Long spiral guide hole automatic positioning anti-shaking device and self-adaptive control method

Abstract

The invention provides a long spiral guide hole automatic positioning anti-shaking device and a self-adaptive control method.The long spiral guide hole automatic positioning anti-shaking device comprises a piling main machine and a clamping actuator arranged on the piling main machine; the pair of clamping arms is driven by the power source and is used for holding or loosening a drill rod; the force detection unit is used for detecting the clamping force of the clamping arm acting on the drill rod in real time and generating a feedback signal; and the controller is in signal connection with the force detection unit and the power source. By integrating the force detection unit and the controller, real-time monitoring and closed-loop dynamic adjustment of the clamping force are achieved, the anti-shaking device can maintain the optimal clamping state in a self-adaptive mode, shaking of the drill rod is effectively restrained, and drill rod damage caused by too large clamping force is eradicated; meanwhile, the device can be safely interlocked with a host system, mechanical interference accidents caused by misoperation are fundamentally avoided, and the construction safety, the equipment reliability and the automation level are remarkably improved.

Description

Technical Field

[0001] This invention relates to an automatic positioning and anti-sway device for long spiral boreholes and an adaptive control method. Background Technology

[0002] In PHC pipe pile construction, long spiral drilling rigs are often used for pilot drilling to assist in penetrating hard soil or thick sand layers. In existing long spiral pilot drilling devices, the drill rod is typically suspended by the hoisting system of the piling machine. When the machine needs to be moved to a new hole location within a certain range, the suspended drill rod will swing significantly, posing a risk of collision with the machine structure or surrounding equipment, and also endangering the safety of on-site construction personnel.

[0003] Currently, the traditional solution to the above problems mainly relies on manual operation. Before the main unit is moved, workers use cables or manual tools to temporarily bind and support the drill pipe. The fixation is then removed after the main unit is in place. This method has many drawbacks, such as low efficiency, high labor costs, and the risk of falling objects and mechanical collisions near personnel.

[0004] Although improvements have been made to address this deficiency, the existing technology still has the following shortcomings: 1) The existing device lacks real-time detection and feedback control of the clamping force. Operators can only set the output pressure of the hydraulic or electric system based on experience, which can easily lead to improper clamping force. If the clamping force is insufficient, it cannot effectively suppress drill rod swaying, resulting in poor anti-swaying effect. If the clamping force is too large, it may crush the helical blades of the drill rod or damage its body, especially for drill rods of different diameters or wear conditions, lacking adaptive capability; 2) The existing anti-sway device can only perform simple "clamping" and "releasing" actions. It is an open-loop system and cannot intelligently adjust according to the actual condition of the drill rod (such as whether there is initial deviation or whether the surface is muddy and slippery), thus failing to achieve precise and reliable adaptive clamping; 3) There is a lack of necessary safety interlocks between the device and the host machine. There is a risk of severe mechanical interference between the device and the drill rod due to misoperation (such as starting the drill rod lowering or rotation before the anti-sway device is fully retracted), which may seriously damage the equipment.

[0005] Therefore, there is an urgent need for an automatic positioning and anti-sway device for the verticality of the long spiral pilot hole that can automatically sense the clamping status, intelligently adjust the clamping force, and be safely interlocked with the host machine, in order to solve the problems of unreliable anti-sway effect, easy damage to drill rod, and safety hazards in the existing technology. Summary of the Invention

[0006] This invention provides an automatic positioning and anti-sway device for long spiral pilot holes and an adaptive control method, which can effectively solve the above problems.

[0007] This invention is implemented as follows: An automatic positioning and anti-sway device for long spiral pre-hole drilling includes a piling main unit and a clamping actuator mounted thereon, the clamping actuator comprising: Power source; A pair of clamping arms, driven by the power source, are used to clamp or release the drill pipe; The force detection unit is used to detect the clamping force of the clamping arm on the drill pipe in real time and generate a feedback signal; The controller is connected to the force detection unit and the power source signal; the controller receives the feedback signal and compares it with a preset clamping force threshold, and outputs a control command to the power source according to the comparison result, so as to dynamically adjust the output of the power source so that the actual clamping force approaches the preset clamping force threshold.

[0008] An adaptive anti-sway control method, the method comprising: S1: Control the power source to start, driving the pair of clamping arms to perform clamping actions; S2: The force detection unit detects the clamping force in real time and generates a feedback signal; S3: Compare the feedback signal with a preset clamping force threshold; S4: Based on the comparison results, dynamically adjust the output of the power source to adaptively adjust and maintain the actual clamping force near the preset clamping force threshold.

[0009] The beneficial effects of this invention are: (1) By integrating the force detection unit and the controller, the present invention realizes real-time monitoring and closed-loop dynamic adjustment of the clamping force, so that the anti-sway device can adaptively maintain the best clamping state, which not only effectively suppresses the swaying of the drill rod, but also eliminates the damage to the drill rod caused by excessive clamping force; at the same time, the device can be safely interlocked with the host system, which fundamentally avoids mechanical interference accidents caused by misoperation, and significantly improves construction safety, equipment reliability and automation level. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0011] Figure 1 This is an overall schematic diagram of the present invention.

[0012] Figure 2 This is an enlarged schematic diagram of point A in the present invention.

[0013] Figure 3 This is a side view of the L-shaped support platform and its upper structure of the present invention.

[0014] Figure 4 This is a top view of the L-shaped support platform and its upper structure of the present invention.

[0015] Figure 5 This is a block diagram showing the overall system structure and signal interaction of the device of the present invention.

[0016] Figure 6 This is a block diagram of the internal functional configuration of the controller of the present invention.

[0017] Figure 7 This is a flowchart of the adaptive anti-sway control method of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0019] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0020] Reference Figure 1-7 As shown, an automatic positioning and anti-sway device for long spiral pre-hole drilling includes a piling host 1 and a clamping actuator mounted thereon. The clamping actuator includes: A power source; a pair of clamping arms 9 driven by the power source for clamping or releasing the drill pipe 2; a force detection unit for real-time detection of the clamping force exerted by the clamping arms 9 on the drill pipe 2 and generating a feedback signal; a controller connected to the force detection unit and the power source; the controller receives the feedback signal and compares it with a preset clamping force threshold, and outputs control commands to the power source based on the comparison result to dynamically adjust the output of the power source so that the actual clamping force approaches the preset clamping force threshold. The power source is a second electric telescopic rod 5; the force detection unit is a pressure sensor integrated within the second electric telescopic rod 5.

[0021] The piling host 1 is provided with a support column 101. The lower part of the support column 101 is provided with a through hole 102 and a sliding groove 103 communicating with the through hole 102. The vertical part of the L-shaped support platform 4 is slidably disposed in the through hole 102, and its horizontal part is slidably disposed in the sliding groove 103.

[0022] The end of the clamping arm 9 is provided with an arc-shaped clamping part 901 that is adapted to the shape of the drill rod 2, and a flexible pad 12 is provided on the inner side of the arc-shaped clamping part 901.

[0023] The device also includes an L-shaped support platform 4 and a first electric telescopic rod 3; the first electric telescopic rod 3 is fixed on the platform of the piling host 1, and its telescopic end is connected to the L-shaped support platform 4, which is used to drive the L-shaped support platform 4 and the clamping actuator on it to move between the working position close to the drill rod 2 and the retracted position away from the drill rod 2; the second electric telescopic rod 5 is fixed on the L-shaped support platform 4; the telescopic end of the second electric telescopic rod 5 is connected to a push block 7 through a connecting column 6, and the two ends of the push block 7 are respectively hinged to one end of two drive rods 8, and the other end of the drive rods 8 are respectively hinged to one end of a pair of clamping arms 9, and the middle part of the clamping arms 9 is hinged to the support plate 11 fixed on the L-shaped support platform 4 through a pin 10.

[0024] The device also includes a position detection unit for detecting whether the L-shaped support platform 4 is in the retracted position. The controller is connected to the position detection unit and only allows the piling host 1 to perform the lowering or rotation operation of the long spiral drill rod 2 when the L-shaped support platform 4 is confirmed to be in the retracted position according to the signal of the position detection unit. The position detection unit is a proximity switch or limit switch installed on the piling host 1.

[0025] The first electric telescopic rod 3 is fixedly installed on the platform below the piling host 1 via the second support frame 14, and its telescopic shaft axis is aligned with the center line of the slide groove 103. The vertical part of the L-shaped support platform 4 passes through the through hole 102, and its horizontal part is embedded in the slide groove 103, and is fixedly connected to the telescopic end of the first electric telescopic rod 3 via a flange. Thus, the extension and retraction of the first electric telescopic rod 3 can drive the L-shaped support platform 4 to slide smoothly along the slide groove 103, realizing the two positions of "extending" and "retracting". On the upper surface of the horizontal end of the L-shaped support platform 4, the second electric telescopic rod 5 is fixedly installed via the first support frame. The second electric telescopic rod 5 is preferably a servo electric cylinder with a built-in pressure sensor, and its pressure signal can be transmitted through an analog interface (such as 0-10V) or a total voltage sensor. The second electric telescopic rod 5 is connected to a connecting post 6 by a threaded connection at the telescopic end. The other end of the connecting post 6 is inserted into the blind hole in the middle of a push block 7 and fixed with a set screw. The two ends of the push block 7 extend into the opening slots at one end of the two drive rods 8 and are hinged by pins 10. The opening slots at the other end of the two drive rods 8 are hinged to one end of the two clamping arms 9. The middle part of the clamping arm 9 is hinged to the support plate 11 fixed to the side of the L-shaped support platform 4 by another pin 10. The ends of the two clamping arms 9 are welded with arc-shaped rod parts 901 that are adapted to the curvature of the drill rod 2. The inner side of the arc-shaped rod parts 901 is glued with a flexible polyurethane pad 12 by high-strength adhesive to increase friction and protect the surface of the drill rod.

[0026] To further ensure reliability, all hinge points (pins 10) are equipped with grease nipples for regular grease application, ensuring the mechanism can operate flexibly for a long time in harsh environments and preventing force detection distortion or action failure due to jamming.

[0027] It should be noted that the four-bar linkage consisting of push block 7, drive rod 8, and clamping arm 9 has high force transmission efficiency and good linearity. It ensures that the thrust value detected by the pressure sensor integrated in the second electric telescopic rod 5 can be accurately and linearly reflected as the final clamping force of the clamping arm 9 on the drill pipe 2. This provides a reliable mechanical basis for achieving high-precision adaptive force control, making the indirect force detection scheme at the power source end feasible and efficient, and avoiding the various drawbacks of directly installing the force sensor at the clamping end under harsh working conditions.

[0028] Furthermore, the controller (PLC) is pre-programmed with an exception handling program to trigger an alarm and stop the current action in the following situations: during clamping, the pressure sensor signal is continuously abnormal (such as exceeding the range or signal loss); the second electric telescopic rod 5 has been extended to its maximum stroke, but the pressure value still fails to reach the preset minimum clamping force threshold F_min, indicating that clamping may fail or there is a mechanical fault; from the issuance of the "retract" command, if the proximity switch still does not detect the "retracted" signal within the set time, it indicates that there may be mechanical jamming.

[0029] Furthermore, the controller executes a closed-loop control logic to achieve dynamic force adjustment. This control logic continuously compares the detected real-time clamping force with a preset threshold range, and based on the deviation value, performs calculations through a certain control algorithm (such as a PID control algorithm), and finally outputs a control signal to adjust the action of the second electric telescopic rod 5, so that the actual clamping force can quickly and smoothly approach and stabilize within the preset ideal range, effectively preventing slippage caused by insufficient clamping force or damage caused by excessive clamping force.

[0030] Furthermore, the controller of this invention can also be extended to support linkage with a drill pipe identification unit. The drill pipe identification unit (such as an RFID reader) is used to automatically identify the specifications of the drill pipe 2 before the clamping action is performed. The controller can automatically set the preset clamping force threshold that matches the identified information (such as the drill pipe diameter), thereby realizing the parameter self-tuning function for different drill pipes, further eliminating manual operation and realizing full-process intelligence.

[0031] Specifically, the drill pipe identification unit can be an RFID reader or a visual recognition camera fixedly installed on the clamping arm 9 or the L-shaped support platform 4. Correspondingly, an RFID electronic tag or a QR code containing drill pipe identification information is pre-installed at the root of each drill pipe section 2. The tag or code stores the specifications of that drill pipe section, such as diameter, wall thickness, and maximum allowable clamping force. The drill pipe identification unit is connected to the controller signal. Its workflow is as follows: when the first electric telescopic rod 3 drives the L-shaped support platform 4 and its clamping actuator to extend towards the drill pipe 2, the drill pipe identification unit automatically reads the identification information of the approaching drill pipe and sends it to the controller. The controller has a pre-stored or can calculate an optimal clamping force parameter table corresponding to different specifications of drill pipes. Based on the identified drill pipe diameter and other information, the controller automatically retrieves or calculates the most suitable preset clamping force threshold range [F_min] from the parameter table. The system uses F_max to determine the maximum value of drill pipes and executes the subsequent adaptive clamping control process. By introducing this drill pipe identification unit, a leap from 'manual parameter setting' to 'fully automatic identification and adaptation' has been achieved. Operators do not need to intervene at all. The system can automatically and accurately provide the most suitable clamping force for drill pipes of different specifications, which greatly improves the ease of use, safety and intelligent appearance of the equipment. It is especially suitable for large-scale construction projects with a large number of drill pipes of different specifications.

[0032] Furthermore, for drill pipe identification units, if an RFID solution is adopted, heavy-duty industrial-grade RFID readers and tags should be selected to ensure the reliability of identification in environments with vibration and mud contamination; if a vision solution is adopted, a protective cover and automatic cleaning device are required to ensure the clarity of the lens.

[0033] Specifically, on the frame of the piling machine 1, corresponding to the position when the L-shaped support platform 4 is fully retracted, an inductive proximity switch (as a position detection unit) is installed. Meanwhile, the controller used in this case is a small PLC (such as a Siemens S7-1200), and the PLC configuration is as follows: Analog input module: receives 0-10V signal from the built-in pressure sensor of the second electric telescopic rod 5; Digital input module: connects to the aforementioned proximity switch; Digital output module: one output controls the start and stop of the second electric telescopic rod 5 via a relay; the other output serves as a safety signal, connected in series to the "drill rod lowering / rotation enable" circuit of the piling host 1 control system; Communication module: (optional) used to connect to the human-machine interface to set parameters and display status.

[0034] During normal drilling operations, the PLC controls the first electric telescopic rod 3 to retract, pulling the entire clamping mechanism back into the through hole 102. The proximity switch detects that the L-shaped support platform 4 is in place and transmits this signal to the PLC. The PLC then sends a "permit operation" command to the piling host through its safety signal output point. At this time, drill rod 2 can be lowered, rotated, and raised normally without any interference from the clamping mechanism. When the main unit needs to be moved to prevent swaying, the operator issues a "prepare to move" command via remote control or operating screen. The PLC first controls the first electric telescopic rod 3 to extend, pushing the clamping mechanism next to drill rod 2. Then, the PLC starts the second electric telescopic rod 5 to execute the clamping program. The second electric telescopic rod 5 slowly extends, pushing the push block 7. Through the drive rod 8, the two clamping arms 9 close. During the closing process, the PLC reads the pressure sensor values ​​in real time. Assuming the preset clamping force threshold is 5kN-6kN (this value can be set on the human-machine interface according to the drill rod diameter), if the pressure value rises rapidly to 7kN, the PLC immediately judges "force too high," which may indicate that the drill rod is slightly bent or the clamping position is not good. It then commands the second electric telescopic rod 5 to retract slightly. By using a short distance, the pressure is reduced to below 6kN, effectively avoiding damage caused by "dead clamping". If the pressure slowly rises to 4.5kN and then stops rising, the PLC judges that the "force is too low", which may be due to mud on the drill rod surface causing slippage. It then commands the second electric telescopic rod 5 to continue moving forward until the pressure reaches 5kN, ensuring the reliability of clamping. When the pressure stabilizes in the range of 5kN-6kN, the clamping procedure is completed, and the operator can safely move the piling host to the new pile position. After the machine is moved, the operator issues a "release" command, and the PLC controls the second electric telescopic rod 5 to retract, the clamping arm 9 releases the drill rod 2, and then controls the first electric telescopic rod 3 to retract, pulling the entire mechanism back to a safe position. The proximity switch detects the position signal again, and only then does the PLC send a "permit operation" command to the host, allowing new drilling operations to begin.

[0035] An adaptive anti-sway control method, the method comprising: S1: Control the power source to start, driving a pair of clamping arms 9 to perform clamping actions; S2: The clamping force is detected in real time by the force detection unit and a feedback signal is generated; S3: Compare the feedback signal with a preset clamping force threshold; S4: Based on the comparison results, dynamically adjust the output of the power source to adaptively adjust and maintain the actual clamping force near the preset clamping force threshold.

[0036] Before step S1, the following is also included: S01: Obtain the position status signal of the device and confirm that the clamping actuator is in the retracted position away from the drill pipe 2; S02: Only after confirming that it is in the retracted position is an instruction sent to the piling host 1 to allow it to perform the lowering or rotation operation of the long spiral drill rod 2.

[0037] In step S02, "sending an instruction to allow it to perform a lowering or rotation operation" is achieved by physically connecting a digital output point (safety signal) of the controller in series to the original safety control loop of the piling host 1, forming a hardware-level interlock, which is far more reliable than interlocks achieved only through software communication.

[0038] The "dynamic adjustment" in step S4 uses an incremental PID control algorithm. Its parameters (proportional coefficient, integral time, derivative time) can be fine-tuned on the human-machine interface on site according to different drill pipe specifications to obtain the best dynamic response performance and avoid overshoot or oscillation.

[0039] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the invention should be included within the scope of protection of the invention.

Claims

1. A long spiral lead hole automatic positioning anti-shaking device, comprising a pile driving host (1) and a clamping executor arranged thereon, characterized in that, The clamping executor comprises: a power source; a pair of clamping arms (9) driven by the power source for clamping or releasing the drill pipe (2); a force detection unit for detecting the clamping force of the clamping arms (9) acting on the drill pipe (2) in real time and generating a feedback signal; a controller connected with the force detection unit and the power source; the controller receives the feedback signal and compares it with a preset clamping force threshold, and outputs a control instruction to the power source according to the comparison result to dynamically adjust the output of the power source so that the actual clamping force approaches the preset clamping force threshold.

2. A long auger hole automatic positioning anti-sloshing device according to claim 1, characterized in that, The power source is a second electric telescopic rod (5); and the force detection unit is a pressure sensor integrated in the second electric telescopic rod (5).

3. A long auger hole automatic positioning anti-sloshing device according to claim 1, characterized in that, The device further comprises an L-shaped support table (4) and a first electric telescopic rod (3); the first electric telescopic rod (3) is fixed on the platform of the pile driver (1), the telescopic end of the first electric telescopic rod (3) is connected with the L-shaped support table (4), and the first electric telescopic rod (3) is used to drive the L-shaped support table (4) and the clamping executor thereon to move between a working position close to the drill pipe (2) and a retracted position away from the drill pipe (2); and the second electric telescopic rod (5) is fixed on the L-shaped support table (4).

4. A long auger hole automatic positioning anti-sloshing device according to claim 3, characterized in that, The telescopic end of the second electric telescopic rod (5) is connected with a push block (7) through a connecting column (6), the two ends of the push block (7) are respectively hinged to one end of two drive rods (8), the other end of the drive rods (8) is respectively hinged to one end of the pair of clamping arms (9), and the middle part of the clamping arms (9) is hinged to a support plate (11) fixed on the L-shaped support table (4) through a pin shaft (10).

5. A long auger hole automatic positioning anti-sloshing device according to claim 3, characterized in that, The device further comprises a position detection unit for detecting whether the L-shaped support table (4) is in the retracted position, the controller is connected with the position detection unit, and the pile driver (1) is allowed to perform the lowering or rotating operation of the long spiral drill pipe (2) only when it is confirmed according to the signal of the position detection unit that the L-shaped support table (4) is in the retracted position.

6. A long auger hole automatic positioning anti-sloshing device according to claim 5, characterized in that, The position detection unit is a proximity switch or a travel switch arranged on the pile driver (1).

7. A long auger hole automatic positioning anti-sloshing device according to claim 1, characterized in that, The end of the clamping arm (9) is provided with an arc-shaped clamping part (901) matched with the shape of the drill pipe (2), and the inner side of the arc-shaped clamping part (901) is provided with a flexible gasket (12).

8. A long auger hole automatic positioning anti-sloshing device according to claim 3, characterized in that, A support column (101) is arranged on the pile driver (1), a through hole part (102) and a sliding groove part (103) in communication with the through hole part (102) are arranged in the lower part of the support column (101); the vertical part of the L-shaped support table (4) is slidingly arranged in the through hole part (102), and the horizontal part of the L-shaped support table (4) is slidingly arranged in the sliding groove part (103).

9. A method for adaptive anti-jitter control for the apparatus of any of claims 1-8, wherein, The method comprises: S1: controlling the power source to start and drive the pair of clamping arms (9) to perform clamping action; S2: detecting the clamping force in real time through the force detection unit and generating a feedback signal; S3: comparing the feedback signal with a preset clamping force threshold; and S4: outputting a control instruction to the power source according to the comparison result to dynamically adjust the output of the power source so that the actual clamping force approaches the preset clamping force threshold. S4: dynamically adjusting the output of the power source according to the comparison result, so as to adaptively adjust and maintain the actual clamping force around the preset clamping force threshold.

10. The adaptive anti-flicker control method of claim 9, wherein, Before the step S1, further comprising: S01: acquiring a position state signal of the device, and confirming that the clamping actuator is in a retracted position away from the drill rod (2); S02: after confirming that it is in the retracted position, sending an instruction to the pile driver host (1) to allow it to perform a long spiral drill rod (2) lowering or rotating operation.

Images