An autonomous drilling method for a three-degree-of-freedom drill arm

Abstract

The application discloses an autonomous drilling method of a three-degree-of-freedom drill arm, relates to the technical field of pole assembly, and applies a drilling device, wherein the main body of the drilling device is a vehicle body with a track moving assembly, the vehicle body can rotate relative to the track moving assembly, and the rotating axis of the vehicle body is arranged along the vertical direction; the vehicle body is further provided with a positioning assembly for autonomous positioning, a drill rod for drilling, and an adjusting assembly for adjusting the drill rod; the positioning assembly comprises an RTK main antenna and an RKT auxiliary antenna, both of which are mounted on the vehicle body; before drilling, the drilling point is first located within the construction range of the drilling device, then the position difference between the 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 the drilling is completed; through the arrangement of the positioning assembly, the track moving assembly, the adjusting assembly and the sensor, the device can automatically move to the working position, and through the cooperation of the positioning assembly, the driving assembly and the track moving assembly, the autonomous drilling positioning is completed; the process does not need to additionally configure an observer for positioning; the positioning efficiency is improved, and the safety is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pole erection, in particular to an autonomous drilling method of a three-degree-of-freedom drilling boom. BACKGROUND

[0002] In the pole erection construction of distribution network, the drilling of the hole of the cement pole is an important link in the construction process. Whether the drilling boom is vertical directly affects the quality of the hole. In the adjustment structure of the drilling boom of the drilling machine, most of them use a triangular structure like the rotary drilling machine, and the verticality is adjusted by two oil cylinders. However, such a structure occupies a large space.

[0003] Meanwhile, the existing drilling device mostly uses manual naked eye to align the drill rod with the drilling point. Due to the obstruction of the equipment, one person usually operates the machine, and one person observes from outside the device. This method takes a long time, and since the observer is outside the machine, there are also certain safety problems. SUMMARY

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

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

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

[0007] The positioning assembly includes an RTK main antenna and an RTK auxiliary antenna, both of which are installed on the vehicle body.

[0008] Before drilling, the drilling point is located within the construction range of the drilling device through the track moving assembly, then the position difference between the drill rod and the drilling point is calculated through the positioning assembly, the position and verticality of the drill rod are adjusted through the adjusting assembly, so that the drill rod is located above the drilling point and perpendicular to the ground, and finally the drilling is completed through the drill rod.

[0009] Optionally, the adjusting assembly includes a base, a base, an arm, a drill mast, and a driving assembly. The base is fixedly installed on the vehicle body, the base is rotatably connected to the base, and the rotation axis of the base is arranged along the length direction of the base. The arm is rotatably connected to the base, and the rotation axis of the arm is arranged along the width direction of the base. The drill mast is rotatably connected to the arm, 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 driving assembly is used to drive the base, the arm and the drill mast to rotate. The rotation center of the arm and the rotation center of the vehicle body are located in the same vertical plane.

[0010] Optionally, the driving assembly comprises a deviation rectifying oil cylinder, an amplitude varying oil cylinder and a mast oil cylinder; two ends of the deviation rectifying oil cylinder are rotatably connected to the base and the pedestal respectively, and the deviation rectifying oil cylinder is extended or retracted to drive the pedestal to rotate; two ends of the amplitude varying oil cylinder are rotatably connected to the pedestal and the movable arm respectively, and the amplitude varying oil cylinder is extended or retracted to drive the movable arm to rotate; two ends of the mast oil cylinder are rotatably connected to the movable arm and the drilling mast respectively, and the mast oil cylinder is extended or retracted to drive the drilling mast to rotate.

[0011] Optionally, the drilling mast is provided with a mast inclination sensor, and the movable arm is provided with an amplitude varying inclination sensor.

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

[0013] S1. The RTK positioning system is used to obtain the rotation center point coordinates O(x, y) of the movable arm in the adjusting assembly and the drilling hole coordinates K(x2, y2);

[0014] S2. The crawler moving assembly is used to move the drilling device as a whole to within the working radius of the device;

[0015] S3. The distance B between the center of the drilling rod and the rotation center of the movable arm is calculated according to the data β of the amplitude varying inclination sensor;

[0016] S4. The straight line distance L between the rotation center of the movable arm and the hole position to be drilled is calculated, and B is made equal to L by the amplitude varying oil cylinder;

[0017] S5. The center coordinates Z(x3, y3) of the drilling rod are calculated;

[0018] S6. Then the coordinates Z(x3, y3) and the coordinates K(x2, y2) are compared and calculated, and the coordinates Z(x3, y3) of the center of the drilling rod are adjusted by the adjusting platform to make the coordinates Z and the coordinates K coincide;

[0019] S7. The drilling rod is adjusted to be vertical according to the data of the mast inclination sensor on the drilling mast, and then the drilling rod starts to drill.

[0020] Optionally, the step S1 is specifically as follows:

[0021] According to the positioning data of the RTK, the included angle α of the entire device to the north direction and the coordinates Rtk(x1, y1) of the RTK main antenna can be obtained, and the distance A from the RTK main antenna to the rotation center of the device can be obtained according to the installation position, so as to calculate the rotation center point coordinates O(x, y) of the device:

[0022]

[0023] wherein R is the radius of the earth; and P is an error coefficient, which is adjusted in debugging.

[0024] Optionally, the specific formula for calculating the distance B in step S3 is:

[0025]

[0026] Wherein, the distance D is the vertical distance of the drill rod deviating from the center, which is determined according to the overall mechanism and is a constant value;

[0027] The distance E is the vertical distance of the hinged seat shaft of the mast to the vertical plane of the center point, which is determined according to the overall mechanism and is a constant value;

[0028] The distance G is the distance from the hinged seat shaft of the connection between the movable arm and the mast to the center of the drill rod, which is determined according to the overall mechanism and is a constant value;

[0029] The distance F is the length of the movable arm, which is determined according to the overall mechanism and is a constant value.

[0030] Optionally, step S4 is specifically:

[0031] According to the hole coordinate K(x2, y2) to be drilled, the straight-line distance L of the hole to be drilled is calculated:

[0032]

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

[0034] When the angle value β of the luffing angle sensor is β t , the adjustment of the luffing cylinder is completed;

[0035]

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

[0037] Calculate the deviation angle of the center of the drill rod in the rotation Since the master-slave antennas of the RTK and the rotation center point of the device are on the same straight line, the included angle γ of the north direction is α-ε; through the angle γ, the coordinate can be calculated.

[0038]

[0039] In summary, the present application has the following beneficial technical effects:

[0040] The present application can automatically move to the working position through the setting of the positioning assembly, the track moving assembly, the adjusting assembly and the sensor, and can complete the autonomous drilling positioning through the cooperation of the positioning assembly, the driving assembly and the track moving assembly. This process does not need to additionally configure an observer for positioning; while improving the positioning efficiency, the safety is improved. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 is the overall structure diagram of the drilling device in the autonomous drilling method of the three-degree-of-freedom drilling boom of the application;

[0042] Figure 2 is Figure 1 the overall structure diagram of the adjusting assembly and the drill rod.

[0043] BRIEF DESCRIPTION OF DRAWINGS:

[0044] 1, vehicle body; 2, track moving assembly; 3, RTK main antenna; 4, RKT auxiliary antenna; 5, base; 6, pedestal; 7, movable arm; 8, drill mast; 9, drill rod; 10, deviation correction oil cylinder; 11, luffing oil cylinder; 12, mast oil cylinder; 13, mast inclination sensor; 14, luffing inclination sensor. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings Figures 1-2 The application is further described in detail.

[0046] The embodiment of the application discloses an autonomous drilling method of a three-degree-of-freedom drilling boom, which applies a drilling device. The main body of the drilling device is a vehicle body 1 with a track moving assembly 2. The vehicle body 1 can rotate relative to the track moving assembly 2. The rotation axis of the vehicle body 1 is arranged along the vertical direction. The vehicle body 1 and the track moving assembly 2 can refer to a common excavator. Therefore, the vehicle body 1 is internally provided with a driving piece for driving the rotation of the vehicle body 1. This is a conventional technology, and no further explanation is given here.

[0047] The vehicle body 1 is further provided with a positioning assembly for autonomous positioning, a drill rod 9 for drilling, and an adjusting assembly for adjusting the drill rod 9. In the embodiment of the application, the positioning assembly includes an RTK main antenna 3 and an RKT auxiliary antenna 4, both of which are mounted on the vehicle body 1. The antennas can be matched with a conventional RTK positioning system to obtain coordinates to realize real-time positioning.

[0048] In the embodiment of the application, the adjusting assembly includes a base 5, a pedestal 6, a movable arm 7, a drill mast 8 and a driving assembly. The base 5 is fixedly mounted on the vehicle body 1. The pedestal 6 is rotatably connected to the base 5. The rotation axis of the pedestal 6 is arranged along the length direction of the base 5. The movable arm 7 is rotatably connected to the pedestal 6. The rotation axis of the movable arm 7 is arranged along the width direction of the base 5. The movable arm 7 is provided with a luffing inclination sensor 14. The drill mast 8 is rotatably connected to the movable arm 7. 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. The drill mast 8 is further provided with a mast inclination sensor 13. The driving assembly is used to drive the rotation of the pedestal 6, the movable arm 7 and the drill mast 8. The rotation center of the movable arm 7 and the rotation center of the vehicle body 1 are located in the same vertical plane. Therefore, the RTK positioning system obtains the rotation center coordinates of the movable arm 7, which are the rotation center coordinates of the vehicle body 1.

[0049] The driving assembly comprises a deviation rectifying oil cylinder 10, an amplitude varying oil cylinder 11 and a mast oil cylinder 12. The two ends of the deviation rectifying oil cylinder 10 are rotatably connected to the base 5 and the pedestal 6 respectively, and the deviation rectifying oil cylinder 10 is extended and retracted to drive the pedestal 6 to rotate. The two ends of the amplitude varying oil cylinder 11 are rotatably connected to the pedestal 6 and the movable arm 7 respectively, and the amplitude varying oil cylinder 11 is extended and retracted to drive the movable arm 7 to rotate. The two ends of the mast oil cylinder 12 are rotatably connected to the movable arm 7 and the drill mast 8 respectively, and the mast oil cylinder 12 is extended and retracted to drive the drill mast 8 to rotate.

[0050] The steps of the device for autonomously positioning a drilling hole are as follows:

[0051] S1. The RTK positioning system is used to obtain the coordinates O(x, y) of the rotation center point of the movable arm in the adjusting assembly and the coordinates K(x2, y2) of the drilling hole;

[0052] According to the positioning data of the RTK, the angle α of the entire device to the north direction and the coordinates Rtk(x1, y1) of the RTK main antenna can be obtained, and the distance A from the RTK main antenna to the rotation center of the device can be obtained according to the installation position, so as to calculate the coordinates O(x, y) of the rotation center point of the device:

[0053]

[0054] S2. The entire drilling device is moved to within the working radius of the device by the track moving assembly;

[0055] S3. The distance B between the center of the drill rod and the rotation center of the movable arm is calculated according to the data β of the amplitude varying inclination sensor;

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

[0057]

[0058] Wherein, the distance D is the vertical distance of the drill rod from the center, which is determined according to the entire machine mechanism and is a constant value;

[0059] The distance E is the vertical distance from the hinged seat shaft of the mast to the vertical plane of the center point, which is determined according to the entire machine mechanism and is a constant value;

[0060] The distance G is the distance from the hinged seat shaft connecting the movable arm and the mast to the center of the drill rod, which is determined according to the entire machine mechanism and is a constant value;

[0061] The distance F is the length of the movable arm, which is determined according to the entire machine mechanism and is a constant value;

[0062] S4. The straight line distance L between the rotation center of the movable arm and the hole to be drilled is calculated, and B is made equal to L by the amplitude varying oil cylinder;

[0063] According to the need of drilling hole position coordinates for K (x2, y2), the straight line distance L of the hole position to be drilled is calculated:

[0064]

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

[0066] When the angle value of the amplitude tilt sensor is β = β t , the adjustment of the amplitude cylinder is completed, and at this time B is equal to L;

[0067]

[0068] S5, the center coordinates Z (x3, y3) of the drill rod are calculated;

[0069] The deviation angle of the drill rod center from the rotation is calculated Since the master-slave antennas of the RTK and the rotation center point of the device are on the same straight line, the angle γ = α - ε between them and the north direction; through the angle γ, the coordinates can be calculated.

[0070]

[0071]

[0072] S6, then according to the coordinates Z (x3, y3) and the coordinates K (x2, y2), the coordinate comparison calculation is carried out, the coordinate Z of the drill rod center is adjusted through the adjusting assembly, so that the coordinates Z and K coincide;

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

[0074] The above are the preferred embodiments of the present application, which do not limit the protection scope of the present application, therefore: any equivalent changes made according to the structure, shape, principle of the present application should be covered within the protection scope of the present application.

Claims

1. An autonomous drilling method for a three-degree-of-freedom drill arm, characterized by: The invention relates to a drilling device, the main body of which 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 RTK 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. 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 base 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 base, 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; The specific steps for calculating the position difference between the drill rod and the drilling point by using the positioning component are as follows: S1. Use the RTK positioning system to obtain the coordinates of the rotation center point of the movable arm in the adjustment component and drilling coordinates ; S2. Move the entire drilling device to within the working radius of the device through the crawler moving assembly; S3, according to the data of the amplitude tilt sensor Calculate the distance B between the drill pipe center and the boom rotation center; S4. Calculate the straight-line distance L between the boom rotation center and the hole to be drilled, and use the luffing cylinder to make B equal to L; S5. Calculate the center coordinates of the drill rod ; S6. According to coordinates and coordinates The coordinates of the drill rod center are adjusted by adjusting the platform rotation. , so that coordinate Z and coordinate 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.

2. The autonomous drilling method of a three-degree-of-freedom drill arm according to claim 1, 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 foundation, and the correction cylinder is extended and retracted to drive the foundation to rotate; the two ends of the luffing cylinder are respectively rotatably connected to the base 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.

3. The autonomous drilling method of a three-degree-of-freedom drill arm according to claim 2, characterized in that: The drilling mast is provided with a mast inclination sensor, and the boom is provided with a luffing inclination sensor.

4. The autonomous drilling method of a three-degree-of-freedom drill arm according to claim 3, characterized in that: The specific steps for 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 can be obtained. , 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, thereby calculating the coordinates of the center of rotation of the device : in, is the radius of the earth; P is the error coefficient, and the parameters are adjusted during debugging.

5. The autonomous drilling method of a three-degree-of-freedom drill arm according to claim 4, 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 by 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. It is determined according to the overall structure of the machine 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.

6. The autonomous drilling method of a three-degree-of-freedom drill arm according to claim 5, characterized in that: The step S4 is specifically as follows: The hole coordinates to be drilled as required are , calculate the straight-line distance L of the hole to be drilled: is the radius of the Earth; When the angle value of the variable amplitude tilt sensor β= When the adjustment of the luffing cylinder is completed; 。 7. The autonomous drilling method of a three-degree-of-freedom drill arm according to claim 6, characterized in that: The specific steps for determining the coordinate Z in step S5 are: Calculate the deviation angle of the drill pipe center from the rotation center ; Since the RTK master and slave antennas are on the same straight line as the rotation center of the device, the angle between them and the true north direction is ;Through angle ; 。

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