Foundation pile coring machine based on external vibration monitoring and automatic leveling and use method

Abstract

The invention relates to the technical field of engineering core drilling, and discloses a foundation pile coring machine based on external vibration monitoring and automatic leveling and a using method, the foundation pile coring machine comprises a base, a four-corner balance system, a vibration monitoring system and an automatic leveling system, and the top and the bottom of the base are provided with a core drilling assembly and a driving system respectively; the four-corner balance system comprises hydraulic supporting assemblies arranged at the four corners of the base and a double-shaft tilt angle sensor, and the double-shaft tilt angle sensor is arranged in the base and is far away from the vibration source; and the while-drilling monitoring system comprises a vibration sensor and two laser displacement sensors. Based on the external sensing monitoring and hydraulic leveling technology, through non-contact measurement and real-time active leveling, the problem that the coring quality and the detection accuracy are directly affected by the stability and the drilling perpendicularity in the working process of the foundation pile drilling coring machine is effectively solved, and the foundation pile drilling coring machine has the advantages of being high in reliability and adaptability and suitable for popularization and application. And the non-contact measurement scheme reduces equipment modification requirements.

Description

Technical Field

[0001] This invention relates to the field of engineering core drilling technology, specifically to a pile core drilling machine based on external vibration monitoring and automatic leveling, and its usage method. Background Technology

[0002] Pile core drilling machines are key equipment in civil engineering testing, primarily used for pile quality assessment and concrete structure inspection. Their working principle involves extracting cylindrical core samples from the pile using a high-speed rotating core barrel and drill bit, allowing for scientific analysis of quality indicators such as pile length, concrete strength, uniformity, cracks, and voids. This equipment is widely used in the testing of concrete projects such as highways, airports, ports, docks, and dams, becoming an indispensable technical means for evaluating project quality.

[0003] Traditional core drilling machines mainly consist of basic components such as a power system (usually a gasoline engine or electric motor), a transmission system, a lifting mechanism, a core barrel, drill rods, and a base. During operation, the core barrel rotates at high speed to cut the concrete, while a cooling water system reduces the drill bit temperature and dust. The lifting mechanism controls the feed speed of the drill rods and core barrel through a screw drive or hydraulic system to ensure the stability of the drilling process. Although this basic design can accomplish the core sampling task, it still has many technical limitations in practical applications, especially in ensuring core sample integrity, improving core sampling efficiency, and achieving accurate monitoring.

[0004] Traditional core drilling machines are prone to deviations from the preset drilling trajectory during operation due to significant variations in frictional resistance between the core barrel and the concrete, coupled with equipment vibration. This affects the verticality and consistency of the borehole diameter. This is especially true in cases of long piles or complex geological conditions, where equipment swaying further reduces core sampling quality.

[0005] Therefore, this application proposes a non-contact monitoring system while drilling and a corresponding four-corner balancing system to ensure the accuracy of long-term drilling operations. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a pile core drilling machine and its usage method based on external vibration monitoring and automatic leveling. The main purpose is to solve the problem that the drilling trajectory deviates from the preset position during the core sampling process, affecting the verticality and diameter consistency of the drilling.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] The pile core drilling machine based on external vibration monitoring and automatic leveling includes a base, with a core drilling assembly and a drive system respectively located at the top and bottom of the base, and also includes:

[0009] The four-corner balancing system includes hydraulic support components located at the four corners of the base and dual-axis tilt sensors. The dual-axis tilt sensors are located inside the base and away from the vibration source.

[0010] The monitoring system while drilling includes a vibration sensor and two laser displacement sensors. The vibration sensor is located on one side of the core assembly and close to the core barrel to monitor the overall vibration transmission. The two laser displacement sensors are located on both sides of the core barrel and arranged at a 90° angle to form a two-dimensional vibration monitoring system.

[0011] The centering system is located above the base and distributed on both sides of the drill core barrel. It is used to work with the drill core assembly to correct the offset of the drill core position direction of the drill core barrel.

[0012] The traction system, located at the top of the base, is used in conjunction with the core drilling assembly to traction the drill rod and core barrel respectively.

[0013] Furthermore, the laser displacement sensor is mounted on one side of the base via an adjustment mechanism. The adjustment mechanism includes a sensor bracket fixedly connected to one side of the base. A sensor adjustment disk, which is rotatably mounted on the top of the sensor bracket and fixed to the laser displacement sensor, is mounted on the top of the sensor bracket. A connecting screw is welded to the bottom of the sensor adjustment disk, and the bottom end of the connecting screw passes through the sensor bracket and is threaded with a wing nut. The signal acquired by the drilling monitoring system is adaptively filtered and applied to a signal processing algorithm. The signal processing algorithm uses short-time Fourier transform for time-frequency analysis, calculates the spectral characteristics and amplitude envelope of the vibration signal in real time, and identifies the vibration characteristics caused by the core barrel deflection by analyzing the energy change of the vibration signal in a specific frequency band.

[0014] Based on the aforementioned scheme, the hydraulic support assembly includes a support base fixedly connected to the base. The top and bottom of the support base are respectively hinged to a rear adjusting cylinder and a rear support arm. One end of the piston rod of the rear adjusting cylinder is rotatably connected to the end of the rear support arm. The end of the rear support arm near the piston rod of the rear adjusting cylinder and the end away from the piston rod of the rear adjusting cylinder are respectively hinged to a front support arm and a front adjusting cylinder. One end of the piston rod of the front adjusting cylinder is rotatably connected to the front support arm.

[0015] As a further embodiment of the present invention, the four-corner balancing system composed of a dual-axis tilt sensor and four hydraulic support components satisfies the hydraulic leveling algorithm based on a spatial kinematics model.

[0016] Furthermore, the straightening system includes two straightening mounting brackets fixedly connected to the top of the base. Two straightening guide rails are fixedly connected to the top of the straightening mounting brackets. A straightening moving plate is slidably installed between the two straightening guide rails via a slide table. One end of the straightening moving plate is fixedly connected to a straightening angle bracket for straightening the drill core barrel. A straightening cylinder is provided on one side of the straightening mounting bracket to drive the straightening moving plate to move along the straightening guide rails.

[0017] Based on the aforementioned scheme, the core drilling assembly includes two core drilling guide rails fixedly connected to the top of the base. A movable stage is slidably installed between the two core drilling guide rails via a slide table. The top of the base is provided with a movable cylinder that drives the movable stage to move along the core drilling guide rails. A core drilling machine is rotatably installed inside the movable stage via bearings. Two tilting cylinders are hinged between the movable stage and the core drilling machine.

[0018] As a further embodiment of the present invention, the traction system includes a frame fixedly connected to the top of the base and two traction machines. Two interchangeable guide rails are fixedly connected to the top of the frame. Two pulley assemblies are slidably installed between the two interchangeable guide rails via a slide table, and the two pulley assemblies are fixedly connected to each other via a column. The traction ropes of the two traction machines pass around the two pulley assemblies respectively and are equipped with lifting devices. The top of the frame is provided with an interchangeable cylinder that drives the two pulley assemblies to move along the interchangeable guide rails.

[0019] Furthermore, the pulley assembly includes a mounting housing, within which a guide pulley and two positioning pulleys are rotatably mounted via bearings. An extension arm is welded to the end of the mounting housing, and a positioning ring for guiding and positioning the traction rope of the traction machine is rotatably mounted at the end of the extension arm.

[0020] The method for using a core drilling machine for foundation piles based on external vibration monitoring and automatic leveling includes the following steps:

[0021] S1: Start the automatic leveling program. The dual-axis tilt sensor monitors the levelness of the base. The hydraulic control system adjusts the height of each hydraulic support component according to the hydraulic leveling algorithm until the base is level with a tilt angle of <0.1°. After leveling is completed, the locking valve of the hydraulic support component closes to keep the position fixed.

[0022] S2: Core drilling assembly performs core sampling operation;

[0023] S3: The external vibration sensor starts monitoring the vibration amplitude of the drill core, the laser displacement sensor measures the lateral displacement of the drill core, and the dual-axis tilt sensor continuously monitors the horizontal status of the equipment base. All sensor data are transmitted to the main controller in real time.

[0024] S4: The main controller performs spectrum analysis and amplitude calculation on the vibration data, and the system determines whether the vibration amplitude exceeds the dynamic threshold.

[0025] S5: If the threshold is exceeded, the fine adjustment mechanism is activated, that is, the straightening system contacts the drill core and applies pressure to cause a slight displacement of the drill core to compensate for the tilt of the drill core. At the same time, the horizontal status of the equipment is checked. If tilting is found, the leveling program is automatically activated.

[0026] S6: The system records all operation data and adjustment history. If the vibration still exceeds the threshold after adjustment or the equipment cannot be leveled, the system will issue an alarm and require manual intervention.

[0027] Compared with existing technologies, this invention provides a pile core drilling machine and its usage method based on external vibration monitoring and automatic leveling, which has the following beneficial effects: Based on external sensing monitoring and hydraulic leveling technology, this invention effectively solves the problem that the stability and drilling verticality of the pile core drilling machine directly affect the core quality and detection accuracy during operation through non-contact measurement and real-time active leveling. This design has the characteristics of high reliability and strong adaptability, and the non-contact measurement scheme reduces the need for equipment modification. Attached Figure Description

[0028] Figure 1 This is a three-dimensional structural diagram of the pile core drilling machine based on external vibration monitoring and automatic leveling proposed in this invention.

[0029] Figure 2 This is a schematic diagram of the four-corner balancing system of the pile core drilling machine based on external vibration monitoring and automatic leveling proposed in this invention;

[0030] Figure 3 This is a schematic diagram of the drilling monitoring system for a core drilling machine based on external vibration monitoring and automatic leveling proposed in this invention.

[0031] Figure 4 This is a partial structural schematic diagram of the drilling monitoring system for a core drilling machine based on external vibration monitoring and automatic leveling proposed in this invention.

[0032] Figure 5 This is a schematic diagram showing the positional relationship between the laser displacement sensor and the core barrel of the pile core drilling machine based on external vibration monitoring and automatic leveling proposed in this invention.

[0033] Figure 6 This is a schematic diagram of the core drilling assembly structure of the pile core drilling machine based on external vibration monitoring and automatic leveling proposed in this invention.

[0034] Figure 7 This is a schematic diagram of the straightening system structure of the pile core drilling machine based on external vibration monitoring and automatic leveling proposed in this invention;

[0035] Figure 8 This is a schematic diagram of the traction system structure of the pile core drilling machine based on external vibration monitoring and automatic leveling proposed in this invention;

[0036] Figure 9 This is a schematic diagram of the pulley assembly structure of the pile core drilling machine based on external vibration monitoring and automatic leveling proposed in this invention;

[0037] Figure 10 This is a schematic diagram showing the combined use of the traction system and core sample extraction system of the pile core drilling machine based on external vibration monitoring and automatic leveling proposed in this invention.

[0038] Figure 11 This invention relates to a pile core drilling machine based on external vibration monitoring and automatic leveling. Figure 10 The right view;

[0039] Figure 12 This is a partially enlarged structural schematic diagram of the core sample extraction system of the pile core drill based on external vibration monitoring and automatic leveling proposed in this invention.

[0040] Figure 13 This is a schematic diagram of the bottom structure of the core sample extraction system of the pile core drill based on external vibration monitoring and automatic leveling proposed in this invention.

[0041] Figure 14 This is an example diagram of core sample extraction from the pile core drilling machine based on external vibration monitoring and automatic leveling proposed in this invention.

[0042] Figure 15 This is the logic diagram of the control system for the pile core drilling machine based on external vibration monitoring and automatic leveling proposed in this invention. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0044] The component designations used in this document, such as "first" and "second," are merely for distinguishing the described objects and do not have any sequential or technical meaning. The terms "connection" and "linkage" used in this invention, unless otherwise specified, include both direct and indirect connections (linkages). It should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0045] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0046] Please see Figures 1-15 As shown, the pile core drilling machine based on external vibration monitoring and automatic leveling includes a base 2, a core drilling assembly 4, a drive system 1, a four-corner balancing system 10, a drilling monitoring system 6, a straightening system 7, a traction system 5, and a core sample extraction system 8.

[0047] Pile core drilling machines are key equipment in pile quality inspection, and their stability and drilling verticality directly affect the core quality and inspection accuracy. This application, based on external sensor monitoring and hydraulic leveling technology, effectively solves these problems through non-contact measurement and real-time active leveling.

[0048] This application mainly consists of two core subsystems:

[0049] First, the drilling monitoring system 6 monitors the vibration amplitude of the drill pipe using sensors installed at designated locations and analyzes the deviation trend of the drill core barrel. Specifically, the drilling monitoring system 6 includes a vibration sensor 601 (such as...). Figure 1 As shown) and two laser displacement sensors 603, the vibration sensor 601 is located on one side of the drill core assembly 4 and close to the drill core barrel, used to monitor the overall vibration transmission, and the two laser displacement sensors 603 are arranged at a 90° angle (as shown). Figure 5 As shown, this constitutes a two-dimensional vibration monitoring system;

[0050] Second, the four-corner balance system 10 (such as...) Figure 2 As shown, the overall horizontal stability of the equipment is maintained by a dual-axis tilt sensor 9 and a hydraulic support assembly 3.

[0051] The two subsystems are integrated through a central control unit to achieve data sharing and collaborative control.

[0052] The working principle is as follows: The vibration data of the drill core barrel is collected in real time by the laser displacement sensor 603 and the vibration sensor 601. The deviation trend is identified by spectrum analysis and amplitude threshold judgment, thereby realizing the monitoring of the transverse vibration amplitude and axial vibration frequency of the drill core barrel. At the same time, the horizontal status of the equipment is monitored by the dual-axis tilt sensor 9. When tilting or vibration is detected, causing the hydraulic support component 3 to sink into the ground, the hydraulic leveling algorithm is activated to automatically adjust the height of each hydraulic support component 3 to maintain the overall level of the equipment.

[0053] This application features high reliability, strong adaptability, and excellent accuracy. The non-contact measurement scheme reduces equipment modification requirements. The four-corner balancing system 10 compensates for instability caused by ground settlement, ensuring accuracy during long-term drilling operations. The overall architecture is flexible and can be adapted for installation on different models of coring machines.

[0054] Drilling monitoring system 6 (see reference) Figures 3-5 Specifically, two laser displacement sensors 603 are respectively installed on both sides of the drill core barrel. A sensor bracket 602 is fixed to one side of the base 2 by bolts. A sensor adjustment plate 604, which is fixed to the laser displacement sensor 603, is rotatably installed on the top of the sensor bracket 602. A connecting screw 605 is welded to the bottom of the sensor adjustment plate 604, and the bottom end of the connecting screw 605 passes through the sensor bracket 602 and is threadedly connected to a wing nut 606. The sensor adjustment plate 604, the connecting screw 605, the wing nut 606 and the sensor bracket 602 for support constitute an adjustment mechanism. The laser displacement sensor 603 is installed on the base 2 through this adjustment mechanism.

[0055] In addition, the two laser displacement sensors 603 need to be adjusted in direction via an adjustment mechanism (for example, during adjustment, rotate the sensor adjustment disk 604 to adjust the orientation angle of the laser displacement sensor 603, and then tighten the wing nut 606 to move the wing nut 606 upward along the connecting screw 605 and press it to fix it with the sensor bracket 602. The wing nut 606 is provided with a nylon damping ring that contacts the connecting screw 605, thereby effectively suppressing the loosening displacement caused by the springback of the thread). The two laser displacement sensors 603 are arranged at a 90° angle to measure the displacement in two vertical directions respectively, forming a two-dimensional vibration monitoring system. The laser displacement sensor 603 using the 90° angle measurement can achieve a maximum linearity of 1µm, with a high resolution of 0.01% and a high linearity of 0.05%. The measurement range can be selected from 2-1250mm, and the response frequency is as high as 160kHz. It can accurately capture the micron-level vibration changes during the rotation of the drill core barrel (such as the sensors of the ZLDS10X series).

[0056] The vibration sensor 601 must be industrial-grade (such as the METRIX ST5484E series sensor), with a sensitivity of 20-50mV / mm / s ±5% and a frequency response range of 4.5-1000Hz (expandable to 2-2000Hz), effectively monitoring the vibration characteristics of the drill pipe at different frequencies. All sensors are IP67 / IP68 protected, adaptable to harsh environments such as dust and moisture.

[0057] The system employs a high-speed data acquisition card (sampling rate no less than 200 kS / s) for multi-channel synchronous acquisition to ensure accurate phase relationships of vibration signals. The acquired signals undergo adaptive filtering to effectively separate the overall vibration of the equipment from the specific vibration components of the drill core.

[0058] The signal processing algorithm employs Short-Time Fourier Transform (STFT) for time-frequency analysis, calculating the spectral characteristics and amplitude envelope of the vibration signal in real time. By analyzing the energy changes of the vibration signal in a specific frequency band (e.g., 50-200Hz), the vibration characteristics caused by the core barrel deflection are identified.

[0059] Skew detection and fine-tuning control: When the vibration amplitude exceeds the threshold and continues for a certain period of time (which can be set, usually 3-5 seconds), the system judges it as a skew trend and starts the fine-tuning control mechanism.

[0060] Control commands are generated by a PID controller and output to the centering system 7 for adjusting the core barrel. ,in The amplitude deviation value (unit: %) represents the deviation between the real-time monitored vibration amplitude and the set threshold (e.g., the percentage by which the measured amplitude exceeds the threshold). The output control quantity (unit: %) represents the hydraulic adjustment quantity (which also corresponds to the displacement of the straightening system 7). , , Here are the controller parameters, where, This represents the proportional gain coefficient, which determines the system's response strength to the current deviation; This represents the integral gain coefficient, used to eliminate steady-state error by adjusting for the accumulation of historical deviations. It represents the differential gain coefficient, which reflects the rate of change of deviation and has a predictive adjustment effect, which can suppress system oscillation.

[0061] The centering system 7 compensates for the core barrel's tilt by pushing it to create a slight offset. The adjustment range is proportional to the vibration amplitude deviation, but a maximum adjustment limit (usually not exceeding 2°) is set to avoid overcorrection.

[0062] Specifically, the centering system 7 is located above the base 2 and distributed on both sides of the core barrel. It is used to work with the core drilling assembly 4 to correct the offset of the core barrel's position direction. The centering system 7 includes two centering mounting brackets 701 that are bolted to the top of the base 2. Two centering guide rails 702 are bolted to the top of the centering mounting brackets 701. A centering moving plate 703 is slidably mounted between the two centering guide rails 702 via a slide table. One end of the centering moving plate 703 is bolted to... There is a straightening bracket 704 for straightening the drill core barrel. On one side of the straightening mounting bracket 701, there is a straightening cylinder 705 that drives the straightening moving plate 703 to move along the straightening guide rail 702. The straightening cylinder 705 is connected to the hydraulic system. The straightening moving plate 703 and the straightening bracket 704 are driven to move inward along the straightening guide rail 702 through the straightening cylinder 705, and the straightening bracket 704 contacts the drill core barrel and applies pressure, so that the drill core barrel produces a slight displacement to compensate for the deviation of the drill core barrel.

[0063] In other words, the straightening system 7 pushes the drill core barrel to produce a slight offset, compensating for the drill core barrel's skewness. The adjustment range is proportional to the vibration amplitude deviation, but a maximum adjustment limit is set (usually not exceeding 2°) to avoid overcorrection. After each adjustment, the system enters a stable observation period (usually 10-15 seconds) to monitor the vibration amplitude change trend and determine whether further adjustments are needed (refer to Table 1 below for the correspondence between vibration amplitude and drill deviation angle and adjustment strategy).

[0064] Table 1: Correspondence between vibration amplitude and drilling deviation angle and adjustment strategies

[0065] Vibration amplitude deviation (%) Possible drilling deviation angle (°) Hydraulic adjustment (%) Stable observation time (s) Take measures <15% <0.5° 0% - Continuous monitoring 15%-30% 0.5°-1.0° 25%-40% 10 Level 1 adjustment 30%-50% 1.0°-1.5° 40%-60% 12 Level 2 adjustment 50%-70% 1.5°-2.0° 60%-80% 15 Level 3 Adjustment >70% >2.0° Pause drilling - artificial intervention

[0066] Based on the adjustment strategy in Table 1, the following is an example of PID controller parameter configuration: Proportional Term : When the amplitude deviation When the value is 15%-30%, the output hydraulic adjustment amount =25%-40%, that is The value range is approximately 1.0-1.3; Integral term The integration time constant is usually set to the reciprocal of the steady-state observation time (10⁻¹⁵ seconds), i.e. ≈0.067-0.1; Differential term Adjust according to the vibration frequency of the core barrel, usually Take the smaller value (e.g., 0.01-0.05).

[0067] It should be noted that the parameters should be selected based on the actual system debugging.

[0068] Four-corner balance system 10 (see reference) Figures 1-2Specifically, the four-corner balancing system 10 includes hydraulic support components 3 located at the four corners of the base 2 and dual-axis tilt sensors 9 (BWS5700 optional, with strong vibration and shock resistance). The dual-axis tilt sensors 9 are located inside the base 2, at the position where the base 2 has the strongest rigidity and is far from vibration sources and heat sources generated when the core drilling assembly 4 is started, reducing measurement interference. The hydraulic support components 3 include support seats 305 fixed to the base 2 by bolts. The top and bottom of the support seats 305 are respectively hinged to a rear adjusting cylinder 304 and a rear support arm 302, and one end of the piston rod of the rear adjusting cylinder 304 is rotatably connected to the end of the rear support arm 302. The front support arm 301 and the front adjustment cylinder 303 are respectively hinged to one end of the piston rod of the rear adjustment cylinder 304 and the other end of the piston rod of the rear adjustment cylinder 304. One end of the piston rod of the front adjustment cylinder 303 is rotatably connected to the front support arm 301. Through the cooperation of the front adjustment cylinder 303 and the rear adjustment cylinder 304, the opening angle and support height of the rear support arm 302 and the front support arm 301 are realized. In order to increase the support area of ​​the bottom end of the front support arm 301, a pad or similar material can be placed on the ground in contact with the bottom end of the front support arm 301 to increase the support area of ​​the front support arm 301. The pad or similar material can be selected according to the actual situation, such as a wooden board or an iron plate.

[0069] It should be noted that the hydraulic system adopts an independent closed-loop system design. Each hydraulic support component 3 is equipped with an electro-hydraulic proportional valve and a lock-up valve. The electro-hydraulic proportional valve controls the downward pressing speed of the hydraulic support component 3, and the lock-up valve maintains its position after positioning. The system working pressure can reach 20MPa, and the supporting force of the hydraulic support component 3 is not less than 50kN, which is sufficient to stabilize large coring machines. The four-corner balancing system 10, composed of the dual-axis tilt sensor 9 and the four hydraulic support components 3, satisfies the hydraulic leveling algorithm based on a spatial kinematics model.

[0070] The four-corner balancing system 10 employs a hydraulic leveling algorithm based on a spatial kinematics model. Let the positions of the four hydraulic support components 3 in the global coordinate system be:

[0071] Hydraulic support assembly 3A (front left): (-Lx / 2, -Ly / 2)

[0072] Hydraulic support assembly 3B (front right): (-Lx / 2, Ly / 2)

[0073] Hydraulic support assembly 3C (rear left): (Lx / 2, -Ly / 2)

[0074] Hydraulic support assembly 3D (rear right): (Lx / 2, Ly / 2)

[0075] Where Lx and Ly are the spacing of the hydraulic support assembly 3 in the X and Y directions, respectively.

[0076] When the platform tilt angles θx (front-to-back direction) and θy (left-to-right direction) are measured, the height difference that each hydraulic support component 3 needs to be adjusted is:

[0077]

[0078]

[0079]

[0080]

[0081] The control algorithm employs an iterative and asymptotic leveling strategy, with each adjustment amount only 50%-70% of the calculated value, preventing over-adjustment and system oscillation. The leveling process is divided into two stages: rapid leveling and fine leveling. When the tilt angle is greater than 0.5°, rapid leveling mode is used, and each hydraulic support component 3 is adjusted at its maximum speed. When the tilt angle is less than 0.5°, fine leveling mode is entered, and the adjustment speed is reduced to improve positioning accuracy.

[0082] In addition, the four-corner balancing system 10 can be set to re-level at regular intervals (such as automatically checking the level every 30 minutes) to eliminate the cumulative errors caused by long-term operation.

[0083] The control system logic of the drilling monitoring system 6 and the four-corner balancing system 10 of the core drilling machine is as follows: Figure 15 As shown.

[0084] The core drilling assembly 4 of the present invention includes two core drilling guide rails 401 fixed to the top of the base 2 by bolts. A movable stage 402 is slidably installed between the two core drilling guide rails 401 via a slide table. A movable cylinder 403 is provided on the top of the base 2 to drive the movable stage 402 to move along the core drilling guide rails 401. A core drilling machine 405 is rotatably installed inside the movable stage 402 via bearings. Two tilting cylinders 404 are hinged between the movable stage 402 and the core drilling machine 405.

[0085] It should be noted that the core drilling machine 405 is existing technology. The core drilling machine 405 is equipped with a gasoline engine or hydraulic system that provides the power required for drilling, a water pump and water pipe for providing a continuous water flow, a drill rod and core barrel for drilling, and a feed system for controlling the drilling speed and depth.

[0086] It should be noted that the drive system 1 can be a four-wheel drive or a tracked chassis drive, with a tracked chassis drive being preferred. Due to the complex and varied road surface at the construction site, which is often uneven, both four-wheel drive and tracked chassis drive may not be able to achieve an effective level state. Therefore, it needs to be used in conjunction with the four-corner balancing system 10 to achieve machine leveling.

[0087] Since the core drill 405 is hinged inside the moving platform 402, and the angle of the core drill 405 is adjusted by two tilting cylinders 404 connected to the hydraulic system, this angle adjustment mechanism can also be used in conjunction with the straightening system 7 and the four-corner balancing system 10 to complete the adjustment of the core barrel drilling angle.

[0088] The movable cylinder 403, which is connected to the hydraulic system, can drive the movable table 402 to move along the two core drilling guide rails 401, so that when core is extracted, the drill rod of the core drilling machine 405 avoids the core cylinder.

[0089] In addition, the core drilling equipment of this application has a traction system 5 that cooperates with the core drilling assembly 4 to complete the respective traction of the drill rod and the core barrel (e.g. Figures 8-9 (As shown).

[0090] Existing core drilling equipment is usually equipped with only one traction machine 502 to complete the traction action of drill rod and core barrel. In actual application, after the worker lifts the traction drill rod with the lifting device 505 equipped on the traction machine 502, the worker needs to climb to a high place through the ladders set on both sides of the frame 501, and then press his body tightly against the frame 501 and use both hands to release the locking state between the lifting device 505 and the top of the drill rod (the lifting device 505 cannot be removed with one hand). This action has a high risk factor.

[0091] Therefore, a traction machine 502 is added on this basis, and a pulley assembly 503 and a lifting device 505 that cooperate with the traction machine 502 are added simultaneously. In order to ensure that the lifting device 505 is located directly above the drill core barrel, the position switching of the two pulley assemblies 503 is completed by setting a switching cylinder 506.

[0092] Specifically, the traction system 5 includes a frame 501 bolted to the top of the base 2 and two traction machines 502. Two interchangeable guide rails 504 are bolted to the top of the frame 501. Two pulley assemblies 503 are slidably mounted between the two interchangeable guide rails 504 via a slide table, and the two pulley assemblies 503 are connected and fixed to each other via a column. The traction ropes of the two traction machines 502 pass around the two pulley assemblies 503 respectively and are equipped with lifting devices 505. The top of the frame 501 is equipped with an interchangeable cylinder 506 that drives the two pulley assemblies 503 to move along the interchangeable guide rails 504. The two ends of the interchangeable cylinder 506 are hinged to the pulley assemblies 503 and the frame 501 respectively. The interchangeable cylinder 506 is connected to the hydraulic system. Therefore, the extension and retraction of the interchangeable cylinder 506 can drive the two pulley assemblies 503 to move along the interchangeable guide rails 504 and complete the position switching of the lifting device 505 below the pulley assemblies 503.

[0093] The specific structure of the pulley assembly 503 is a mounting shell 50301 for assembling various components. Inside the mounting shell 50301, a guide pulley 50303 and two positioning pulleys 50302 are rotatably mounted via bearings. An extension arm 50304 is welded to the end of the mounting shell 50301. A positioning ring 50305 is rotatably mounted at the end of the extension arm 50304 to guide and position the traction rope of the traction machine 502. One end of the traction rope of the traction machine 502 passes through the positioning ring 50305, passes over the guide pulley 50303 and the positioning pulley 50302 located in the middle, and then passes through the two positioning pulleys 50302. In this structural design, the two positioning pulleys 50302 position the traction rope and the lifting device 505, while the positioning ring 50305 extends the support height of the traction rope, avoiding interference between the traction rope and the drill rod when switching between the two pulley assemblies 503.

[0094] In a further embodiment, the traction system 5 of the core drilling equipment of this application also includes a core sample extraction system 8 used in conjunction with it. The core sample extraction system 8 is used for core sample extraction within the core barrel (e.g., Figures 10-13 ).

[0095] After core drilling is completed, the existing core drilling equipment requires two workers to work together to remove the core sample from the core barrel. One person operates the traction machine 502 to pull the core barrel out, while the other person holds the core barrel until it is completely detached from the borehole. At this time, the worker pulls the core barrel away from the core drilling equipment, while the person operating the traction machine 502 releases the traction rope until the core barrel falls to the ground.

[0096] Workers use pipe wrenches and other tools to unscrew and open the drill bit at the end of the core barrel, exposing the core sample inside. They then use tapping and shaking to detach the core sample from the inner wall of the core barrel. The operator of traction machine 502 then re-pulls the traction rope, tilting the core barrel, allowing the core sample to fall out under gravity. This process presents two main problems:

[0097] Problem 1: When the drill core barrel tilts due to the pull of the traction rope, workers need to hold onto the drill core barrel to detach the bottom of the barrel from the ground so that the core sample can be poured out. However, the traction rope is always pulling the drill core barrel, and workers need to adjust their pace at any time, which is extremely dangerous.

[0098] Question 2: The core sample poured out is cylindrical, and forms an angle with the ground. However, the core sample does not completely detach from the drill core barrel, causing the bottom of the drill core barrel to exert force on the core sample, resulting in breakage at this point (e.g., Figure 14 (As shown).

[0099] Therefore, a core sample retrieval system 8 was designed to assist workers in its use. The core sample retrieval system 8 can avoid the disadvantage of having to pull the drill core barrel to a suspended tilted state to retrieve the core sample. It not only reduces the risk factor of workers hugging the drill core barrel, but also effectively improves the integrity of the core sample retrieval.

[0100] Specifically, the core sample extraction system 8 includes an inclined frame 801 and a rotating pressure frame 802. The inclined frame 801 is inclined, and the horizontal angle between the inclined frame 801 and the ground is 20°, which can be adjusted according to the actual situation (such as adjusting the angle appropriately to match the uneven ground). A collection plate 807 parallel to the inclined frame 801 is welded inside the inclined frame 801. The middle position of the collection plate 807 is recessed downward to form an arc groove 808 that supports the core cylinder. The rotating pressure frame 802 is hinged to the end of the inclined frame 801 away from the ground. A hook 805 is hinged to the end of the rotating pressure frame 802. A fastener 806 that cooperates with the hook 805 is welded to one side of the rotating pressure frame 802. Two mounting slots 804 are opened on both sides of the rotating pressure frame 802. Rollers 803 are provided in multiple mounting slots 804.

[0101] When core samples are taken, the worker simply pulls the core cylinder into the arc groove 808 opened in the collection plate 807, and then presses and limits the core cylinder by flipping and rotating the pressure frame 802.

[0102] After workers open the drill bit at the end of the core barrel using tools such as pipe wrenches, they can tap it with tools such as rubber hammers. Alternatively, vibration motors 809 can be installed at the four corners of the bottom of the collection plate 807. By starting the vibration motors 809, the rotation of the vibration motors 809 drives the core sample extraction system 8 to resonate, which can effectively overcome the adhesion and static friction between the core sample and the core barrel. It should be noted that the frequency and amplitude of the vibration of the vibration motors 809 need to be controlled within a certain range. Excessive vibration may damage the core sample itself, such as creating new microcracks, changing its original structure, and thus affecting the accuracy of subsequent test results.

[0103] Since the inclined frame 801 is tilted, the core sample inside the core barrel is more likely to leak out under gravity after it is detached from the adhesive state. At this time, the worker can hold the core sample by hand or other means, and then the traction machine 502 rewinds it. The core barrel moves along the arc groove 808 as it is pulled by the traction rope. At this time, the rotating pressure frame 802 effectively limits the core barrel to prevent the end of the core barrel from rising, while the roller 803 effectively reduces the friction between the rotating pressure frame 802 and the core barrel, thus successfully completing the core sample removal operation.

[0104] It should be noted that when using the core sample extraction system 8, it should be kept as far away from the core drilling equipment as possible to reduce the angle at which the traction rope pulls the core barrel.

[0105] Workflow:

[0106] S1: The equipment is moved to the designated position, and the hydraulic support assembly 3 opens to support it;

[0107] S2: Start the automatic leveling program. The dual-axis tilt sensor 9 monitors the levelness of the base 2. The hydraulic control system adjusts the height of each hydraulic support component 3 according to the hydraulic leveling algorithm until the base 2 is level with a tilt angle of <0.1°. After leveling is completed, the locking valve of the hydraulic support component 3 is closed to keep the position fixed.

[0108] S3: Core drilling assembly 4 performs core sampling operation;

[0109] S4: The external vibration sensor 601 starts monitoring the vibration amplitude of the drill core, the laser displacement sensor 603 measures the lateral displacement of the drill core, and the dual-axis tilt sensor 9 continuously monitors the horizontal status of the equipment base 2. All sensor data are transmitted to the main controller in real time.

[0110] S5: The main controller performs spectrum analysis and amplitude calculation on the vibration data. The system determines whether the vibration amplitude exceeds the dynamic threshold. If it exceeds the threshold, the fine adjustment mechanism is activated. That is, the straightening system 7 contacts the drill core barrel and applies pressure to make the drill core barrel deflect slightly to compensate for the drill core barrel tilt. At the same time, the horizontal status of the equipment is checked. If tilting is found, the leveling program is automatically activated.

[0111] S6: The system records all operation data and adjustment history. If the vibration still exceeds the threshold or the equipment cannot be leveled after adjustment, the system will issue an alarm and require manual intervention.

[0112] S7: After the borehole reaches the target depth, the traction system 5 completes the upward traction of the drill rod of the core drilling machine 405 and the traction and avoidance of the core cylinder.

[0113] S8: Workers can quickly complete the core sample extraction operation with the assistance of the core sample extraction system 8.

[0114] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A core drilling machine for foundation piles based on external vibration monitoring and automatic leveling, comprising a base (2), wherein the top and bottom of the base (2) are respectively provided with a core drilling assembly (4) and a drive system (1), characterized in that, Also includes: The four-corner balancing system (10) includes hydraulic support components (3) located at the four corners of the base (2) and dual-axis tilt sensors (9). The dual-axis tilt sensors (9) are located inside the base (2) and away from the vibration source. The monitoring system while drilling (6) includes a vibration sensor (601) and two laser displacement sensors (603). The vibration sensor (601) is located on one side of the core assembly (4) and close to the core barrel, and is used to monitor the overall vibration transmission. The two laser displacement sensors (603) are located on both sides of the core barrel and are arranged at a 90° angle to form a two-dimensional vibration monitoring system. The straightening system (7) is located above the base (2) and distributed on both sides of the core barrel. It is used to work with the core assembly (4) to complete the offset correction of the core position direction of the core barrel. The traction system (5) is located on the top of the base (2) and is used to cooperate with the core assembly (4) to complete the traction of the drill rod and the core barrel respectively.

2. The pile core drilling machine based on external vibration monitoring and automatic leveling as described in claim 1, characterized in that, The laser displacement sensor (603) is installed on one side of the base (2) through an adjustment mechanism. The adjustment mechanism includes a sensor bracket (602) fixedly connected to one side of the base (2). A sensor adjustment plate (604) is rotatably installed on the top of the sensor bracket (602) and fixed to the laser displacement sensor (603). A connecting screw (605) is welded to the bottom of the sensor adjustment plate (604), and the bottom end of the connecting screw (605) passes through the sensor bracket (602) and is threaded with a wing nut (606).

3. The pile core drilling machine based on external vibration monitoring and automatic leveling according to claim 2, characterized in that, The signals collected by the monitoring system while drilling (6) are processed by adaptive filtering and are suitable for signal processing algorithms. The signal processing algorithm uses short-time Fourier transform for time-frequency analysis, calculates the spectral characteristics and amplitude envelope of the vibration signal in real time, and identifies the vibration characteristics caused by the core barrel deflection by analyzing the energy change of the vibration signal in a specific frequency band.

4. The pile core drilling machine based on external vibration monitoring and automatic leveling according to claim 1, characterized in that, The hydraulic support assembly (3) includes a support base (305) fixedly connected to the base (2). The top and bottom of the support base (305) are respectively hinged to a rear adjusting cylinder (304) and a rear support arm (302). One end of the piston rod of the rear adjusting cylinder (304) is rotatably connected to the end of the rear support arm (302). The end of the rear support arm (302) near the piston rod of the rear adjusting cylinder (304) and the end away from the piston rod of the rear adjusting cylinder (304) are respectively hinged to a front support arm (301) and a front adjusting cylinder (303). One end of the piston rod of the front adjusting cylinder (303) is rotatably connected to the front support arm (301).

5. The pile core drilling machine based on external vibration monitoring and automatic leveling according to claim 4, characterized in that, The four-corner balancing system (10) consisting of a dual-axis tilt sensor (9) and four hydraulic support components (3) satisfies the hydraulic leveling algorithm based on a spatial kinematics model.

6. The pile core drilling machine based on external vibration monitoring and automatic leveling according to claim 1, characterized in that, The straightening system (7) includes two straightening mounting brackets (701) fixedly connected to the top of the base (2). Two straightening guide rails (702) are fixedly connected to the top of the straightening mounting brackets (701). A straightening moving plate (703) is slidably installed between the two straightening guide rails (702) via a slide table. A straightening angle bracket (704) for straightening the drill core is fixedly connected to one end of the straightening moving plate (703). A straightening cylinder (705) is provided on one side of the straightening mounting bracket (701) to drive the straightening moving plate (703) to move along the straightening guide rails (702).

7. The pile core drilling machine based on external vibration monitoring and automatic leveling according to claim 1, characterized in that, The core drilling assembly (4) includes two core drilling guide rails (401) fixedly connected to the top of the base (2). A movable stage (402) is slidably installed between the two core drilling guide rails (401) via a slide table. A movable cylinder (403) is provided on the top of the base (2) to drive the movable stage (402) to move along the core drilling guide rails (401). A core drilling machine (405) is rotatably installed inside the movable stage (402) via a bearing. Two tilting cylinders (404) are hinged between the movable stage (402) and the core drilling machine (405).

8. The pile core drilling machine based on external vibration monitoring and automatic leveling according to claim 1, characterized in that, The traction system (5) includes a frame (501) fixedly connected to the top of the base (2) and two traction machines (502). The top of the frame (501) is fixedly connected to two interchangeable guide rails (504). Two pulley assemblies (503) are slidably installed between the two interchangeable guide rails (504) via a slide table. The two pulley assemblies (503) are fixedly connected to each other via a column. The traction ropes of the two traction machines (502) pass around the two pulley assemblies (503) respectively and are equipped with lifting devices (505). The top of the frame (501) is equipped with an interchangeable cylinder (506) that drives the two pulley assemblies (503) to move along the interchangeable guide rails (504).

9. The pile core drilling machine based on external vibration monitoring and automatic leveling according to claim 8, characterized in that, The pulley assembly (503) includes a mounting housing (50301), in which a guide pulley (50303) and two positioning pulleys (50302) are rotatably mounted via bearings. An extension arm (50304) is welded to the end of the mounting housing (50301), and a positioning ring (50305) for guiding and positioning the traction rope of the traction machine (502) is rotatably mounted at the end of the extension arm (50304).

10. A method for using a pile core drilling machine based on external vibration monitoring and automatic leveling, applicable to the pile core drilling machine based on external vibration monitoring and automatic leveling as described in claim 1, characterized in that... Includes the following steps: S1: Start the automatic leveling program. The dual-axis tilt sensor (9) monitors the levelness of the base (2). The hydraulic control system adjusts the height of each hydraulic support component (3) according to the hydraulic leveling algorithm until the base (2) is level with a tilt angle < 0.1°. After leveling is completed, the locking valve of the hydraulic support component (3) is closed to keep the position fixed. S2: Core drilling assembly (4) performs core sampling operation; S3: The external vibration sensor (601) starts monitoring the vibration amplitude of the drill core, the laser displacement sensor (603) measures the lateral displacement of the drill core, and the dual-axis tilt sensor (9) continuously monitors the horizontal status of the equipment base (2). All sensor data are transmitted to the main controller in real time. S4: The main controller performs spectrum analysis and amplitude calculation on the vibration data, and the system determines whether the vibration amplitude exceeds the dynamic threshold. S5: If the threshold is exceeded, the fine adjustment mechanism is activated, that is, the straightening system (7) contacts the drill core and squeezes it, causing the drill core to deviate slightly to compensate for the tilt of the drill core; at the same time, the horizontal status of the equipment is checked, and if tilting is found, the leveling program is automatically activated. S6: The system records all operation data and adjustment history. If the vibration still exceeds the threshold after adjustment or the equipment cannot be leveled, the system will issue an alarm and require manual intervention.

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