Automatic drilling platform for highway bridge construction

Abstract

The invention provides an automatic drilling platform for highway bridge construction, which comprises a frame, wheels are arranged on the side edge of one side of the frame, steering mechanisms are arranged in the wheels, driving motors are arranged in the wheels, a drilling bracket is arranged above one side of the frame, a drilling rod is rotatably mounted below the drilling bracket, and the driving motors are fixedly mounted above the drilling bracket. A transmission is arranged in the middle of the drilling support, two sets of change wheels and a belt are arranged in the transmission, one set of change wheels is coaxially connected with an output shaft of the driving motor, the other set of change wheels is coaxially and fixedly connected with the drilling rod, and an electromagnetic clutch is additionally arranged in the transmission. Drill rod deflection compensation and transmission dynamic adjustment and optimization are achieved through the edge calculation module, sensing-decision-execution closed-loop control is formed in combination with multi-mode driving management, an electric sliding rail balance weight system is linked with a four-stage leveling program, and traditional static balance weight limitation is broken through; the quick-release guider integrates piezoelectric ceramic fine tuning and RFID identification technologies.

Description

Technical Field

[0001] The present invention relates to the technical field of highway bridge processing, and particularly relates to an automatic drilling platform for highway bridge construction. Background Art

[0002] The content of roadbed construction generally includes: subgrade main project, borrow pits and spoil banks, berms and slump blocks, comprehensive roadbed drainage, roadbed protection and reinforcement, filled and cut roadbeds, roadbeds in special engineering geological areas, construction in winter and rainy seasons, and projects such as channel or river diversion works caused by roadbed construction, construction organization of earthwork projects, roadbed renovation, quality inspection, project acceptance, etc.

[0003] Drilling is required for roadbed construction operations. Traditional drilling equipment has significant limitations under complex working conditions: insufficient rigidity of the frame structure leads to a high risk of drilling deviation; the transmission system relies on gearbox speed change, with problems such as rapid efficiency decay and high maintenance costs; manual counterweight adjustment has a lag in response and is difficult to adapt to dynamic load changes; the guiding mechanism is mostly mechanically fixed and lacks real-time deviation correction ability. Especially in special scenarios such as extremely cold and collapsible soil layers, conventional equipment is prone to problems such as drill sticking and inaccurate positioning. Therefore, we propose an automatic drilling platform for highway bridge construction to solve the above problems. Summary of the Invention

[0004] (1) Technical Problems to be Solved

[0005] In view of the deficiencies of the prior art, the present invention provides an automatic drilling platform for highway bridge construction, which solves the technical problems proposed in the background art.

[0006] (2) Technical Solutions

[0007] To achieve the above objectives, the present invention is realized through the following technical solutions:

[0008] An automatic drilling platform for highway bridge construction,

[0009] The frame is welded by several groups of steel structure brackets. One side of the frame is provided with wheels. The wheels include a steering mechanism, and a drive motor is arranged inside the other wheels, which can assist in movement control. The wheels integrate an electromagnetic brake + hydraulic brake dual redundant system.

[0010] Above one side of the frame, a drilling bracket is provided. A drill pipe is rotatably installed below the drilling bracket. A driving motor is fixedly installed above the drilling bracket. A transmission is provided in the middle of the drilling bracket. The transmission includes two groups of speed change wheels and a belt. One group of speed change wheels is coaxially connected to the output shaft of the driving motor, and the other group of speed change wheels is coaxially fixedly connected to the drill pipe. The transmission is used to convert the rotational speed of the output shaft of the driving motor, converting the driving motor with high speed and low torque into the low speed and high torque required for drilling. An electromagnetic clutch is added to the transmission to achieve rapid decoupling of the drill pipe and the driving motor. The belt drive system is upgraded to a carbon fiber synchronous belt, and a tension self-adjusting device is configured.

[0011] Preferably, a control block is provided in the middle of the upper end of the frame. A control mechanism is provided in the control block to control the gear of the driving motor. An edge computing module is implanted in the control block for real-time compensation of the drill pipe deflection (predicted based on the finite element model). The horizontal position of the drilling bracket in the frame can be adjusted.

[0012] Preferably, a counterweight is provided on the right side of the frame. The counterweight is a lead block for counterweight to adjust the overall weight of the frame and ensure the stability of the vehicle body. The counterweight is changed to an electric slide rail type configuration, with an integrated density gradient composite material (lead core + polymer shell) and an integrated tilt sensor linkage control system to achieve dynamic counterweight adjustment.

[0013] Preferably, a gasket is provided below the right side of the frame. A conical protrusion is provided at the bottom of the gasket. The conical protrusion of the gasket adds an electric heating deicing function, which can be compatible with extremely cold weather scenarios, and better fixes to the ground through the conical block.

[0014] Preferably, a support frame is provided on the side of the frame. A shock-absorbing rubber pad is provided at the connection between the support frame and the frame, with an adjustable damping coefficient range of 0.3 - 0.7. A guide is provided in the middle of the support frame. The guide is used to position and guide the drill pipe and is supported by the support frame.

[0015] Preferably, the guide includes an upper clamping ring, a lower pressing ring, and a support rod. The upper clamping ring is fixedly installed in the middle of the support frame through bolts. The upper clamping ring is composed of two semi-circular ring structures, and the two sides of the upper clamping ring are fixed through locking bolts. The upper clamping ring integrates a strain gauge array to monitor the drilling deviation trend in real time.

[0016] Preferably, a guide slider is provided in the middle of the upper clamping ring. The guide slider is a sliding sleeve. A piezoelectric ceramic fine-tuning module is added to the guide slider. The drill pipe passes through the guide slider, and the perpendicularity of the drill pipe during downward drilling can be controlled.

[0017] Preferably, mounting grooves are provided in the middle of the two upper snap rings. A support rod is slidably mounted in the mounting groove and fixed by a locking bolt. The support rod is made of carbon fiber-aluminum alloy composite pipe. A pressing ring is provided at the bottom of the support rod. The pressing ring is placed above the ground and used to fix the outside of the drill hole.

[0018] Preferably, a locator is provided at the top of the upper end of the support rod. The locator is two photoelectric sensors, which are used to adjust the position of the drill support.

[0019] Preferably, the overall structure of the guide is designed with a quick-release structure. The drill pipe also needs to be disassembled and replaced according to the usage requirements, which meets the usage requirements of multiple scenarios. The drill pipe is configured with an overload fuse mechanism.

[0020] Preferably, the control system is upgraded: multi-modal drive management

[0021] A vector control module is added to the wheel drive motor, supporting: tracking mode (Beidou + vision composite navigation), collaborative mode (multi-machine formation operation spacing control), and emergency mode (four-wheel independent torque distribution).

[0022] Preferably, the operation process of the intelligent drilling platform is as follows:

[0023] Step 1. Position correction: Receive coordinates through the Internet of Things terminal of the control block, automatically activate the steering mechanism of the wheels, realize autonomous navigation of the pile position, and the dual photoelectric sensors of the locator perform millimeter-level precise positioning, forming a redundant check with the Beidou signal;

[0024] Step 2. Automatic leveling stage: The conical raised blocks of the cushion pads automatically penetrate the ground, and cooperate with the inclination sensor to start the four-stage leveling program:

[0025] ① The wheel hydraulic suspension is initially leveled; ② The counterweight electric slide rail is secondarily leveled; ③ The servo electric legs of the support frame are finely adjusted; ④ The final calibration based on the pressure feedback of the pressing ring.

[0026] Step 3. Intelligent drilling stage

[0027] The transmission adopts stepless speed change, and the speed ratio is adjusted in real time according to the torque sensor data of the drill pipe (sampling rate 1kHz). When the collapsible loess layer is detected, the working mode is automatically switched:

[0028] ① Start the spiral soil discharging and sorting device; ② Activate the piezoelectric ceramic fine adjustment mechanism of the guide slider.

[0029] In addition, the above operations also include drill jamming warning: when the torque fluctuation exceeds the threshold (±15%), automatically execute:

[0030] ①Switch the transmission to the reverse rotation mode; ②Start the high-frequency vibration module of the drill pipe; ③Link the hydraulic lifting system of the support rod.

[0031] Preferably, the intelligent upgrade of the guide device: The quick-release structure adds an RFID identification function, the inner diameter of the guide slider is automatically matched for drill pipes of different specifications, and the support rod is made of shape memory alloy material, which automatically hardens and locks when encountering extreme deflection.

[0032] (III) Beneficial effects

[0033] 1 Integrated intelligent control system: Through the edge computing module, the deflection compensation of the drill pipe and the dynamic optimization of the transmission are realized. Combined with multi-modal drive management, the drilling accuracy and energy efficiency are significantly improved, forming a closed-loop control of perception - decision - execution.

[0034] 2 Adaptive structure innovation: The electric slide rail counterweight system is linked with the four-level leveling program, breaking through the limitations of traditional static counterweights; The quick-release guide device integrates piezoelectric ceramic fine-tuning and RFID identification technology to achieve adaptive matching and real-time deviation correction of the drilling tool.

[0035] 3 Redundant safety design: The double-brake wheel system, overload fuse mechanism and electromagnetic clutch form a multiple protection mechanism to ensure the operation safety under extreme working conditions.

[0036] 4 Improvement of environmental compatibility: Innovative designs such as electric heating deicing pads and shape memory alloy support rods expand the applicable boundaries of the equipment in harsh environments such as extremely cold and collapsible soils.

[0037] 5 Optimization of human-machine collaboration: Through Beidou / vision composite navigation and multi-machine formation control, the intensity of manual intervention is reduced, and an intelligent drilling operation paradigm is constructed. Description of the drawings

[0038] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly and implement it according to the content of the specification, the following takes the preferred embodiments of the present invention and combines the drawings to describe in detail as follows.

[0039] Figure 1 It is the overall structure diagram of an automatic drilling platform for highway bridge construction of the present invention;

[0040] Figure 2 It is the top view structure diagram of the guiding mechanism in an automatic drilling platform for highway bridge construction of the present invention;

[0041] Figure 3 It is the side view structure diagram of the guiding mechanism in an automatic drilling platform for highway bridge construction of the present invention.

[0042] Legend: 1. Frame; 2. Counterweight; 3. Wheel; 4. Clamping pad; 5. Control block; 6. Drilling bracket; 7. Driving motor; 8. Transmission; 9. Guide mechanism; 91. Upper snap ring; 92. Lower pressing ring; 93. Support rod; 94. Locking bolt; 95. Positioner; 96. Guide slider; 10. Drill pipe; 11. Support frame. Specific implementation mode

[0043] In the embodiment of the present application, an automatic drilling platform for highway bridge construction is provided to solve the problem of drilling accuracy in the prior art. Through the edge computing module, the deflection compensation of the drill pipe and the dynamic optimization of the transmission are realized. Combined with multi-modal drive management, the drilling accuracy and energy efficiency are significantly improved, forming a closed-loop control of perception - decision - execution.

[0044] Embodiment 1

[0045] The technical solution in the embodiment of the present application to solve the above-mentioned drilling accuracy problem is generally as follows:

[0046] In view of the problems existing in the prior art, the present invention provides an automatic drilling platform for highway bridge construction, including

[0047] The frame 1 is welded by several groups of steel structure brackets. One side of the frame 1 is provided with wheels 3. The wheels 3 include a steering mechanism inside, and a driving motor is arranged inside the wheels 3 for auxiliary movement control. The wheels 3 integrate an electromagnetic braking + hydraulic braking dual redundant system.

[0048] Above one side of the frame 1, a drilling bracket 6 is provided. A drill pipe 10 is rotatably installed below the drilling bracket 6. A driving motor 7 is fixedly installed above the drilling bracket 6. A transmission 8 is arranged in the middle of the drilling bracket 6. The transmission 8 includes two groups of transmission wheels and a belt. One group of transmission wheels is coaxially connected with the output shaft of the driving motor 7, and the other group of transmission wheels is coaxially fixedly connected with the drill pipe 10. The transmission 8 is used to convert the rotational speed of the output shaft of the driving motor 7, converting the driving motor 7 with high rotational speed and low torque into the low rotational speed and high torque required for drilling. An electromagnetic clutch is added to the transmission 8 to realize the quick decoupling of the drill pipe 10 and the driving motor 7. The belt drive system is upgraded to a carbon fiber synchronous belt (tensile strength ≥ 5000 N / mm2), and a tension self-adjusting device is configured.

[0049] In the middle of the upper end of the frame 1, a control block 5 is provided. A control mechanism is arranged inside the control block 5 to control the gear of the driving motor 7. An edge computing module is implanted in the control block 5 for real-time compensation of the drill pipe deflection (predicted based on the finite element model) and optimization of the transmission efficiency (dynamically adjusting the speed ratio to maintain a transmission efficiency of more than 95%). The horizontal position of the drilling bracket 6 in the frame 1 can be adjusted.

[0050] A counterweight 2 is provided on the right side of the frame 1. The counterweight 2 is a lead block for counterweight to adjust the overall weight of the frame 1 and ensure the stability of the vehicle body. The counterweight 2 is changed to an electric slide rail configuration, with a density gradient composite material (lead core + polymer shell) built-in and an integrated tilt sensor linkage control system to achieve dynamic counterweight adjustment.

[0051] A clamping pad 4 is provided below the right side of the frame 1. A conical protrusion is provided at the bottom of the clamping pad 4. The conical protrusion of the clamping pad 4 adds an electric heating de-icing function, which can be compatible with extremely cold weather scenarios, and better fixes to the ground through the conical block.

[0052] A support frame 11 is provided on the side of the frame 1. A shock-absorbing rubber pad is provided at the connection between the support frame 11 and the frame 1, and the adjustable range of the damping coefficient is 0.3 - 0.7. A guide 9 is provided in the middle of the support frame 11. The guide 9 is used to position and guide the drill pipe 10 and is supported by the support frame 11.

[0053] Comprehensively Figure 2-3 As shown, the guide 9 includes an upper clamping ring 91, a lower pressing ring 92 and a support rod 93. The upper clamping ring 91 is fixedly installed in the middle of the support frame 11 by bolts. The upper clamping ring 91 is composed of two semi-circular ring structures, and the two sides of the upper clamping ring 91 are fixed by a locking bolt 94. The upper clamping ring 91 integrates a strain gauge array to monitor the drilling deviation trend in real time.

[0054] A guide slider 96 is provided in the middle of the upper clamping ring 91. The guide slider 96 is a sliding sleeve. The guide slider 96 is added with a piezoelectric ceramic fine-tuning module. The drill pipe 10 passes through the guide slider 96, and the perpendicularity of the drill pipe 10 during downward drilling can be controlled.

[0055] An installation groove is provided in the middle of the two upper clamping rings 91. The support rod 93 is slidably installed in the installation groove and fixed by a locking bolt 94. The support rod 93 is changed to a carbon fiber-aluminum alloy composite pipe (weight reduced by 40%, stiffness increased by 30%). A lower pressing ring 92 is provided at the bottom of the lower part of the support rod 93. The lower pressing ring 92 is placed above the ground and is used to fix the outside of the drilling hole.

[0056] A locator 95 is provided at the top of the upper end of the support rod 93. The locator 95 is two photoelectric sensors, which are used to adjust the position of the drilling support 6 in combination.

[0057] The guide 9 as a whole adopts a quick-release structural design. The drill pipe 10 also needs to be disassembled and replaced according to the usage requirements, which is applicable to the usage requirements of various scenarios. The drill pipe 10 is configured with an overload fusing mechanism (shearing pin + current dual protection).

[0058] More preferably, the control system is upgraded: multi-modal drive management

[0059] A vector control module is added to the drive motor of the wheel 3, supporting: tracking mode (Beidou + vision composite navigation), collaborative mode (inter-machine formation operation spacing control), and emergency mode (four-wheel independent torque distribution).

[0060] Embodiment 2

[0061] Based on Embodiment 1, the embodiment of the present application further includes an intelligent drilling platform operation process, and the general idea is as follows:

[0062] Step 1. Position correction: Receive coordinates through the Internet of Things terminal of the control block 5, automatically activate the steering mechanism of the wheel 3, realize autonomous navigation of the pile position, and the dual photoelectric sensors of the positioner 95 perform millimeter-level precise positioning, forming a redundant check with the Beidou signal;

[0063] Step 2. Automatic leveling stage: The conical protrusion blocks of the clamping pads 4 automatically penetrate the ground, and cooperate with the inclination sensors to start the four-stage leveling program:

[0064] ① The hydraulic suspension of the wheel 3 is initially leveled; ② The counterweight block 2 is secondarily leveled by the electric slide rail; ③ The servo electric legs of the support frame 11 are finely adjusted; ④ The final calibration based on the pressure feedback of the pressing ring 92.

[0065] Step 3. Intelligent drilling stage

[0066] The transmission 8 adopts stepless speed change, and adjusts the speed ratio in real time according to the torque sensor data of the drill pipe 10 (sampling rate 1kHz). When a collapsible loess layer is detected, the working mode is automatically switched:

[0067] ① Start the spiral soil discharging and sorting device, ② Activate the piezoelectric ceramic fine adjustment mechanism of the guiding slider 96.

[0068] In addition, the above operations also include sticking drill warning: when the torque fluctuation exceeds the threshold (±15%), automatically execute:

[0069] ① The transmission 8 switches to the reverse rotation mode; ② Start the high-frequency vibration module of the drill pipe 10; ③ Link the hydraulic lifting system of the support rod 93.

[0070] In addition, the intelligent upgrade of the guide: The quick-release structure adds RFID identification function, the inner diameter of the guiding slider 96 is automatically matched with different specifications of drill pipes 10, and the support rod 93 is made of shape memory alloy material, which automatically hardens and locks when encountering extreme deviation.

[0071] Beneficial effects:

[0072] 1 Integrated intelligent control system: The deflection compensation of drill pipes and the dynamic optimization of the transmission are realized through the edge computing module. Combined with multi-modal drive management, the drilling accuracy and energy efficiency are significantly improved, forming a closed-loop control of perception - decision - execution.

[0073] 2 Adaptive structure innovation: The electric slide rail counterweight system is linked with the four-level leveling program, breaking through the limitations of traditional static counterweights; The quick-release guide is integrated with piezoelectric ceramic fine-tuning and RFID identification technologies to achieve adaptive matching and real-time deviation correction of drilling tools.

[0074] 3 Redundant safety design: The double-brake wheel system, overload fusing mechanism and electromagnetic clutch form a multiple protection mechanism to ensure the operation safety under extreme working conditions.

[0075] 4 Improvement of environmental compatibility: Innovative designs such as electric heating de-icing pads and shape memory alloy support rods expand the applicable boundaries of the equipment in harsh environments such as extremely cold and collapsible geological conditions.

[0076] 5 Optimization of human-machine collaboration: Through Beidou / vision composite navigation and multi-machine formation control, the intensity of manual intervention is reduced, and an intelligent drilling operation paradigm is constructed.

[0077] Finally, it should be noted that: Obviously, the above embodiments are only examples for clearly explaining the present invention, rather than limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the present invention.

Claims

1. An automatic drilling platform for highway bridge construction, characterized in that: The frame (1) is welded by several groups of steel structure brackets. A wheel (3) is arranged on one side of the frame (1). The wheel (3) includes a steering mechanism inside, and a driving motor is arranged inside the wheel (3). The wheel (3) integrates an electromagnetic braking + hydraulic braking dual redundant system. Above one side of the frame (1), a drilling bracket (6) is arranged. A drill rod (10) is rotatably installed below the drilling bracket (6). A driving motor (7) is fixedly installed above the drilling bracket (6). A transmission (8) is arranged in the middle of the drilling bracket (6). The transmission (8) includes two groups of variable speed wheels and a belt. One group of variable speed wheels is coaxially connected to the output shaft of the driving motor (7), and the other group of variable speed wheels is coaxially fixedly connected to the drill rod (10). An electromagnetic clutch is added in the transmission (8) to realize the quick decoupling of the drill rod (10) and the driving motor (7).

2. The automatic drilling platform for highway bridge construction according to claim 1, wherein In the middle of the upper end of the frame (1), a control block (5) is arranged. A control mechanism is arranged inside the control block (5). An edge computing module is implanted in the control block (5). The horizontal position of the drilling bracket (6) in the frame (1) can be adjusted. A counterweight block (2) is arranged on the right side of the frame (1). The counterweight block (2) is a lead block for counterweight to adjust the overall weight of the frame (1). The counterweight block (2) is replaced with an electric slide rail configuration, and a density gradient composite material (lead core + polymer shell) is built-in.

3. The automatic drilling platform for highway bridge construction according to claim 2, characterized in that, Below the right side of the frame (1), a gasket (4) is arranged. A conical protrusion is arranged at the bottom of the gasket (4). The conical protrusion of the gasket (4) adds an electric heating de-icing function. A support frame (11) is arranged on the side of the frame (1). A shock-absorbing rubber pad is arranged at the connection between the support frame (11) and the frame (1), and the adjustable range of the damping coefficient is 0.3 - 0.

7. A guide (9) is arranged in the middle of the support frame (11). The guide (9) is used to position and guide the drill rod (10).

4. The automatic drilling platform for highway bridge construction according to claim 3, characterized in that, The guide (9) includes an upper clamping ring (91), a lower pressing ring (92) and a support rod (93). The upper clamping ring (91) is fixedly installed in the middle of the support frame (11) by bolts. The upper clamping ring (91) is composed of two semi-circular ring structures. The two sides of the upper clamping ring (91) are fixed by a locking bolt (94). The upper clamping ring (91) integrates a strain gauge array.

5. An automatic drilling platform for highway bridge construction according to claim 4, characterized in that, A guide slider (96) is arranged in the middle of the upper clamping ring (91). The guide slider (96) is a sliding sleeve. The guide slider (96) is added with a piezoelectric ceramic fine-tuning module. The drill rod (10) passes through the guide slider (96). An installation groove is arranged in the middle of the two upper clamping rings (91). The support rod (93) is slidably installed in the installation groove and fixed by a locking bolt (94). The lower bottom of the support rod (93) is provided with a lower pressing ring (92). The lower pressing ring (92) is placed above the ground.

6. The automatic drilling platform for highway bridge construction according to claim 5, characterized in that, A locator (95) is arranged at the top of the upper end of the support rod (93). The locator (95) is composed of two photoelectric sensors, which are used to adjust the position of the drilling bracket (6). The guide (9) as a whole adopts a quick-release structure design.

7. The operation process of an automatic drilling platform for highway bridge construction according to any one of claims 1-6 is as follows: Step 1. Position correction: Receive coordinates through the Internet of Things terminal of the control block (5), automatically activate the steering mechanism of the wheels (3) to achieve autonomous pile position navigation, and the dual photoelectric sensors of the positioner (95) perform millimeter-level precise positioning, forming redundant verification with the Beidou signal; Step 2. Automatic leveling stage: The conical raised blocks of the clamping pads (4) automatically penetrate the ground, and cooperate with the inclination sensors to start the four-level leveling program: ① The hydraulic suspension of the wheels (3) is initially leveled; ② The counterweight block (2) is secondarily leveled by the electric slide rail; ③ The servo electric legs of the support frame (11) are finely adjusted; ④ The final calibration based on the pressure feedback of the pressing ring (92). Step 3. Intelligent drilling stage The transmission (8) adopts stepless speed change, and adjusts the speed ratio in real time according to the torque sensor data of the drill pipe (10) (sampling rate (1) kHz), and automatically switches the working mode when detecting the collapsible loess layer.

8. The operation process of an automatic drilling platform for highway bridge construction according to claim 7, characterized in that, In addition, the above operations also include sticking drill warning: when the torque fluctuation exceeds the threshold, automatically execute: ① The transmission (8) switches to the reverse rotation mode; ② Start the high-frequency vibration module of the drill pipe (10); ③ Link the hydraulic lifting system of the support rod (93).

9. The operation process of an automatic drilling platform for highway bridge construction according to claim 7, characterized in that, In the said Step 2: ① The hydraulic suspension of the wheels (3) is initially leveled; ② The counterweight block (2) is secondarily leveled by the electric slide rail; ③ The servo electric legs of the support frame (11) are finely adjusted; ④ The final calibration based on the pressure feedback of the pressing ring (92).

10. The operation process of an automatic drilling platform for highway bridge construction according to claim 1, characterized in that, In addition, the intelligent upgrade of the guide: The quick-release structure adds RFID identification function, the inner diameter of the guide slider (96) is automatically matched with different specifications of drill pipes (10), and the support rod (93) is made of shape memory alloy material, which automatically hardens and locks when encountering extreme deflection.

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