A vertical drilling device for pole erection and its drilling control method

Abstract

This invention discloses a vertical drilling device for pole erection and its drilling control method, comprising a first boom and a second boom hinged together. The rear end of the first boom is hinged to a slewing platform, and the front end of the second boom is hinged to a drilling rig. A first hydraulic cylinder is hinged between the first boom and the slewing platform, and a second hydraulic cylinder is hinged between the first boom and the second boom. A first tilt sensor is installed on the first boom, and a second tilt sensor is installed on the second boom. The drilling device is mounted on an excavator via the slewing platform. The tilt sensors measure the tilt angle of the two boom sections and provide real-time feedback to the controller. A vertical control method automatically achieves the coordinated movement of the two boom sections. The operator only needs to operate one handle to automatically lower the drill rod vertically, effectively reducing the complexity of operating the drilling device. Due to the automatic control of the drilling device, construction efficiency and the verticality of the hole during drilling are effectively improved. This invention effectively achieves its objectives of reducing operational difficulty, improving drilling efficiency, and enhancing drilling quality.

Description

Technical Field

[0001] This invention belongs to the field of power distribution pole erection equipment, specifically a vertical drilling device for pole erection and its drilling control method. Background Technology

[0002] For mechanized pole erection in power distribution networks, geotechnical drilling is the first step. Traditional drilling involves replacing the excavator's bucket with a drill rod, and the operator simultaneously controls two handles on the excavator's boom and stick to perform a combined action, achieving vertical drilling. Workers need to assess the work environment and rely on experience to operate the two handles, requiring a high level of operator skill. Inexperienced operators may experience problems such as inaccurate borehole positioning, borehole deviation, and insufficient drilling depth, which could seriously affect construction efficiency and safety. Summary of the Invention

[0003] The purpose of this invention is to provide a vertical drilling device for pole erection and its drilling control method that can reduce the difficulty of operation, improve drilling efficiency and drilling quality.

[0004] The vertical drilling device for pole erection provided by this invention adopts the following technical solution: it includes a first boom and a second boom hinged together. The rear end of the first boom is hinged to a rotary platform, and the front end of the second boom is hinged to a drilling rig. A first hydraulic cylinder is hinged between the first boom and the rotary platform, and a second hydraulic cylinder is hinged between the first boom and the second boom. A first tilt sensor is installed on the first boom, and a second tilt sensor is installed on the second boom.

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

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

[0007] In one embodiment of the above method, in S1 mode, the movement of the first boom and the second boom are controlled by controlling the movement of the first cylinder and the second cylinder respectively through two handles.

[0008] In one embodiment of the above method, the S2 mode includes two control methods; control method one controls the movement of the second boom by controlling the movement of the second cylinder with a single handle. During this process, the first cylinder adjusts autonomously according to the posture of the second boom to achieve automatic follow-up control of the first boom; control method two controls the movement of the first boom by controlling the movement of the first cylinder with a single handle. During this process, the second cylinder adjusts autonomously 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 control mode one is selected in S2 mode, the following control calculation process is executed:

[0010] Step 1: Receive the angle signal acquired by the sensor at the initial moment. , Perform forward kinematics solution of the mechanism:

[0011]

[0012] in , These are the lengths of the lines connecting the hinge points at both ends of the first and second booms, respectively. , These represent the extension and retraction amounts of the first and second hydraulic cylinders, respectively, both in mm. , The coordinates of the front end position of the second boom are given. The angle signals collected by the first tilt sensor and the second tilt sensor are respectively... , ;

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

[0014] ;

[0015] ;

[0016] Among them, the position of the front end of the second boom is determined. coordinates, The rule for choosing coordinate symbols is: when hour, Values ​​are selected based on proximity; when At that time, When it increases, The value is positive; when When decreasing, The value is negative; the above It is a constant value greater than 0.

[0017] Step 3: After determining the desired posture of the first boom, convert the length and angle of the first hydraulic cylinder to obtain the desired extension / retraction displacement of the first hydraulic cylinder. :

[0018] ;

[0019] in The length of the line connecting the lower hinge point of the first boom and the lower hinge point of the first cylinder. The length of the line connecting the lower hinge point of the first boom and the upper hinge point of the first cylinder. This represents the minimum length of the first hydraulic cylinder, in mm.

[0020] The movement of the first hydraulic cylinder is controlled, thereby adjusting and controlling the position coordinates of the front end of the second boom.

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

[0022] Step 1: Receive the angle signal acquired by the sensor at the initial moment. , Solve the forward kinematics of the boom:

[0023] ;

[0024] in , These are the lengths of the lines connecting the hinge points at both ends of the first and second booms, respectively. , These are the extension and retraction amounts of the first and second hydraulic cylinders, respectively, both in mm; , The coordinates of the front end position of the second boom are: [coordinates of the second boom's position]; the angle signals collected by the first and second tilt sensors are respectively: , ;

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

[0026] ;

[0027] Step 3: After determining the desired posture of the second boom, convert the length and angle of the second hydraulic cylinder to obtain the desired extension / retraction displacement of the second hydraulic cylinder. :

[0028] ;

[0029] in The length of the line connecting the rear hinge point of the second hydraulic cylinder and the upper hinge point of the first boom is given. The length of the line connecting the upper hinge point of the first boom and the front hinge point of the second cylinder. This represents the minimum length of the second hydraulic cylinder, in mm.

[0030] The movement of the second hydraulic cylinder is controlled, thereby adjusting and controlling the position coordinates of the front end of the second boom.

[0031] In one embodiment of the above method, when the controller is in S2 mode, the selection of control mode one or control mode two is determined and set by the control selection program. One switching mode is: when the angle signal measured by the second sensor... When the angle signal measured by the second sensor is selected, control mode one is chosen; At that time, the controller switches to control mode two.

[0032] This device is mounted on an excavator via a slewing platform. It uses tilt sensors to measure the tilt angle of the two boom sections and feeds this information back to the controller in real time. Through vertical control, it automatically achieves the coordinated movement of the two boom sections. The operator only needs to operate one handle to automatically lower the drill rod vertically, effectively reducing the complexity of operating the drilling device. Due to the automatic control of the drilling device, it effectively improves construction efficiency and the verticality of the borehole during drilling. It effectively achieves the invention's objectives of reducing operational difficulty, improving drilling efficiency, and enhancing drilling quality. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of one embodiment of the vertical drilling device in this invention.

[0034] Figure 2 This is a flowchart of the vertical drilling device in the S2 mode selecting control mode one in this invention.

[0035] Detailed list of serial numbers in the diagram:

[0036] 1-Rotating platform; 2-First hydraulic cylinder; 3-First boom; 4-First tilt sensor; 5-Second hydraulic cylinder; 6-Second tilt sensor; 7-Second boom; 8-Drilling rig. Detailed Implementation

[0037] like Figure 1 As shown, the pole erection vertical drilling device disclosed in this embodiment includes a rotary platform 1, a first hydraulic cylinder 2, a first boom 3, a first tilt sensor 4, a second hydraulic cylinder 5, a second tilt 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, and the rear end of the second boom 7 is hinged to the front end of the first boom and connected to the drilling rig 8 at the front end.

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

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

[0041] This device is mounted on an excavator via a slewing platform. It uses tilt sensors to measure the tilt angle of the two boom sections and feeds this information back to the controller in real time. Through vertical control, it automatically achieves the coordinated movement of the two boom sections. The operator only needs to operate one lever to automatically lower the drill rod vertically, effectively reducing the complexity of operating the drilling device. Due to the automatic control of the drilling device, it effectively improves drilling efficiency and the verticality of the borehole during the drilling process. Details are as follows:

[0042] The above-mentioned pole erection vertical drilling device is equipped 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 can be switched by a button switch.

[0043] In S1 mode, the movement of the first and second hydraulic cylinders is controlled by two handles, which in turn control the movement of the first and second booms respectively. The movements of the two cylinders are independent and do not interfere with each other, exhibiting no coupled motion characteristics.

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

[0045] In the first control method, the movement of the second hydraulic cylinder 5 is controlled by a single handle to control the movement of the second boom 7. During this process, the first hydraulic cylinder 2 adjusts autonomously according to the posture of the second boom 7 to achieve automatic follow-up control of the first boom 3.

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

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

[0048] Step 1: Receive the angle signals acquired at the initial moment from the two tilt sensors. , Solve the forward kinematics of the boom:

[0049]

[0050] in , These are the lengths of the lines connecting the hinge points at both ends of the first and second booms, respectively. , These are the extension and retraction amounts of the first and second hydraulic cylinders, respectively, both in mm; , The coordinates of the front end position of the second boom; , The angle signals collected by the first tilt sensor and the second tilt sensor are respectively.

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

[0052]

[0053]

[0054] Among them, the position of the front end of the second boom is determined. coordinates, The rule for choosing coordinate symbols is: when hour, Values ​​are selected based on proximity; when At that time, When it increases, The value is positive; when When decreasing, The value is negative; the above It is a constant value greater than 0;

[0055] Step 3: After determining the desired posture of the first boom, convert the length and angle of the first hydraulic cylinder to obtain the desired extension / retraction displacement of the first hydraulic cylinder. :

[0056] ;

[0057] in The length of the line connecting the lower hinge point of the first boom and the lower hinge point of the first cylinder. The length of the line connecting the lower hinge point of the first boom and the upper hinge point of the first hydraulic cylinder is given. This represents the minimum length of the first hydraulic cylinder, in mm.

[0058] The movement of the first hydraulic cylinder is controlled, thereby adjusting and controlling the position coordinates of the front end of the second boom.

[0059] When selecting control mode two in S2 mode, the following control calculation process is executed:

[0060] Step 1: Receive the angle signals acquired by the two tilt sensors at the initial moment. , Solve the forward kinematics of the drilling rig:

[0061] ;

[0062] in , These are the lengths of the lines connecting the hinge points at both ends of the first and second booms, respectively. , These are the extension and retraction amounts of the first and second hydraulic cylinders, respectively, both in mm; , The coordinates of the front end position of the second boom; , The angle signals collected by the first tilt sensor and the second tilt sensor are respectively.

[0063] Step 2: Receive the control signal from the handle and the real-time signals from the two tilt sensors, solve the inverse kinematics of the second boom at the next moment, and obtain the attitude information of the second boom at the next moment:

[0064] ;

[0065] Step 3: After determining the desired posture of the second boom, convert the length and angle of the second hydraulic cylinder to obtain the desired extension / retraction displacement of the second hydraulic cylinder. :

[0066] ;

[0067] in The length of the line connecting the rear hinge point of the second hydraulic cylinder and the upper hinge point of the first boom. The length of the line connecting the upper hinge point of the first boom and the front hinge point of the second cylinder. This represents the minimum length of the second hydraulic cylinder, in mm.

[0068] The movement of the second hydraulic cylinder is controlled, thereby adjusting and controlling the position coordinates of the front end of the second boom.

[0069] When the controller is in S2 mode, the selection of control mode one or control mode two is determined and set by the control selection program. One of the switching modes is: when the angle signal measured by the second tilt sensor... When the angle signal measured by the second tilt sensor is selected, control mode one is chosen; At that time, the controller switches to control mode two.

[0070] This invention controls the movement trajectory of the second boom end by controlling the extension and retraction of two working cylinders, thereby controlling the drilling direction of the drill rod and achieving controllable intelligent drilling operations. When the vertical drilling device is drilling, the operator controls a handle and, based on the position information of the second boom end, solves and transforms the attitude of the drilling device through forward and inverse kinematics to achieve coordinated action of the boom cylinders, keeping the drill rod end of the drill moving vertically downwards, ensuring the operability and reliability of the drilling. This invention effectively achieves its objectives of reducing operational difficulty, improving drilling efficiency, and enhancing drilling quality.

Claims

1. A method for vertical drilling for pole erection, the drilling device comprising a first boom and a second boom hinged together, the rear end of the first boom hinged to a rotary platform, the front end of the second boom hinged to a drilling rig, a first hydraulic cylinder hinged between the first boom and the rotary platform, and a second hydraulic cylinder hinged between the first boom and the second boom, characterized in that: A first tilt sensor is installed on the first boom, and a second tilt sensor is installed on the second boom. The first tilt sensor is arranged with its measuring axis direction parallel to the line connecting the hinge points at both ends of the first boom, and the second tilt sensor is arranged with its measuring axis direction parallel to the line connecting the hinge points at both ends of the second boom. Drilling control includes S1 mode and S2 mode. S1 mode is the normal mode and S2 mode is the vertical drilling mode. The two modes can be switched by a button switch. In S1 mode, the movement of the first and second booms is controlled by two handles that control the movement of the first and second hydraulic cylinders respectively. The S2 mode includes two control methods: Control method one 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 adjusts autonomously according to the posture of the second boom to achieve automatic follow-up control of the first boom; Control method two 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 adjusts autonomously according to the posture of the first boom to achieve automatic follow-up control of the second boom. When control mode 1 is selected in S2 mode, the following control calculation process is executed: Step 1: Receive the angle signals acquired at the initial moment from the first tilt sensor and the second tilt sensor. and Solve the forward kinematics of the drilling rig: ； in , These are the lengths of the lines connecting the hinge points at both ends of the first boom and the second boom, respectively, in mm; , These are the extension and retraction amounts of the first and second hydraulic cylinders, respectively, both in mm; , θ1 and θ2 are the coordinates of the front end of the second boom; θ1 and θ2 are the angle signals collected by the first tilt sensor and the second tilt sensor, respectively. Step 2: Receive the control signal from the handle and the real-time signals from the two tilt sensors, calculate the front end position coordinates of the second boom at the next moment, and solve the inverse kinematics of the drilling device to obtain the attitude information of the first boom at the next moment. ， ； Among them, the solution is the position of the front end of the second boom. coordinates, The rule for choosing coordinate symbols is: when hour, Values ​​are selected based on proximity; when At that time, When it increases, The value is positive; when When decreasing, The value is negative; the above It is a constant value greater than 0; Step 3: After determining the desired posture of the first boom, convert the length and angle of the first hydraulic cylinder to obtain the desired extension / retraction displacement of the first hydraulic cylinder. : ； in The length of the line connecting the lower hinge point of the first boom and the lower hinge point of the first cylinder. The length of the line connecting the lower hinge point of the first boom and the upper hinge point of the first hydraulic cylinder is given. This represents the minimum length of the first hydraulic cylinder, in mm. The movement of the first hydraulic cylinder is controlled, thereby adjusting and controlling the position coordinates of the front end of the second boom.

2. The method as described in claim 1, characterized in that: When selecting control mode two in S2 mode, the following control calculation process is executed: Step 1: Receive the angle signals acquired by the two tilt sensors at the initial moment. , Solve the forward kinematics of the drilling rig. ； in , These are the lengths of the lines connecting the hinge points at both ends of the first and second booms, respectively. , These are the extension and retraction amounts of the first and second hydraulic cylinders, respectively, both in mm; , The coordinates of the front end position of the second boom; , The angle signals collected by the first tilt sensor and the second tilt sensor are respectively. Step 2: Receive the control signal from the handle and the real-time signals from the two tilt sensors, solve the inverse kinematics of the drilling device at the next moment of the second boom, and obtain the attitude information of the second boom at the next moment: ； Step 3: After determining the desired posture of the second boom, convert the length and angle of the second hydraulic cylinder to obtain the desired extension / retraction displacement of the second hydraulic cylinder. : ； in The length of the line connecting the rear hinge point of the second hydraulic cylinder and the upper hinge point of the first boom. The length of the line connecting the upper hinge point of the first boom and the front hinge point of the second cylinder is given. This represents the minimum length of the second hydraulic cylinder, in mm. The movement of the second hydraulic cylinder is controlled, thereby adjusting and controlling the position coordinates of the front end of the second boom.

3. The method as described in claim 1, characterized in that: When the controller is in S2 mode, the selection of control mode one or control mode two is determined and set by the control selection program. One of the switching modes is: when the angle signal measured by the second tilt sensor... When the angle signal measured by the second tilt sensor is selected, control mode one is chosen; At that time, the controller switches to control mode two.

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