Foundation pile core drilling machine based on external vibration monitoring and automatic leveling and use method thereof

Abstract

The application relates to the technical field of engineering core drilling and discloses a foundation pile core drilling machine based on external vibration monitoring and automatic leveling and a use method, which comprises a base, a core drilling assembly and a driving system arranged at the top and the bottom of the base respectively, further comprises: a four-corner balancing system, the four-corner balancing system comprises hydraulic support assemblies arranged at four corners of the base and a double-shaft inclination sensor, the double-shaft inclination sensor is arranged inside the base and is far away from a vibration source; and a while-drilling monitoring system, the while-drilling monitoring system comprises a vibration sensor and two laser displacement sensors. The application is based on external sensing monitoring and hydraulic leveling technology, through non-contact measurement and real-time active leveling, effectively solves the problem that the stability and the drilling perpendicularity of the foundation pile core drilling machine during the working process directly affect the core drilling quality and the detection accuracy, has the characteristics of high reliability and strong adaptability, and the non-contact measurement scheme reduces the equipment modification demand.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of engineering core drilling, in particular to a foundation pile core drilling machine based on external vibration monitoring and automatic leveling and a use method. BACKGROUND

[0002] A foundation pile core drilling machine is a key equipment in civil engineering detection, mainly used for foundation pile quality evaluation and concrete structure detection. Its working principle is to extract a cylindrical core sample from the foundation pile through a high-speed rotating core barrel and drill bit, so as to scientifically analyze the length, concrete strength, uniformity, cracks, cavities and other quality indicators of the pile body. This equipment is widely used in the detection field of concrete engineering such as highways, airports, ports, wharfs and dams, and has become an indispensable technical means for evaluating engineering quality.

[0003] A traditional core drilling machine mainly consists of basic components such as a power system (usually a gasoline engine or an electric motor), a transmission system, a lifting mechanism, a core barrel, a drill rod and a base. During operation, the core barrel rotates at high speed to cut concrete, while a cooling water system is used to reduce the temperature of the drill bit and reduce dust. The lifting mechanism controls the feed speed of the drill rod and core barrel through screw transmission or hydraulic system to ensure the stability of the drilling process. Although this basic design can complete the core sampling task, there are still many technical limitations in practical application, especially in ensuring the integrity of the core sample, improving the core sampling efficiency and achieving precise monitoring.

[0004] When the traditional core drilling machine is working, the frictional resistance between the core barrel and the concrete changes greatly, combined with the vibration of the equipment itself, which easily leads to the deviation of the drilling trajectory from the preset position, affecting the perpendicularity and consistency of the hole diameter. Especially in the case of long pile length or complex geological conditions, the equipment is prone to shaking, further reducing the core sampling quality.

[0005] Therefore, the application proposes a non-contact drilling monitoring system and a matching four-corner balancing system to ensure the accuracy of long-time drilling operation. SUMMARY

[0006] In view of the deficiencies of the prior art, the application provides a foundation pile core drilling machine based on external vibration monitoring and automatic leveling and a use method, mainly to solve the problem of deviation of the drilling trajectory from the preset position during core sampling, affecting the perpendicularity and consistency of the hole diameter.

[0007] To achieve the above purpose, the application provides the following technical solutions:

[0008] The foundation pile core drilling machine based on external vibration monitoring and automatic leveling comprises a base, a core drilling assembly and a driving system arranged at the top and bottom of the base, and further comprises:

[0009] The four-corner balance system comprises hydraulic support assemblies arranged at four corners of the base and a two-axis tilt sensor arranged inside the base and away from the vibration source.

[0010] The while-drilling monitoring system comprises a vibration sensor and two laser displacement sensors.

[0011] The righting system is arranged above the base and distributed on both sides of the core barrel.

[0012] The traction system is arranged on the top of the base and used for traction of the drill pipe and the core barrel.

[0013] Further, the laser displacement sensor is arranged on one side of the base through an adjusting mechanism.

[0014] On the basis of the foregoing scheme, the hydraulic support assembly comprises a support seat fixedly connected to the base, a rear adjusting oil cylinder and a rear support arm hingedly connected to the top and bottom of the support seat respectively, and a front support arm and a front adjusting oil cylinder hingedly connected to the end of the rear support arm close to the rear adjusting oil cylinder and the end of the rear support arm away from the rear adjusting oil cylinder respectively.

[0015] As a further scheme of the present application, the two-axis tilt sensor and the four-corner balance system comprising four hydraulic support assemblies satisfy a hydraulic leveling algorithm based on a spatial kinematics model.

[0016] Further, the righting system comprises two righting mounting frames fixedly connected to the top of the base, the top of each righting mounting frame is fixedly connected with two righting guide rails, and a righting moving plate is slidingly installed between the two righting guide rails through a sliding table, one end of the righting moving plate is fixedly connected with a righting angle frame for righting the drill core barrel, and a righting oil cylinder is arranged on one side of the righting mounting frame to drive the righting moving plate to displace along the righting guide rail.

[0017] On the basis of the foregoing scheme, the drill core assembly comprises two drill core guide rails fixedly connected to the top of the base, a moving table is slidingly installed between the two drill core guide rails through a sliding table, a moving oil cylinder is arranged on the top of the base to drive the moving table to move along the drill core guide rail, a drill core machine is rotatably installed in the moving table through a bearing, and two turnover oil cylinders are hinged between the moving table and the drill core machine.

[0018] As a further scheme of the present application, the traction system comprises a frame and two traction machines fixedly connected to the top of the base, the top of the frame is fixedly connected with two exchange guide rails, two pulley assemblies are slidingly installed between the two exchange guide rails through a sliding table, the two pulley assemblies are fixedly connected through a column body, the traction ropes of the two traction machines are respectively wound around the two pulley assemblies and hung with the traction devices, and an exchange oil cylinder is arranged on the top of the frame to drive the two pulley assemblies to displace along the exchange guide rail.

[0019] Further, the pulley assembly comprises a mounting shell, a guide pulley and two positioning pulleys are rotatably installed in the mounting shell through bearings, an extension arm is welded to the end of the mounting shell, and a positioning ring for guiding and positioning the traction rope of the traction machine is rotatably installed at the end of the extension arm.

[0020] The use method of the foundation pile core drill based on external vibration monitoring and automatic leveling comprises the following steps:

[0021] S1: start the automatic leveling program, the dual-axis inclination sensor monitors the levelness of the base, the hydraulic control system adjusts the height of each hydraulic support assembly according to the hydraulic leveling algorithm until the base is leveled to an inclination of less than 0.1°, and after leveling is completed, the hydraulic support assembly lock valve is closed to keep the position fixed;

[0022] S2: the drill core assembly performs a drill core sampling operation;

[0023] S3: the external vibration sensor starts to monitor the vibration amplitude of the drill core barrel, the laser displacement sensor measures the lateral displacement of the drill core barrel, and the dual-axis inclination sensor continuously monitors the levelness of the base of the equipment, and all sensor data are transmitted to the main controller in real time;

[0024] S4: the main controller performs frequency spectrum analysis and amplitude calculation on the vibration data, and the system judges whether the vibration amplitude exceeds the dynamic threshold value;

[0025] S5: As the threshold value, start the fine-tuning mechanism, that is, the righting system is in contact with the drill core barrel and implements extrusion, so that the drill core barrel produces a small amount of deviation, compensates for the drill core barrel deviation, and checks the equipment level state, and if the tilt is found, the leveling program is automatically started;

[0026] S6: The system records all operation data and adjustment history, such as adjustment after vibration still exceeds the threshold value or the equipment cannot be leveled, the system issues an alarm, and manual intervention is required.

[0027] Compared with the prior art, the present application provides a foundation pile coring machine based on external vibration monitoring and automatic leveling and a use method, which has the following beneficial effects: the present application is based on external sensing monitoring and hydraulic leveling technology, through non-contact measurement and real-time active leveling, effectively solves the problem that the stability and drilling perpendicularity of the foundation pile drilling coring machine during operation directly affect the core taking quality and detection accuracy, the design has the characteristics of high reliability and strong adaptability, and the non-contact measurement scheme reduces the equipment modification requirement. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 A perspective structural schematic view of the foundation pile coring machine based on external vibration monitoring and automatic leveling is provided.

[0029] Figure 2 A four-corner balance system schematic view of the foundation pile coring machine based on external vibration monitoring and automatic leveling is provided.

[0030] Figure 3 A drilling monitoring system structure schematic view of the foundation pile coring machine based on external vibration monitoring and automatic leveling is provided.

[0031] Figure 4 A local structure schematic view of the drilling monitoring system of the foundation pile coring machine based on external vibration monitoring and automatic leveling is provided.

[0032] Figure 5 A laser displacement sensor and drill core barrel position relationship schematic view of the foundation pile coring machine based on external vibration monitoring and automatic leveling is provided.

[0033] Figure 6 A drill core assembly structure schematic view of the foundation pile coring machine based on external vibration monitoring and automatic leveling is provided.

[0034] Figure 7 A righting system structure schematic view of the foundation pile coring machine based on external vibration monitoring and automatic leveling is provided.

[0035] Figure 8 A traction system structure schematic view of the foundation pile coring machine based on external vibration monitoring and automatic leveling is provided.

[0036] Figure 9 The schematic structural diagram of the pulley assembly of the foundation pile core drill based on external vibration monitoring and automatic leveling is provided in the present application;

[0037] Figure 10 The schematic diagram of the cooperation of the traction system and the core sample taking-out system of the foundation pile core drill based on external vibration monitoring and automatic leveling is provided in the present application;

[0038] Figure 11 The schematic diagram of the cooperation of the traction system and the core sample taking-out system of the foundation pile core drill based on external vibration monitoring and automatic leveling is provided in the present application; Figure 10 The right view of the foundation pile core drill based on external vibration monitoring and automatic leveling;

[0039] Figure 12 The schematic diagram of the cooperation of the traction system and the core sample taking-out system of the foundation pile core drill based on external vibration monitoring and automatic leveling is provided in the present application;

[0040] Figure 13 The schematic diagram of the cooperation of the traction system and the core sample taking-out system of the foundation pile core drill based on external vibration monitoring and automatic leveling is provided in the present application;

[0041] Figure 14 The schematic diagram of the cooperation of the traction system and the core sample taking-out system of the foundation pile core drill based on external vibration monitoring and automatic leveling is provided in the present application;

[0042] Figure 15 The schematic diagram of the cooperation of the traction system and the core sample taking-out system of the foundation pile core drill based on external vibration monitoring and automatic leveling is provided in the present application; DETAILED DESCRIPTION

[0043] In order to make the purpose, technical scheme and advantages of the present application clearer and more comprehensible, the present application is further described in detail below by way of examples and in conjunction with the drawings. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0044] The serial numbers of the components in this paper, such as "first", "second", etc., are only used to distinguish the described objects and do not have any sequence or technical meaning. Unless otherwise specified, the "connection" and "coupling" in the present application include direct and indirect connection (coupling). In the description of the present application, it should be understood that the orientation or position relationship indicated by the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as limiting the present application in that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation.

[0045] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in horizontal height than the second feature. The first feature "under", "below" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in horizontal height than the second feature.

[0046] Referring to Figures 1-15 As shown in the drawings, the pile core drilling machine based on external vibration monitoring and automatic leveling includes a base 2, a core drilling assembly 4, a driving system 1, a four-corner balancing system 10, a while-drilling monitoring system 6, a centralizing system 7, a traction system 5, and a core sample extraction system 8.

[0047] The pile core drilling machine is a key equipment in pile quality detection, and the stability and drilling verticality during its working process directly affect the core quality and detection accuracy. The present application is based on external sensing monitoring and hydraulic leveling technology, and effectively solves these problems through non-contact measurement and real-time active leveling.

[0048] The present application mainly consists of two core subsystems:

[0049] First, the while-drilling monitoring system 6 monitors the drilling rod vibration amplitude through the sensors installed at the specified position, analyzes the core barrel deflection trend, that is, the while-drilling monitoring system 6 includes a vibration sensor 601 (such as Figure 1 shown) and two laser displacement sensors 603, the vibration sensor 601 is arranged on one side of the core drilling assembly 4 and close to the core barrel position, for monitoring the overall vibration transmission, and the two laser displacement sensors 603 are arranged through a 90° angle (such as Figure 5 shown), forming a two-dimensional vibration monitoring system;

[0050] Second, the four-corner balancing system 10 (such as Figure 2 shown) maintains the overall horizontal stability of the equipment through the dual-axis inclination sensor 9 and the hydraulic support assembly 3.

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

[0052] The working principle is: through the laser displacement sensor 603 and the vibration sensor 601, the vibration data of the core barrel is collected in real time, the inclination trend is identified through frequency spectrum analysis and amplitude threshold judgment, so as to realize the monitoring of the transverse vibration amplitude and the axial vibration frequency of the core barrel; at the same time, through the dual-axis inclination sensor 9, the equipment horizontal state is monitored, when the inclination or vibration causes the hydraulic support assembly 3 to sink into the ground, the hydraulic leveling algorithm is started, the height of each hydraulic support assembly 3 is automatically adjusted, and the overall level of the equipment is maintained.

[0053] The application has the characteristics of high reliability, strong adaptability and excellent precision, and the non-contact measurement scheme reduces the modification of the equipment; the four-corner balance system 10 can compensate the instability caused by ground subsidence, and ensure the precision of long-time drilling operation. The overall architecture is flexible, and can be adapted and installed according to different types of coring machines.

[0054] The while-drilling monitoring system 6 refers to Figures 3-5 , specifically, two laser displacement sensors 603 are arranged on the two sides of the core barrel, one side of the base 2 is fixed with a sensor support 602 through bolts, the top of the sensor support 602 is rotatably installed with a sensor adjusting disc 604 fixed with the laser displacement sensor 603, the bottom of the sensor adjusting disc 604 is welded with a connecting screw 605, the bottom end of the connecting screw 605 penetrates through the sensor support 602 and is threadedly connected with a wing nut 606, the sensor adjusting disc 604, the connecting screw 605, the wing nut 606 and the sensor support 602 for supporting form an adjusting mechanism, and the laser displacement sensor 603 is installed on the base 2 through the adjusting mechanism;

[0055] In addition, the two laser displacement sensors 603 need to be adjusted in direction (for example, when adjusting, rotate the sensor adjusting disc 604 to adjust the angle of the laser displacement sensor 603, then rotate the wing nut 606 to make the wing nut 606 move upward along the connecting screw 605 and be fixed by extrusion with the sensor support 602, and the wing nut 606 is provided with a nylon damping ring in contact with the connecting screw 605, so as to effectively suppress the loosening displacement caused by thread rebound), so that the two laser displacement sensors 603 are arranged at a 90° angle to measure the displacement in two perpendicular directions, forming a two-dimensional vibration monitoring system. The highest linearity of the laser displacement sensor 603 measured at a 90° angle can reach 1um, has a high resolution of 0.01% and a high linearity of 0.05%, the range can be selected as 2-1250mm, and the response frequency is as high as 160kHz, which can accurately capture the micron-level vibration changes of the core barrel during rotation (such as the sensor of ZLDS10X series);

[0056] The vibration sensor 601 needs to use an industrial-grade sensor (such as the METRIX ST5484E series sensor), with a sensitivity of 20-50 mV / mm / s ± 5%, a frequency response range of 4.5-1000 Hz (extensible to 2-2000 Hz), and can effectively monitor the vibration characteristics of the drill rod at different frequencies. The sensor adopts IP67 / IP68 protection level, which is suitable for harsh environments such as dust and water vapor on site.

[0057] The system uses a high-speed data acquisition card (sampling rate not less than 200kS / s) for multi-channel synchronous acquisition, ensuring the accuracy of the phase relationship of the vibration signal. The collected signals are processed by adaptive filtering, effectively separating the overall vibration of the device and the specific vibration component of the drill core barrel.

[0058] The signal processing algorithm uses short-time Fourier transform (STFT) for time-frequency analysis, and calculates the frequency spectrum characteristics and amplitude envelope of the vibration signal in real time. By analyzing the energy change of the vibration signal in a specific frequency band (such as 50-200Hz), the vibration characteristics caused by the deflection of the drill core barrel are identified.

[0059] Deflection judgment and fine adjustment control: when the vibration amplitude exceeds the threshold value and lasts for a certain period of time (which can be set, usually 3-5 seconds), the system judges that the deflection trend is starting, and the fine adjustment control mechanism is started.

[0060] The control command is generated through a PID controller and output to the centralizing system 7 of the drill core barrel adjustment: , where is the amplitude deviation value (unit: %), which represents the deviation of the real-time monitored vibration amplitude from the set threshold value (for example, the percentage of the measured amplitude exceeding the threshold value);

[0061] is the output control quantity (unit: %), which represents the hydraulic adjustment quantity (also corresponding to the displacement quantity of the centralizing system 7); , , is the controller parameter, where represents the proportional gain coefficient, which determines the response strength of the system to the current deviation; represents the integral gain coefficient, which is used to eliminate steady-state error and adjust through the accumulation of historical deviation; represents the differential gain coefficient, which reflects the deviation rate and has a leading adjustment effect, which can suppress system oscillation.

[0062] The centralizing system 7 produces a small amount of deflection by pushing the drill core barrel to compensate for the deflection of the drill core barrel. The adjustment amplitude is proportional to the vibration amplitude deviation, but there is a maximum adjustment limit (usually not more than 2°), to avoid overcorrection.

[0063] 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.

[0064] 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).

[0065] Table 1: Correspondence between vibration amplitude and drilling deviation angle and adjustment strategies

[0066] Vibration amplitude deviation (%) Possible drill deviation angle (°) Hydraulic adjustment amount (%) Stable observation time (s) Take measures <15% <0.5° 0% - Continuous monitoring 15%-30% 0.5°-1.0° 25%-40% 10 Primary adjustment 30%-50% 1.0°-1.5° 40%-60% 12 Secondary adjustment 50%-70% 1.5°-2.0° 60%-80% 15 Tertiary adjustment >70% >2.0° Pause drilling - Manual intervention

[0067] Based on the adjustment strategy in Table 1, the following is an example of PID controller parameter configuration:

[0068] 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;

[0069] 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;

[0070] Differential term Adjust according to the vibration frequency of the core barrel, usually Take the smaller value (e.g., 0.01-0.05).

[0071] It should be noted that the parameters should be selected based on the actual system debugging.

[0072] The four-corner balance system 10 is described in detail below Figures 1-2 , and specifically, the four-corner balance system 10 includes hydraulic support assemblies 3 arranged at the four corners of the base 2 and a dual-axis tilt sensor 9 (which can be a BWS5700 with strong anti-vibration and impact resistance), which is arranged inside the base 2. This installation position is the position where the base 2 is most rigid, and is far away from the vibration source and the heat source generated when the core assembly 4 is started, thereby reducing measurement interference. The hydraulic support assembly 3 includes a support seat 305 fixed to the base 2 by bolts, and a rear adjusting oil cylinder 304 and a rear support arm 302 are respectively hinged to the top and bottom of the support seat 305. One end of the piston rod of the rear adjusting oil cylinder 304 is rotatably connected to the end of the rear support arm 302. The end of the rear support arm 302 close to the piston rod of the rear adjusting oil cylinder 304 and the end away from the piston rod of the rear adjusting oil cylinder 304 are respectively hinged to a front support arm 301 and a front adjusting oil cylinder 303. One end of the piston rod of the front adjusting oil cylinder 303 is rotatably connected to the front support arm 301. Through the cooperation of the front adjusting oil cylinder 303 and the rear adjusting oil 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 improve the support area of the bottom end of the front support arm 301, a pad plate or the like 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 plate can be selected according to the actual situation, such as a wooden board, an iron plate, etc.

[0073] It should be noted that the hydraulic system adopts an independent closed system design. Each hydraulic support assembly 3 is provided with an electro-hydraulic proportional valve and a locking valve. The electro-hydraulic proportional valve controls the downward speed of the hydraulic support assembly 3, and the locking valve keeps the position unchanged after positioning. The system working pressure can reach 20 MPa, and the support force of the hydraulic support assembly 3 is not less than 50 kN, which is sufficient to stabilize large core drilling equipment. The four-corner balance system 10 composed of the dual-axis tilt sensor 9 and the four hydraulic support assemblies 3 meets the hydraulic leveling algorithm based on the spatial kinematics model.

[0074] The four-corner balance system 10 adopts a hydraulic leveling algorithm based on a spatial kinematics model. The positions of the four hydraulic support assemblies 3 in the global coordinate system are as follows:

[0075] Hydraulic support assembly 3A (front left): (-Lx / 2, -Ly / 2)

[0076] Hydraulic support assembly 3B (front right): (-Lx / 2, Ly / 2)

[0077] Hydraulic support assembly 3C (rear left): (Lx / 2, -Ly / 2)

[0078] Hydraulic support assembly 3D (rear right): (Lx / 2, Ly / 2)

[0079] Wherein Lx and Ly are the distances of the hydraulic support assembly 3 in the X and Y directions respectively.

[0080] When the platform inclination angles θx (front-rear direction) and θy (left-right direction) are measured, the height difference that each hydraulic support assembly 3 needs to adjust is:

[0081]

[0082]

[0083]

[0084]

[0085] The control algorithm adopts an iterative asymptotic leveling strategy, and the single adjustment amount is only 50%-70% of the calculated value, to prevent system oscillation caused by over-adjustment. The leveling process is divided into two stages: fast leveling and fine leveling. When the inclination angle is greater than 0.5°, the fast leveling mode is adopted, and each hydraulic support assembly 3 adjusts at the maximum speed; when the inclination angle is less than 0.5°, the fine leveling mode is entered, the adjustment speed is reduced, and the positioning accuracy is improved.

[0086] In addition, the four-corner balance system 10 can be provided with a timed re-leveling function (such as automatically detecting the horizontal state once every 30 minutes), to eliminate the cumulative error caused by long-time operation.

[0087] The control system logic of the core drilling while drilling monitoring system 6 and the four-corner balance system 10 of the pile core drilling machine is as shown in Figure 15

[0088] The core drilling assembly 4 in the application includes two core drilling guide rails 401 fixed on the top of the base 2 by bolts, a moving table 402 is slidingly installed between the two core drilling guide rails 401 through a sliding table, the top of the base 2 is provided with a moving cylinder 403 for driving the moving table 402 to move along the core drilling guide rail 401, a core drilling machine 405 is rotatably installed in the inside of the moving table 402 through a bearing, and two overturning cylinders 404 are hinged between the moving table 402 and the core drilling machine 405.

[0089] It should be noted that the core drilling machine 405 is a prior art, and the core drilling machine 405 is equipped with a gasoline engine or a hydraulic system for providing the power required for drilling, a water pump and a water pipe for providing continuous water flow, a drill rod and a core drilling cylinder for drilling, and a feeding system for controlling the drilling speed and depth.

[0090] It should be noted that the driving system 1 can adopt four-wheel drive or track chassis drive, preferably track chassis drive. Since the road surface of the construction site is complex and variable, it is mostly pitted and the like, and whether four-wheel drive or track chassis drive exists the problem that the machine cannot reach an effective level, so it needs to be matched with the four-corner balance system 10 to realize machine leveling.​

[0091] Since the core drilling machine 405 is hinged in the moving table 402, and the angle adjustment of the core drilling machine 405 is realized by two overturning oil cylinders 404 connected with the hydraulic system, the angle adjustment mechanism can also be matched with the centralizing system 7 and the four-corner balancing system 10 to complete the angle adjustment of the core barrel drilling.

[0092] The moving oil cylinder 403 connected with the hydraulic system can drive the moving table 402 to move along the two core drilling rails 401, so that the drill rod of the core drilling machine 405 avoids the core barrel during coring.

[0093] In addition, the core drilling equipment of the present application has a traction system 5 (as shown in Figures 8-9 ) matched with the core drilling assembly 4 to complete the traction of the drill rod and the core barrel.

[0094] The existing core drilling equipment is usually equipped with only one tractor 502 to complete the traction of the drill rod and the core barrel. In actual application, after the worker pulls the traction drill rod through the tractor 502 equipped with the traction device 505, the worker needs to climb to a high place through the ladders arranged on both sides of the frame 501, and then the body is close to the frame 501, and the double hands are used to release the buckling state of the traction device 505 and the top end of the drill rod (one hand cannot complete the removal of the traction device 505), which has a high risk coefficient.

[0095] Therefore, one more tractor 502 is added, and the pulley assembly 503 and the traction device 505 matched with the tractor 502 are also added. In order to ensure that the traction device 505 is located directly above the core barrel, the switching oil cylinder 506 is arranged to complete the position switching of the two pulley assemblies 503.

[0096] Specifically, the traction system 5 includes the frame 501 fixed on the top of the base 2 by bolts and two tractors 502. The top of the frame 501 is fixed with two switching rails 504 by bolts. The two pulley assemblies 503 are slidingly installed between the two switching rails 504 through the sliding table, and the two pulley assemblies 503 are fixed by the column body connection. The traction ropes of the two tractors 502 are respectively wound around the two pulley assemblies 503 and hung with the traction devices 505. The top of the frame 501 is provided with the switching oil cylinder 506 for driving the two pulley assemblies 503 to displace along the switching rails 504. The two ends of the switching oil cylinder 506 are respectively hinged with the pulley assemblies 503 and the frame 501. The switching oil cylinder 506 is connected with the hydraulic system, so that the two pulley assemblies 503 can be driven to move along the switching rails 504 by the extension and shortening of the switching oil cylinder 506, and the position switching of the traction device 505 below the pulley assembly 503 is completed.

[0097] The specific structure of the pulley assembly 503 is a mounting shell 50301 for assembling various components, a guide pulley 50303 and two positioning pulleys 50302 are rotatably installed in the mounting shell 50301 through bearings, and the end of the mounting shell 50301 is welded with an extension arm 50304, and the end of the extension arm 50304 is rotatably installed with a positioning ring 50305 for guiding and positioning 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 and passes over the guide pulley 50303 and the positioning pulley 50302 located in the middle position, and then passes out between the two positioning pulleys 50302. With this design, the two positioning pulleys 50302 are used to position the traction rope and the extractor 505, and the positioning ring 50305 is used to extend the support height of the traction rope, so that the traction rope does not interfere with the drill pipe when the two pulley assemblies 503 are switched.

[0098] Further, the core drilling equipment traction system 5 of the present application further comprises a core sample extraction system 8 used in cooperation therewith, which is used for core sample extraction work in the core barrel (such as Figures 10-13 ).

[0099] The existing core drilling equipment requires two workers to cooperate with each other when the core sample in the core barrel is extracted after the core drilling is completed. One worker operates the traction machine 502 to implement the traction of the core barrel, and the other worker needs to hold the core barrel until the core barrel is completely separated from the drill hole. At this time, the worker pulls the core barrel away from the core drilling equipment, and the worker operating the traction machine 502 releases the traction rope until the core barrel falls to the ground.

[0100] The worker twists open the drill bit at the end of the core barrel by using a pipe wrench and the like, and the core sample inside the core barrel is exposed. At this time, the worker makes the core sample inside the core barrel separate from the inner wall of the core barrel by knocking and shaking, and then the worker operating the traction machine 502 retracts the traction rope to make the core barrel tilt, and the core sample in the core barrel falls out under the action of gravity. There are mainly two problems in this process:

[0101] Problem one: the core barrel tilts with the traction of the traction rope, the worker needs to hold the core barrel to make the bottom end of the core barrel separate from the ground, and the core sample can fall out. The traction rope always pulls the core barrel, and the worker needs to adjust the pace at any time, which is extremely dangerous.

[0102] Problem two: the core sample that falls out is column-shaped, and the core sample forms an angle with the ground, and the core sample has not completely separated from the core barrel, so that the bottom end of the core barrel exerts force on the core sample, causing the core sample to break from this position (as Figure 14 shown).

[0103] Therefore, the core sample taking-out system 8 designed for assisting workers in use can avoid the shortcoming that the core sample can be taken out only by pulling the core barrel to a suspended inclined state, thereby reducing the dangerous coefficient of workers embracing the core barrel and effectively improving the integrity of core sample taking-out.

[0104] Specifically, the core sample taking-out system 8 comprises an inclined frame 801 and a rotating pressing frame 802. The inclined frame 801 is in an inclined state, and the horizontal angle between the inclined frame 801 and the ground is 20°, which can be adjusted according to actual conditions (for example, the angle is adjusted appropriately to cooperate with the uneven ground). The inside of the inclined frame 801 is welded with a collection plate 807 parallel to the inclined frame 801. The middle position of the collection plate 807 is recessed downward and forms an arc groove 808 for supporting the core barrel. The rotating pressing frame 802 is hinged at one end of the inclined frame 801 away from the ground. The end of the rotating pressing frame 802 is hinged with a hook 805. The rotating pressing frame 802 is welded with a buckle 806 matched with the hook 805 on one side. Two installation grooves 804 are formed on both sides of the rotating pressing frame 802, and a plurality of roller wheels 803 are arranged in the installation grooves 804.

[0105] When the core sample is taken, the worker only needs to pull the core barrel and place it in the arc groove 808 of the collection plate 807. Then the rotating pressing frame 802 is flipped to press and limit the core barrel.

[0106] After the worker opens the drill bit at the end of the core barrel by using a pipe wrench or other tools, the rubber hammer or other tools can be used for knocking. Alternatively, a vibration motor 809 can be arranged at the bottom of the four corners of the collection plate 807. The vibration motor 809 is started to rotate and drive the core sample taking-out 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 motor 809 need to be controlled within a certain range. Excessive vibration may cause damage to the core sample itself, such as new micro-cracks, changes in the original structure, and thus affect the accuracy of the subsequent detection results.

[0107] Since the inclined frame 801 is in an inclined state, the core sample in the core barrel is more likely to leak out under the action of gravity after it is separated from the adhesion state. At this time, the worker can pull the core sample by hand, and then the traction machine 502 is wound. The core barrel is pulled along the arc groove 808 by the traction rope. At this time, the rotating pressing frame 802 effectively limits the core barrel to avoid the end of the core barrel from being lifted. The roller wheel 803 effectively reduces the friction between the rotating pressing frame 802 and the core barrel, so as to successfully complete the core sample taking-out operation.

[0108] It should be noted that the core sample taking-out system 8 should be as far away from the core drilling equipment as possible during use, so as to reduce the angle of the traction rope pulling the core barrel.

[0109] Work flow:

[0110] S1: the device moves to the designated position, and the hydraulic support assembly 3 is opened to support;

[0111] S2: the automatic leveling program is started, the double-axis inclination sensor 9 monitors the levelness of the base 2, the hydraulic control system adjusts the height of each hydraulic support assembly 3 according to the hydraulic leveling algorithm until the base 2 is level and the inclination is less than 0.1°, after leveling is completed, the hydraulic support assembly 3 lock valve is closed, and the position is fixed;

[0112] S3: the core drilling assembly 4 performs core sampling operation;

[0113] S4: the external vibration sensor 601 starts to monitor the vibration amplitude of the core barrel, the laser displacement sensor 603 measures the lateral displacement of the core barrel, and the double-axis inclination sensor 9 continuously monitors the levelness of the device base 2, and all sensor data are transmitted to the main controller in real time;

[0114] S5: the main controller performs frequency spectrum analysis and amplitude calculation on the vibration data, and the system judges whether the vibration amplitude exceeds the dynamic threshold value, if the threshold value is exceeded, the fine adjustment mechanism is started, that is, the righting system 7 contacts and extrudes the core barrel, so that the core barrel produces a small amount of deviation, and the deviation of the core barrel is compensated, and the levelness of the device is checked, if the inclination is found, the leveling program is automatically started;

[0115] S6: the system records all operation data and adjustment history, if the vibration still exceeds the threshold value after adjustment or the device cannot be leveled, the system issues an alarm and manual intervention is required;

[0116] S7: after the drilling reaches the target depth, the drilling rod of the core drill 405 is pulled up by the traction system 5, and the core barrel is pulled away;

[0117] S8: the worker assists to quickly complete the core sample taking operation through the core sample taking system 8.

[0118] The technical features of the above embodiments can be combined in any way, and to make the description concise, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

Claims

1. A pile core drilling machine based on external vibration monitoring and automatic leveling, comprising a base (2), the top and bottom of the base (2) are respectively provided with a core drilling assembly (4) and a driving system (1), characterized in that, Also include: The four corners of the balance system (10) includes the hydraulic support assembly (3) set in the four corners of the base (2) and the double-axis tilt sensor (9), the double-axis tilt sensor (9) is set inside the base (2), and is away from the vibration source; The while-drilling monitoring system (6) includes a vibration sensor (601) and two laser displacement sensors (603), the vibration sensor (601) is set on one side of the core assembly (4) and close to the core barrel position, used for monitoring the overall vibration transmission; two laser displacement sensors (603) are respectively arranged on both sides of the core barrel, and are arranged at an angle of 90°, forming a two-dimensional vibration monitoring system; The righting system (7) is arranged above the base (2) and is distributed on both sides of the core barrel, used for correcting the deviation of the core barrel position and direction together with the core assembly (4); wherein, the righting system (7) includes two righting mounting racks (701) fixedly connected to the top of the base (2), the top of the righting mounting rack (701) is fixedly connected with two righting guide rails (702), the righting moving plate (703) is slidably installed between the two righting guide rails (702) through the sliding table, one end of the righting moving plate (703) is fixedly connected with the righting angle bracket (704) for righting the core barrel, and the righting mounting rack (701) is provided with the righting oil cylinder (705) on one side for driving the righting moving plate (703) to displace along the righting guide rail (702); The traction system (5) is arranged on the top of the base (2), used for cooperating with the core assembly (4) to complete the traction of the drill pipe and the core barrel.

2. The pile core drill based on external vibration monitoring and automatic leveling according to claim 1, characterized in that, The laser displacement sensor (603) is installed on one side of the base (2) through an adjusting mechanism, the adjusting mechanism includes a sensor bracket (602) fixedly connected to one side of the base (2), a sensor adjusting disc (604) fixedly installed with the laser displacement sensor (603) is rotatably installed on the top of the sensor bracket (602), a connecting screw rod (605) is welded to the bottom of the sensor adjusting disc (604), and the bottom end of the connecting screw rod (605) penetrates through the sensor bracket (602) and is threadedly connected with a wing nut (606).

3. The pile core drill based on external vibration monitoring and automatic leveling according to claim 2, characterized in that, The signals collected by the while-drilling monitoring system (6) are subjected to adaptive filtering processing and applied to a signal processing algorithm, the signal processing algorithm adopts short-time Fourier transform for time-frequency analysis, and the frequency spectrum characteristics and amplitude envelope line of the vibration signal are calculated in real time, the energy change of the vibration signal in a specific frequency band is analyzed, and the vibration characteristics caused by the core barrel deflection are identified.

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

5. The pile core drill based on external vibration monitoring and automatic leveling according to claim 4, characterized in that, The four-corner balance system (10) composed of the dual-axis tilt sensor (9) and the four hydraulic support assemblies (3) adopts a hydraulic leveling algorithm based on a space kinematics model.

6. The pile core machine based on external vibration monitoring and automatic leveling according to claim 1, characterized in that, The core drilling assembly (4) comprises two core drilling guide rails (401) fixedly connected to the top of the base (2), a moving table (402) slidably mounted between the two core drilling guide rails (401), a moving oil cylinder (403) provided on the top of the base (2) and configured to drive the moving table (402) to move along the core drilling guide rails (401), a core drilling machine (405) rotatably mounted in the moving table (402) through a bearing, and two turnover oil cylinders (404) hinged between the moving table (402) and the core drilling machine (405).

7. The pile core machine based on external vibration monitoring and automatic leveling according to claim 1, characterized in that, The traction system (5) comprises a frame (501) and two traction machines (502) fixedly connected to the top of the base (2), two exchange guide rails (504) fixedly connected to the top of the frame (501), two pulley assemblies (503) slidably mounted between the two exchange guide rails (504) through a sliding table, and a column body connected and fixed between the two pulley assemblies (503), traction ropes of the two traction machines (502) respectively wound around the two pulley assemblies (503) and hung with a traction device (505), and exchange oil cylinders (506) provided on the top of the frame (501) and configured to drive the two pulley assemblies (503) to displace along the exchange guide rails (504).

8. The pile core drill based on external vibration monitoring and automatic leveling according to claim 7, characterized in that, The pulley assembly (503) comprises a mounting shell (50301), a guide pulley (50303) and two positioning pulleys (50302) rotatably mounted in the mounting shell (50301) through bearings, and an extension arm (50304) welded to the end of the mounting shell (50301), and a positioning ring (50305) rotatably mounted at the end of the extension arm (50304) and configured to guide and position the traction rope of the traction machine (502).

9. A method for using a pile core drill based on external vibration monitoring and automatic leveling, applicable to the pile core drill based on external vibration monitoring and automatic leveling in claim 1, characterized in that, The method comprises the following steps: S1: starting an 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 assembly (3) according to the hydraulic leveling algorithm until the horizontal inclination of the base (2) is less than 0.1°, after the leveling is completed, the locking valve of the hydraulic support assembly (3) is closed to keep the position fixed; S2: the core drilling assembly (4) performs a core drilling sampling operation; S3: The external vibration sensor (601) starts monitoring the core barrel vibration amplitude, the laser displacement sensor (603) measures the lateral displacement of the core barrel, and the dual-axis tilt sensor (9) continuously monitors the horizontal state of the device base (2). All sensor data is transmitted to the main controller in real time. S4: The main controller performs frequency 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-tuning mechanism is started, that is, the righting system (7) contacts and squeezes the core barrel, causing the core barrel to deviate slightly, compensating for the core barrel deviation. At the same time, check the device level, if found to be tilted, automatically start the leveling program; S6: The system records all operation data and adjustment history, if the vibration still exceeds the threshold after adjustment or the device cannot be leveled, the system will issue an alarm and manual intervention.

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