Autonomous drilling method of three-degree-of-freedom drill boom

Abstract

The invention discloses an autonomous drilling method of a three-degree-of-freedom drill arm. Relates to the technical field of electric pole assembling. A drilling device is applied, a main body of the drilling device is a vehicle body with a crawler belt moving assembly, the vehicle body can rotate relative to the crawler belt moving assembly, and the rotating axis of the vehicle body is arranged in the vertical direction; the vehicle body is further provided with a positioning assembly used for self-positioning, a drill rod used for drilling and an adjusting assembly used for adjusting the drill rod. The positioning assembly comprises an RTK main antenna and an RKT auxiliary antenna which are both installed on the vehicle body. Before drilling, a drilling point is located within the construction range of the drilling device, then the position difference between a drill rod and the drilling point is calculated, the position and perpendicularity of the drill rod are adjusted, the drill rod is located above the drilling point and is perpendicular to the ground, and finally drilling is completed. Through the arrangement of the positioning assembly, the crawler belt moving assembly, the adjusting assembly and the sensor, the device can automatically move to the working position, and autonomous drilling positioning is completed through cooperation of the positioning assembly, the driving assembly and the crawler belt moving assembly; the process does not need to additionally configure an observer for positioning; and the safety is improved while the positioning efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of electric pole assembly, and in particular to an autonomous drilling method of a three-degree-of-freedom drill arm. Background Art

[0002] In the construction of distribution network pole assembly, drilling holes in cement poles is an important part of the construction process. Whether the drill arm is vertical directly affects the quality of the hole. Most of the current drill arm adjustment structures use a triangular structure like a rotary drilling rig, relying on two left and right cylinders for vertical adjustment. However, that structure takes up a large space.

[0003] At the same time, most existing drilling devices use manual eyes to align the drill rod with the drilling point; due to equipment obstruction, usually one person operates the machine and another observes it outside the device; this method is time-consuming, and there are certain safety issues because the observer is walking outside the machine. Summary of the invention

[0004] In order to complete the drilling positioning work quickly and safely while occupying a small space, the present application provides an autonomous drilling method for a three-degree-of-freedom drill arm.

[0005] The present application provides an autonomous drilling method for a three-degree-of-freedom drill arm, which adopts the following technical solution:

[0006] The drilling device is applied, the main body of the drilling device is a vehicle body with a crawler moving assembly, the vehicle body can rotate relative to the crawler moving assembly, and the rotation axis of the vehicle body is arranged in the vertical direction; the vehicle body is also provided with a positioning assembly for autonomous positioning, a drill rod for drilling, and an adjustment assembly for adjusting the drill rod;

[0007] The positioning assembly includes the RTK main antenna and the RKT secondary antenna, both of which are mounted on the vehicle body;

[0008] Before drilling, the crawler moving assembly is used to place the drilling point within the construction range of the drilling device. The positioning assembly is then used to calculate the position difference between the drill rod and the drilling point. The adjustment assembly is used to adjust the position and verticality of the drill rod so that the drill rod is above the drilling point and perpendicular to the ground. Finally, the drill rod is used to complete the drilling.

[0009] Optionally, the adjustment assembly includes a base, a pedestal, a boom, a drill mast and a drive assembly, the base is fixedly mounted on the vehicle body, the pedestal is rotatably connected to the base, and the rotation axis of the base is arranged along the length direction of the base; the boom is rotatably connected to the base, and the rotation axis of the boom is arranged along the width direction of the base; the drill mast is rotatably connected to the boom, and the rotation axis of the drill mast is arranged along the width direction of the base, and the drill rod is arranged on the drill mast; the drive assembly is used to drive the pedestal, boom and drill mast to rotate; the rotation center of the boom and the rotation center of the vehicle body are located in the same vertical plane.

[0010] Optionally, the driving assembly includes a correction cylinder, a boom cylinder and a mast cylinder; two ends of the correction cylinder are respectively rotatably connected to the base and the pedestal, and the correction cylinder is extended and retracted to drive the pedestal to rotate; two ends of the boom cylinder are respectively rotatably connected to the pedestal and the boom, and the boom cylinder is extended and retracted to drive the boom to rotate; two ends of the mast cylinder are respectively rotatably connected to the boom and the drill mast, and the mast cylinder is extended and retracted to drive the drill mast to rotate.

[0011] Optionally, a mast inclination sensor is provided on the drill mast, and a variable amplitude inclination sensor is provided on the boom.

[0012] Optionally, the specific steps of positioning the hole to be drilled by the positioning component are as follows:

[0013] S1. Use the RTK positioning system to obtain the coordinates of the rotation center point O (x, y) and the drilling coordinates K (x 2 ,y 2 );

[0014] S2, moving the drilling device as a whole to within the working radius of the device through the crawler moving assembly;

[0015] S3, calculating the distance B between the center of the drill pipe and the center of rotation of the boom according to the data β of the variable amplitude inclination sensor;

[0016] S4, calculate the straight-line distance L between the swing center of the boom and the hole to be drilled, and make B equal to L through the variable-length oil cylinder;

[0017] S5. Calculate the center coordinates Z(x 3 ,y 3 );

[0018] S6, then according to the coordinate Z(x 3 ,y 3 ) and coordinates K(x 2 ,y 2 ) coordinates for comparative calculation, and the coordinates Z(x 3 ,y 3 ), so that coordinate Z and coordinate K coincide;

[0019] S7. According to the data of the mast inclination sensor on the drill mast, the drill rod is adjusted to be vertical, and then drilling is started through the drill rod.

[0020] Optionally, the step S1 specifically includes:

[0021] According to the RTK positioning data, the angle α of the entire device to the true north direction and the coordinates Rtk(x 1 ,y 1), and according to the installation position, the distance A from the RTK main antenna to the center of rotation of the device can be known, so as to calculate the coordinates of the center of rotation of the device O(x,y):

[0022]

[0023] Among them, R is the radius of the earth; P is the error coefficient, and the parameters are adjusted during debugging.

[0024] Optionally, the specific calculation formula of the distance B in step S3 is:

[0025]

[0026] The distance D is the vertical distance of the drill rod from the center, which is determined according to the whole machine structure and is a fixed value;

[0027] Distance E is the vertical distance from the mast hinge axis to the vertical plane of the center point, which is determined according to the whole machine structure and is a fixed value;

[0028] The distance G is the distance from the hinge shaft connecting the boom and the mast to the center of the drill pipe, which is determined according to the whole machine structure and is a fixed value;

[0029] Distance F is the length of the boom, which is determined according to the entire machine structure and is a fixed value.

[0030] Optionally, the step S4 is specifically:

[0031] The hole coordinates to be drilled are K(x 2 ,y 2 ), calculate the straight-line distance L of the hole to be drilled:

[0032]

[0033] R is the radius of the earth, about 6371 km;

[0034] When the angle value of the variable amplitude inclination sensor β=β t When the adjustment of the luffing cylinder is completed;

[0035]

[0036] Optionally, the specific steps of determining the coordinate Z in step S5 are:

[0037] Calculate the deviation angle of the drill pipe center during rotation Since the RTK master and slave antennas are on the same straight line as the rotation center of the device, the angle γ between them and the true north direction is γ = α-ε; the coordinates can be calculated using the angle γ.

[0038]

[0039] In summary, this application includes the following beneficial technical effects:

[0040] The present application enables the device to automatically move to the working position through the setting of the positioning component, the track moving component, the adjustment component and the sensor, and completes the autonomous drilling positioning through the cooperation of the positioning component, the drive component and the track moving component; the process does not require an additional observer for positioning; while improving the positioning efficiency, it also improves safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is an overall structural diagram of a drilling device in an autonomous drilling method of a three-degree-of-freedom drilling arm of the present application;

[0042] Figure 2 yes Figure 1 Overall structural diagram of the middle adjustment assembly and drill pipe.

[0043] Description of reference numerals:

[0044] 1. Vehicle body; 2. Track moving assembly; 3. RTK main antenna; 4. RKT auxiliary antenna; 5. Base; 6. Pedestal; 7. Boom; 8. Drill mast; 9. Drill rod; 10. Correction cylinder; 11. Boom cylinder; 12. Mast cylinder; 13. Mast inclination sensor; 14. Boom inclination sensor. DETAILED DESCRIPTION

[0045] The following is combined with Figure 1-2 This application is described in further detail.

[0046] An embodiment of the present application discloses an autonomous drilling method for a three-degree-of-freedom drill arm, which is applied with a drilling device. The main body of the drilling device is a vehicle body 1 with a crawler moving assembly 2. The vehicle body 1 can rotate relative to the crawler moving assembly 2, and the rotation axis of the vehicle body 1 is arranged along the vertical direction; the vehicle body 1 and the crawler moving assembly 2 can refer to a common excavator; therefore, a driving part for driving its own rotation is provided inside the vehicle body 1, which is a conventional technology and will not be explained in depth here.

[0047] The vehicle body 1 is also provided with a positioning component for autonomous positioning, a drill rod 9 for drilling, and an adjustment component for adjusting the drill rod 9; in the embodiment of the present application, the positioning component includes an RTK main antenna 3 and an RKT sub-antenna 4, both of which are installed on the vehicle body 1; the antenna can be used in conjunction with a conventional RTK positioning system to obtain coordinates for real-time positioning.

[0048] In the embodiment of the present application, the adjustment component includes a base 5, a pedestal 6, a boom 7, a drill mast 8 and a drive component. The base 5 is fixedly mounted on the vehicle body 1, the base 6 is rotatably connected to the base 5, and the rotation axis of the base 6 is arranged along the length direction of the base 5; the boom 7 is rotatably connected to the base 6, and the rotation axis of the boom 7 is arranged along the width direction of the base 5, and the boom 7 is provided with a variable amplitude inclination sensor 14; the drill mast 8 is rotatably connected to the boom 7, and the rotation axis of the drill mast 8 is arranged along the width direction of the base 5, the drill rod 9 is arranged on the drill mast 8, and the drill mast 8 is also provided with a mast inclination sensor 13; the drive component is used to drive the base 6, the boom 7 and the drill mast 8 to rotate; the rotation center of the boom 7 and the rotation center of the vehicle body 1 are located in the same vertical plane, so the rotation center coordinates of the boom 7 obtained by the RTK positioning system are the rotation center coordinates of the vehicle body 1.

[0049] The driving assembly includes a correction cylinder 10, a luffing cylinder 11 and a mast cylinder 12; the two ends of the correction cylinder 10 are respectively rotatably connected to the base 5 and the pedestal 6, and the correction cylinder 10 is extended and retracted to drive the pedestal 6 to rotate; the two ends of the luffing cylinder 11 are respectively rotatably connected to the pedestal 6 and the boom 7, and the luffing cylinder 11 is extended and retracted to drive the boom 7 to rotate; the two ends of the mast cylinder 12 are respectively rotatably connected to the boom 7 and the drill mast 8, and the mast cylinder 12 is extended and retracted to drive the drill mast 8 to rotate.

[0050] The steps of autonomous positioning drilling of the device are as follows:

[0051] S1. Use the RTK positioning system to obtain the coordinates of the rotation center point O (x, y) and the drilling coordinates K (x 2 ,y 2 );

[0052] According to the RTK positioning data, the angle α of the entire device to the true north direction and the coordinates Rtk(x 1 ,y 1 ), and according to the installation position, the distance A from the RTK main antenna to the center of rotation of the device can be known, so as to calculate the coordinates of the center of rotation of the device O(x,y):

[0053]

[0054] S2, moving the drilling device as a whole to within the working radius of the device through the crawler moving assembly;

[0055] S3, calculating the distance B between the center of the drill pipe and the center of rotation of the boom according to the data β of the variable amplitude inclination sensor;

[0056] The specific calculation formula of distance B is:

[0057]

[0058] The distance D is the vertical distance of the drill rod from the center, which is determined according to the whole machine structure and is a fixed value;

[0059] Distance E is the vertical distance from the mast hinge axis to the vertical plane of the center point, which is determined according to the whole machine structure and is a fixed value;

[0060] The distance G is the distance from the hinge shaft connecting the boom and the mast to the center of the drill pipe, which is determined according to the whole machine structure and is a fixed value;

[0061] The distance F is the length of the boom, which is determined according to the whole machine structure and is a fixed value;

[0062] S4, calculate the straight-line distance L between the swing center of the boom and the hole to be drilled, and make B equal to L through the variable-length oil cylinder;

[0063] The hole coordinates to be drilled are K(x 2 ,y 2 ), calculate the straight-line distance L of the hole to be drilled:

[0064]

[0065] R is the radius of the earth, about 6371 km;

[0066] When the angle value of the variable amplitude inclination sensor β=β t When the adjustment of the luffing cylinder is completed, B is equal to L;

[0067]

[0068] S5. Calculate the center coordinates Z(x 3 ,y 3 );

[0069] Calculate the deviation angle of the drill pipe center during rotation Since the RTK master and slave antennas are on the same straight line as the rotation center of the device, the angle γ between them and the true north direction is γ = α-ε; the coordinates can be calculated using the angle γ.

[0070]

[0071]

[0072] S6, then according to the coordinate Z(x 3 ,y 3 ) and coordinates K(x 2 ,y 2 ) coordinates for comparative calculation, and the coordinates Z(x 3 ,y 3 ), so that coordinate Z and coordinate K coincide;

[0073] S7. According to the data of the mast inclination sensor on the drill mast, the drill rod is adjusted to be vertical by adjusting the assembly, and then drilling can be started through the drill rod.

[0074] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An autonomous drilling method for a three-degree-of-freedom drill arm, characterized in that: The drilling device is applied, the main body of the drilling device is a vehicle body with a crawler moving assembly, the vehicle body can rotate relative to the crawler moving assembly, and the rotation axis of the vehicle body is arranged in the vertical direction; the vehicle body is also provided with a positioning assembly for autonomous positioning, a drill rod for drilling, and an adjustment assembly for adjusting the drill rod; The positioning assembly includes the RTK main antenna and the RKT secondary antenna, both of which are mounted on the vehicle body; Before drilling, the crawler moving assembly is used to place the drilling point within the construction range of the drilling device. The positioning assembly is then used to calculate the position difference between the drill rod and the drilling point. The adjustment assembly is used to adjust the position and verticality of the drill rod so that the drill rod is above the drilling point and perpendicular to the ground. Finally, the drill rod is used to complete the drilling.

2. The autonomous drilling method of a three-degree-of-freedom drill arm according to claim 1, characterized in that: The adjustment assembly includes a base, a pedestal, a boom, a drill mast and a drive assembly. The base is fixedly mounted on the vehicle body, the pedestal is rotatably connected to the base, and the rotation axis of the base is arranged along the length direction of the base; the boom is rotatably connected to the base, and the rotation axis of the boom is arranged along the width direction of the base; the drill mast is rotatably connected to the boom, and the rotation axis of the drill mast is arranged along the width direction of the base, and the drill rod is arranged on the drill mast; the drive assembly is used to drive the pedestal, the boom and the drill mast to rotate; the rotation center of the boom and the rotation center of the vehicle body are located in the same vertical plane.

3. The autonomous drilling method of a three-degree-of-freedom drill arm according to claim 2, characterized in that: The driving assembly includes a correction cylinder, a luffing cylinder and a mast cylinder; the two ends of the correction cylinder are respectively rotatably connected to the base and the pedestal, and the correction cylinder is extended and retracted to drive the pedestal to rotate; the two ends of the luffing cylinder are respectively rotatably connected to the pedestal and the boom, and the luffing cylinder is extended and retracted to drive the boom to rotate; the two ends of the mast cylinder are respectively rotatably connected to the boom and the drill mast, and the mast cylinder is extended and retracted to drive the drill mast to rotate.

4. The autonomous drilling method of a three-degree-of-freedom drill arm according to claim 3, characterized in that: The drilling mast is provided with a mast inclination sensor, and the boom is provided with a variable amplitude inclination sensor.

5. The autonomous drilling method of a three-degree-of-freedom drill arm according to claim 4, characterized in that: The specific steps for locating the hole to be drilled by the positioning assembly are as follows: S1. Use the RTK positioning system to obtain the coordinates of the rotation center point O (x, y) and the drilling coordinates K (x2, y2) of the movable arm in the adjustment component; S2, moving the drilling device as a whole to within the working radius of the device through the crawler moving assembly; S3, calculating the distance B between the center of the drill pipe and the center of rotation of the boom according to the data β of the variable amplitude inclination sensor; S4, calculate the straight-line distance L between the swing center of the boom and the hole to be drilled, and make B equal to L through the variable-length oil cylinder; S5, calculate the center coordinates Z (x3, y3) of the drill rod; S6. Then, a comparative calculation is performed based on the coordinates of the coordinates Z (x3, y3) and the coordinates K (x2, y2). The coordinates Z (x3, y3) of the center of the drill pipe are adjusted by adjusting the platform rotation so that the coordinates Z and K coincide. S7. According to the data of the mast inclination sensor on the drill mast, the drill rod is adjusted to be vertical, and then drilling is started through the drill rod.

6. The autonomous drilling method of a three-degree-of-freedom drill arm according to claim 5, characterized in that: The specific steps of obtaining the boom rotation center coordinate Z in step S1 are: According to the RTK positioning data, the angle α of the entire device to the true north direction and the coordinates of the RTK main antenna Rtk(x1,y1) can be obtained. According to the installation position, the distance A from the RTK main antenna to the center of rotation of the device can be obtained, and the coordinates of the center of rotation of the device O(x,y) can be calculated: Among them, R is the radius of the earth; P is the error coefficient, and the parameters are adjusted during debugging.

7. The autonomous drilling method of a three-degree-of-freedom drill arm according to claim 6, characterized in that: The specific calculation formula of the distance B in step S3 is: The distance D is the vertical distance of the drill rod from the center, which is determined according to the whole machine structure and is a fixed value; Distance E is the vertical distance from the mast hinge axis to the vertical plane of the center point, which is determined according to the whole machine structure and is a fixed value; The distance G is the distance from the hinge shaft connecting the boom and the mast to the center of the drill pipe, which is determined according to the whole machine structure and is a fixed value; Distance F is the length of the boom, which is determined according to the entire machine structure and is a fixed value.

8. The autonomous drilling method of a three-degree-of-freedom drill arm according to claim 7, characterized in that: The step S4 is specifically as follows: The coordinates of the hole to be drilled are K(x2,y2), and the straight-line distance L of the hole to be drilled is calculated: R is the radius of the earth, about 6371 km; When the angle value of the variable amplitude inclination sensor β=β t When the adjustment of the luffing cylinder is completed; 9. The autonomous drilling method of a three-degree-of-freedom drill arm according to claim 8, characterized in that: The specific steps for determining the coordinate Z in step S5 are: Calculate the deviation angle of the drill pipe center during rotation Since the master and slave antennas of RTK are on the same straight line as the rotation center of the device, the angle γ between them and the true north direction is γ = α-ε; the coordinates can be calculated using the angle γ.

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