to claim 2, characterized in that: The method includes S1 mode and S2 mode, S1 mode is a normal mode, S2 mode is a vertical drilling mode, and the two modes are switched by a button switch.

4. The method according to claim 3, characterized in that: In the S1 mode, two handles are used to control the movement of the first oil cylinder and the second oil cylinder respectively to control the movement of the first boom and the second boom respectively.

5. The method according to claim 3, characterized in that: The S2 mode includes two control methods; the first control method is to control the movement of the second boom by controlling the movement of the second cylinder through a single handle. During this process, the first cylinder autonomously adjusts according to the posture of the second boom to achieve automatic follow-up control of the first boom; the second control method is to control the movement of the first boom by controlling the movement of the first cylinder through a single handle. During this process, the second cylinder autonomously adjusts according to the posture of the first boom to achieve automatic follow-up control of the second boom.

6. The method according to claim 5, characterized in that: When the control mode 1 is selected in S2 mode, the following control calculation process is performed: Step 1: Receive the angle signals θ1 and θ2 collected by the first inclination sensor and the second inclination sensor at the initial moment, and solve the kinematics forward solution of the drilling device: Where L1 and L2 are the lengths of the connecting line between the hinge points at both ends of the first boom and the second boom, respectively, in mm; λ1 and λ2 are the extension and contraction amounts of the first cylinder and the second cylinder, respectively, in mm; x and y are the position coordinates of the front end of the second boom; θ1 and θ2 are the angle signals collected by the first inclination sensor and the second inclination sensor, respectively; Step 2: Receive the handle control signal and the real-time signals of the two tilt sensors, solve the front end position coordinates of the second boom at the next moment, and solve the inverse kinematic solution of the drilling device to obtain the posture information of the first boom at the next moment: When solving the y coordinate of the front end position of the second boom, the value of the y coordinate sign is as follows: when |y|>a, y is taken according to the principle of proximity; when |y|≤a, when θ2 increases, the y value is positive; when θ2 decreases, the y value is negative; the above a is a constant value greater than 0; Step 3: After the desired posture of the first boom is obtained, the length and angle of the first cylinder are converted to obtain the desired telescopic displacement λ1 of the first cylinder: Where L AE L is the length of the line between the lower hinge point of the first boom and the lower hinge point of the first cylinder, AF is the length of the line between the lower hinge point of the first boom and the upper hinge point of the first cylinder, h1 is the minimum length of the first cylinder (unit: mm); The movement of the first oil cylinder is controlled to adjust and control the position coordinates of the front end of the second boom.

7. The method according to claim 5, characterized in that: When the control mode 2 is selected in S2 mode, the following control calculation process is performed: Step 1: Receive the angle signals θ1 and θ2 collected by the two inclination sensors at the initial moment, and solve the kinematics of the drilling device: Where L1 and L2 are the lengths of the line between the hinge points at both ends of the first boom and the second boom, respectively; λ1 and λ2 are the extension and contraction amounts of the first cylinder and the second cylinder, respectively, both in mm; x and y are the position coordinates of the front end of the second boom; θ1 and θ2 are the angle signals collected by the first inclination sensor and the second inclination sensor, respectively; Step 2: Receive the handle control signal and the real-time signals of the two tilt sensors, solve the inverse kinematics solution of the drilling device of the second boom at the next moment, and obtain the posture information of the second boom at the next moment: Step 3: After the desired posture of the second boom is obtained, the length and angle of the second cylinder are converted to obtain the desired telescopic displacement λ2 of the second cylinder: Where L GB L is the length of the line between the hinge point at the rear end of the second cylinder and the hinge point at the front end of the first boom, BH is the length of the line between the hinge point at the upper end of the first boom and the hinge point at the front end of the second cylinder, h2 is the minimum length of the second cylinder, both in mm; Control the movement of the second oil cylinder to adjust and control the position coordinates of the front end of the second boom.

8. The method according to claim 5, characterized in that: When the controller is in S2 mode, whether to select control mode 1 or control mode 2 is determined and set by the control selection program. One of the switching methods is: when the angle signal θ2 measured by the second inclination sensor is greater than 0, control mode 1 is selected; when the angle signal θ2 measured by the second inclination sensor is less than or equal to 0, the controller switches to control mode 2.

Images