A method and device for controlling drill bit replacement in elevator shaft drilling equipment

Abstract

This invention discloses a method and apparatus for controlling drill bit replacement in elevator shaft drilling equipment, relating to the field of elevator installation technology. The method includes: identifying the marking number of the drill bit slot on the drill bit replacement cutterhead and obtaining the current drill bit slot information; adjusting the empty drill bit slot on the drill bit replacement cutterhead to be within the drill replacement working position; driving the drilling equipment forward and embedding the old drill bit of the drilling equipment into the empty drill bit slot in the drill replacement working position; adjusting the position of the drill bit slot on the drill bit replacement cutterhead so that the drill bit slot with the new drill bit is within the drill replacement working position; driving the drilling equipment to perform the drill replacement operation; and cooperating with an installation identification mechanism at the drill replacement working position to detect whether the new drill bit is installed correctly. If it is not installed correctly, an installation error message is reported; if it is installed correctly, the drill replacement operation is completed. By setting marking numbers to identify and track the drill bit slot information of the drill bit replacement cutterhead, and cooperating with sensors, a highly stable and fully automated drill replacement operation is achieved, improving the reliability and efficiency of drill replacement.

Description

Technical Field

[0001] This invention relates to the field of elevator installation technology, specifically to a method and device for controlling drill replacement in elevator shaft drilling equipment. Background Technology

[0002] Current elevator installation requires drilling inside the elevator shaft using drilling equipment to install and fix the elevator running track. To ensure the stability and reliability of the elevator track installation, the drill bits of the drilling equipment need to be replaced after a certain period of use. Currently, the replacement of drill bits inside the elevator shaft mainly relies on manual replacement by operators, or semi-automatic replacement operation assisted by drill changing equipment. Because the drill changing operation by operators is limited by the size of the construction space in the elevator shaft, the drill changing operation inside the elevator shaft is cumbersome and the drill changing efficiency is low. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art. This invention provides a method and device for controlling the drill bit replacement of drilling equipment in elevator shafts. By setting a mark code to store and register the drill bit information of the drill bit replacement cutter head, and cooperating with sensors to detect the stability of the drill bit replacement operation of the drilling equipment, the stability of the drill bit replacement operation of drilling equipment in elevator shafts is improved, and the fully automatic and efficient drill bit replacement operation of drilling equipment is realized.

[0004] This invention provides a drill changing control method for elevator shaft drilling equipment, the drill changing control method comprising:

[0005] The numbering detection mechanism identifies the current drill bit slot marking number of the drill bit changer based on the drill changer's working position;

[0006] Obtain the current drill bit slot information of the drill changer head according to the marked number, and adjust the adjacent empty drill bit slots in the drill changer head to be within the drill change working position based on the drill bit slot information;

[0007] Drive the drilling equipment forward and install the old drill bit of the drilling equipment into the empty drill bit slot in the drill replacement working position. After the old drill bit of the drilling equipment is removed, drive the drilling equipment to reset to the drill replacement preparation position.

[0008] Adjust the position of the drill bit slot on the drill bit changer so that the drill bit slot with the new drill bit is located within the drill changing working position;

[0009] The drilling equipment is driven forward to install a new drill bit. The installation identification mechanism at the drill changing position detects whether the new drill bit is installed in place. If it is not installed in place, an installation error message is reported. If it is installed in place, the drill changing operation is completed.

[0010] Furthermore, the marking number used by the numbering detection mechanism based on the drill changing working position to identify the current drill bit slot of the drill changing cutterhead includes:

[0011] The drill changer head is controlled to descend vertically to the drill change working position according to the drill change signal;

[0012] The electrical status of several coded slots of the drill bit groove on the drill bit changer is obtained by the number detection mechanism at the drill changer working position, and the mark number of the current drill bit groove binary data is output according to the electrical status of the several coded slots.

[0013] Furthermore, the step of obtaining the current drill bit slot information of the drill changer head according to the marker number, and adjusting the adjacent empty drill bit slots in the drill changer head to be within the drill change working position based on the drill bit slot information includes:

[0014] The control system queries the database for the drill bit information recorded by the marked number to obtain the current drill bit slot information of the drill bit changer.

[0015] The control system queries the database for the drill bit slot information of the drill bit changer and extracts information on one or more empty drill bit slots.

[0016] Compare the current drill bit slot information with the information of one or more empty drill bit slots, and calculate the position difference data between the current drill bit slot information and each empty drill bit slot information;

[0017] An adjustment instruction is generated based on the position difference data, and the current drill bit slot of the drill changer head at the drill change working position is converted into an empty drill bit slot based on the adjustment instruction.

[0018] Furthermore, the step of generating an adjustment command based on the position difference data, and converting the current drill bit slot of the drill changer head at the drill change working position into an empty drill bit slot based on the adjustment command, includes:

[0019] The position difference data with the smallest absolute value is extracted from the position difference data and used as adjustment data. The first rotation angle of the drill bit changer is set according to the absolute value of the position difference of the adjustment data, and the first rotation direction of the drill bit changer is set according to the positive or negative sign of the position difference data of the adjustment data.

[0020] The adjustment command for the drill changer is set by defining the first rotation angle and the first rotation direction of the drill changer.

[0021] Furthermore, the process of moving the drilling device forward and inserting the old drill bit into the empty drill bit slot at the drill changing position, and then resetting the drilling device to the drill changing preparation position after removing the old drill bit, includes:

[0022] The coaxiality deviation between the empty drill bit slot and the old drill bit position of the drilling equipment is obtained by a laser sensor, and it is detected whether the coaxiality deviation is within the safe threshold range. If the coaxiality deviation exceeds the safe threshold range, the drill change preparation position of the drilling equipment is adjusted according to the coaxiality deviation.

[0023] If the coaxiality deviation is within the safety threshold range, the old drill bit of the drilling device is driven to insert inward. By switching the clamping state of the old drill bit between the drill changer disc and the drilling device, the disassembly and transfer of the old drill bit are completed.

[0024] Furthermore, adjusting the position of the drill bit slot on the drill changer disc, so that the drill bit slot with the new drill bit is located within the drill changing working position, includes:

[0025] Query the database of the drill bit changer to obtain the mark number of the drill bit slot with the new drill bit;

[0026] The difference between the marking number of the drill bit slot and the marking number of the drill bit slot at the drill changing working position is calculated, and the second rotation angle and the second rotation direction of the drill changing cutterhead are set according to the difference calculation data.

[0027] Drive the drill changer disc upward to the rotation adjustment position, and drive the drill changer disc to rotate and adjust according to the second rotation angle and the second rotation direction, so that the drill bit slot of the drill changer disc with the new drill bit is located in the drill changing working position.

[0028] Furthermore, the driving drilling device moves forward and performs a new drill bit installation operation. The installation identification mechanism at the drill changing position detects whether the new drill bit is installed correctly. If it is not installed correctly, an installation error message is reported. If it is installed correctly, the drill changing operation is completed, including:

[0029] Drive the drilling device to move toward the drill changing working position, and drive the drill bit mounting end of the drilling device to rotate at a first rotational speed;

[0030] The drilling device is driven to move to the first preset position of the drill changing working position, and the first position sensor of the installation identification mechanism is detected to be triggered. If the first position sensor is not triggered, it is determined that the new drill bit is installed in place.

[0031] If the first position sensor is triggered, the drilling equipment will be driven to perform a second installation operation of the new drill bit.

[0032] Furthermore, the driving drilling device moves to the first preset position of the drill changing working position, and detects whether the first position sensor of the installation identification mechanism is triggered. If the first position sensor is triggered, the driving drilling device performs a secondary installation operation of the new drill bit, including:

[0033] Drive the drilling device to move towards the drill changing position;

[0034] When the second position sensor of the installation identification mechanism is triggered, the drilling device is driven to reset to the first preset position;

[0035] The system detects whether the first position sensor of the installation identification mechanism is triggered. If the first position sensor is not triggered, it is determined that the new drill bit is installed in place.

[0036] If the first position sensor is triggered, it is determined that the new drill bit is not installed in place, and an installation error message is reported.

[0037] Furthermore, the drill bit replacement control method also includes:

[0038] The drill bit identification mechanism identifies the drill bit slot position of the drill bit changer and obtains the drill bit status data of the drill bit slot position within the drill bit change working position.

[0039] The drill bit status data is compared with the drill bit slot information corresponding to the mark number. If the drill bit status data does not match the drill bit slot information corresponding to the mark number, an error message for the drill bit slot in the drill changing position is reported.

[0040] The present invention also provides a drill changing control device for elevator shaft drilling equipment, the drill changing control device being used to implement any of the drill changing control methods for the drilling equipment, the drill changing control device comprising:

[0041] Drill changing module: Used to drive the drill changing cutterhead to descend to the drill changing working position according to the drill changing signal, and to switch the position and posture of the drill changing cutterhead according to the drill changing operation;

[0042] Drilling module: Used to generate drill change signals according to the drilling operation task, and to cooperate with the drill change module to perform the drill change operation;

[0043] Main control module: Used to control and coordinate the operation of the drill changing module and the drilling module based on the detection data of the drill changing operation process.

[0044] This invention provides a method and device for controlling drill bit replacement in elevator shaft drilling equipment. By setting a marking code, the method achieves systematic management of the drill bit slot information of the drill bit replacement cutter head. During the drill bit replacement operation, the method uses sensors to identify the corresponding drill bit, enabling the drilling equipment to accurately replace and install the drill bit. The method also uses sensors to detect the stability of the drill bit replacement operation, thereby improving the stability of the drill bit replacement operation in elevator shaft drilling equipment and realizing fully automatic and efficient drill bit replacement operation of drilling equipment. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a flowchart of the drill changing control method for elevator shaft drilling equipment in an embodiment of the present invention;

[0047] Figure 2 This is a schematic diagram of the drill changing equipment in an embodiment of the present invention;

[0048] Figure 3 This is a schematic diagram of the drill changing control system for the elevator shaft drilling equipment in an embodiment of the present invention. Detailed Implementation

[0049] 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 some embodiments of the present invention, and not all embodiments. 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.

[0050] Example 1:

[0051] Figure 1 A flowchart of the drill bit changing control method for elevator shaft drilling equipment in an embodiment of the present invention is shown. Figure 2 A schematic diagram of the drill bit changing device in an embodiment of the present invention is shown. The drill bit changing device is installed on a drilling construction platform in an elevator shaft. The drill bit changing device includes: a drill bit changing cutter head 1 for placing drill bits and a numbering detection mechanism 2 for detecting the drill bit slot information of the drill bit changing cutter head 1. The drill bit changing cutter head 1 is slidably fitted on a linear track. The bottom end of the linear track is set as the drill bit changing working position. By driving the drill bit changing cutter head 1 down to the drill bit changing working position, and cooperating with the numbering detection mechanism 2 to obtain the mark number of the drill bit slot of the drill bit changing cutter head 1 located at the drill bit changing working position, the status information of the current drill bit slot of the drill bit changing cutter head 1 can be quickly identified, that is, the presence of a drill bit in the current drill bit slot and whether the drill bit in the current drill bit slot is a new drill bit can be quickly identified. By setting a mark code to systematically manage the drill bit slot information of the drill bit changing cutter head 1, the convenience and reliability of drill bit management of the drill bit changing cutter head 1 can be improved.

[0052] Furthermore, the drill changer disc 1 can be a disc-shaped disc structure. When the drill changer disc 1 descends to the drill change working position, the drill bit slot located at the lower center of the drill changer disc 1 is set as the drill bit slot within the drill change working position, so as to realize the disassembly and replacement of the old drill bit of the drilling equipment.

[0053] Specifically, the drill bit replacement control method includes:

[0054] S11: The numbering detection mechanism 2, based on the drill changing working position, identifies the marking number of the current drill bit slot of the drill changing cutterhead 1.

[0055] Specifically, the numbering detection mechanism 2 refers to a device used to obtain the drill bit slot identification information of the drill bit changer 1. It can set a coding hole slot 11 on the outer wall of the drill bit slot, so that the sensor can be inserted into the coding hole slot 11 and obtain the electrical conduction state of the slot. Thus, the electrical code of the drill bit slot can be obtained according to the electrical state of multiple coding holes slots 11. Through an automated identification, positioning and installation detection mechanism, a complete drill bit change operation process is constructed, avoiding the redundancy and efficiency loss of operation steps caused by manual intervention, thereby realizing closed-loop control of the drill bit change process.

[0056] Specifically, step S11 includes:

[0057] The drill changer 1 is controlled to descend vertically to the drill change working position according to the drill change signal. The drill change signal is a drill change request signal generated by the control system of the drilling equipment in response to the drill bit replacement needs of the drilling equipment. Specifically, the drill bit wear of the drilling equipment can be judged based on the usage time or drilling quality of the drilling equipment. When the drill bit wear reaches the drill change requirement, the control system of the drilling equipment generates a drill change signal so that the drill changer can perform the drill change operation according to the drill change signal.

[0058] Furthermore, the drill changing signal can be implemented using a digital pulse signal or an analog voltage signal, ensuring that the drilling equipment can promptly initiate the drill changing process and ensure the accuracy of the operation timing. Based on the drill changing signal, the drill changing cutter head 1 is driven to descend vertically to the drill changing working position. This can be achieved using a pneumatic push rod or an electric lead screw mechanism, thereby precisely moving the drill bit slot to the detection area.

[0059] The electrical state of several coded slots 11 in the drill bit slot of the drill bit changer 1 is obtained by the number detection mechanism 2 at the drill bit change position. Based on the electrical state of the several coded slots 11, the current drill bit slot's binary data marker number is output. The number detection mechanism 2 refers to a sensing device used to detect the drill bit slot position marker. Several coded slots 11 are arranged in a row on the outer wall of the drill bit slot. Several sensors corresponding to the several coded slots 11 are set at the drill bit change position. When the drill bit changer 1 descends to the drill bit change position, the several sensors are inserted into the several coded slots 11, and the electrical state information inside the coded slots 11 is obtained based on the non-contact detection of the sensors.

[0060] Furthermore, the electrical state of the coded slot 11 refers to the binary signal formed by its on or off state. In this embodiment, the on state of the coded slot 11 is marked as "1", and the off state of the coded slot 11 is marked as "0". Based on the number of drill bit slots on the drill changer 1, three coded slots 11 are set, which can form eight binary marking codes such as "000", "001", "010", "011", "100", "101", "110", and "111", thereby corresponding to the positions of the eight drill bit slots on the drill changer 1. Based on the electrical conduction design between the sensor of the numbering detection mechanism 2 and the coded slot 11, it can satisfy the marking of several drill bit slots on the drill changer 1 and can quickly identify the drill bit slot number during drill changing operation. At the same time, the use of binary encoding can reduce the conversion operation of the control system and improve processing efficiency.

[0061] Furthermore, the sensor of the numbering detection mechanism 2 can be configured as a contact sensor with a metal contact piece, which makes contact with the fixed contact inside the coding slot 11 to identify the electrical connection state of the coding slot 11, thereby realizing the data conversion of physical position into identifiable electrical signal.

[0062] Specifically, the drill changer 1 is lowered to the drill change working position in response to the drill change signal, ensuring precise alignment between the drill bit slot and the numbering detection mechanism 2. Subsequently, the electrical states of multiple coded slots 11 are combined to form binary data, enabling automatic parsing of the marking number. This process avoids manual intervention, ensuring accuracy and real-time performance, thus providing a reliable foundation for subsequent drill bit slot information acquisition. In this embodiment, the drill change signal can be triggered by a 5VTTL level signal generated by the PLC controller. The drill changer 1 descends vertically along the guide rail via a lead screw mechanism driven by a stepper motor. The numbering detection mechanism 2 uses an array of three Hall effect sensors, corresponding to the three coded slots 11 on the outer wall of the drill bit slot of the drill changer 1. When a metal piece is present in the coded slot 11, the sensor outputs a high level; when it is missing, it outputs a low level, forming a 3-bit binary marking number such as "011". The control system uses this number to identify the current drill bit slot position. This achieves automated and accurate marking number identification, avoiding identification errors caused by environmental interference, reducing drill bit slot positioning deviation, and thus improving the efficiency and reliability of the drill change operation.

[0063] S12: Obtain the current drill bit slot information of the drill bit changer 1 according to the marking number, and adjust the adjacent empty drill bit slot in the drill bit changer 1 to be within the drill bit change working position based on the drill bit slot information.

[0064] Specifically, obtaining the current drill bit slot information of the drill changer 1 based on the marker number, and adjusting the adjacent empty drill bit slots in the drill changer 1 to be within the drill change working position based on the drill bit slot information includes:

[0065] The control system queries the database based on the marker number to obtain the current drill bit slot information of the drill bit changer 1. The database stores the drill bit slot information corresponding to the marker number. The drill bit slot status information can be retrieved by querying the marker number. Database index query or hash table lookup can be used to quickly retrieve the marker number and the corresponding drill bit slot information, and can quickly and accurately obtain the detailed information of the current drill bit slot.

[0066] The control system queries the database for the drill bit slot information of the drill bit changer 1 and extracts information on one or more empty drill bit slots. The database records the information status of each drill bit slot of the drill bit changer 1. By querying the drill bit information of each drill bit slot in the database, empty drill bit slot information can be extracted from the drill bit slot information in the database. Specifically, this can be achieved by traversing the database records or querying the empty slot position flag. Based on the empty drill bit slot positions of the drill bit changer 1 marked by several empty drill bit slot information, combined with the drill bit slot information in the drill changing working position, the empty drill bit slot positions in the drill bit changer 1 adjacent to the drill changing working position can be obtained.

[0067] The current drill bit slot information is compared with the information of one or more empty drill bit slots, and the position difference data between the current drill bit slot information and each empty drill bit slot information is calculated. The position difference data calculation specifically refers to quantifying the relative position relationship between each empty slot and the current slot. It can be achieved by angle difference calculation or slot number difference calculation, which can accurately reflect the physical distance required for adjustment, so as to perform rotation adjustment of the drill bit changer 1.

[0068] An adjustment command is generated based on the position difference data. Based on this command, the current drill bit slot of the drill changer 1 at the drill change working position is converted to an empty drill bit slot. The generation of the adjustment command can be understood as generating a rotation control signal based on the position difference data. This can be implemented using a minimum angle priority algorithm or a shortest path algorithm to ensure that the optimal path is selected during the adjustment process, achieving rapid rotation adjustment.

[0069] Specifically, the step of generating an adjustment command based on the position difference data, and converting the current drill bit slot of the drill changer head at the drill change working position into an empty drill bit slot based on the adjustment command, includes:

[0070] The position difference data with the smallest absolute value is extracted from the position difference data and used as adjustment data. A first rotation angle of the drill bit changer 1 is set based on the absolute value of the position difference in the adjustment data. This first rotation angle can be designed based on the adjustment data and the dimensions of the drill bit changer 1. By allocating the phase angle and distribution spacing of any two adjacent drill bit slots on the drill bit changer 1 within the control system, and using the phase angle and distribution spacing as bases, the first rotation angle can be calculated in conjunction with the adjustment data. The sign of the position difference data in the adjustment data is considered. The value symbol sets the first rotation direction of the drill bit changer 1. The direction is sorted according to the marking number on the drill bit changer 1. For example, "000" is used as the first drill bit slot, and the marking numbers "001" to "111" are set in a clockwise direction. The positive and negative values ​​obtained by calculating the position difference data of the adjustment data can be used to obtain the rotation adjustment direction between the adjacent empty drill bit slot and the current drill bit slot. That is, if the position difference data is negative, the drill bit changer 1 is driven to rotate counterclockwise. If the position difference data is positive, the drill bit changer 1 is driven to rotate clockwise.

[0071] Furthermore, the position difference data refers to the quantitative representation of the positional difference between the current drill bit slot information and the empty drill bit slot information. It can be stored using a numerical data structure to accurately describe the relative positional relationship between slots, and can provide basic data support for rotation path optimization.

[0072] Furthermore, the formula for calculating the first rotation angle is:

[0073] ;

[0074] in, Let θ be the first rotation angle, θ be the phase difference angle between any two adjacent drill bit slots, and X be the absolute value of the positional difference data of the adjustment data. The spacing between any two adjacent drill bit slots is denoted as .

[0075] The adjustment command for the drill changer disc 1 sets the first rotation angle and the first rotation direction. This command controls the drill changer disc 1 to rotate and adjust its own position, ensuring the empty drill bit slot can be positioned within the drill changing working position for drill changing operations. The adjustment data is selected from multiple position difference data, choosing the data item with the smallest absolute value. This allows for selection of the optimal empty drill bit slot based on the minimum path principle, avoiding excessive rotation angles, ensuring the shortest rotation path, and guaranteeing the accuracy of the drill changer disc 1's rotation adjustment.

[0076] Through database-driven quantitative analysis, precise selection and efficient adjustment of adjacent empty drill bit slots are achieved. The control system first queries the database for drill bit information recorded by the marker number to obtain the current drill bit slot information of the drill changer 1. This uses the marker number as a unique identifier, ensuring the accuracy and real-time nature of information retrieval. Subsequently, the control system queries the database for drill bit slot information of the drill changer, extracting information on more than one empty drill bit slot, constructing a complete set of candidate slots. Next, the current drill bit slot information is compared with information on more than one empty drill bit slot, calculating the position difference data. By quantifying the relative position difference between each empty slot and the current slot, the required angle and direction for adjustment are accurately reflected. Finally, an adjustment command is generated based on the position difference data, converting the current drill bit slot into an empty drill bit slot. A rotation command is generated based on the principle of minimizing the absolute value of the position difference data, ensuring that the adjustment process prioritizes the path with the shortest physical distance.

[0077] Furthermore, when driving the drill changer disc 1 to rotate and adjust its position, the drill changer disc 1 is driven to move upward a certain distance, so that the sensor of the numbering detection mechanism 2 is disengaged from the drill changer disc 1, thus avoiding motion interference between the drill changer disc 1 and the sensor, and ensuring the reliability and accuracy of the drill changing operation of the drill changer disc 1.

[0078] S13: Drive the drilling equipment forward and place the old drill bit of the drilling equipment into the empty drill bit slot in the drill changing position. After the old drill bit of the drilling equipment is removed, drive the drilling equipment to reset to the drill changing preparation position.

[0079] Specifically, by driving the drilling device to move towards the drill changing position, the old drill bit of the drilling device can be inserted into the empty drill bit slot of the drill changing disc 1, and the clamping state of the old drill bit is switched between the drill changing disc 1 and the drilling device, thereby realizing the disassembly of the old drill bit.

[0080] Furthermore, after the drilling device inserts the old drill bit into the empty drill bit slot of the drill bit changing disc 1, the drill bit changing disc 1 recognizes that the old drill bit has been inserted into place and clamps and fixes the old drill bit through the internal clamping mechanism. After the drill bit changing disc 1 completes clamping, the control system can drive the drilling device to release the clamping state of the old drill bit, thereby realizing the disassembly and transfer of the old drill bit between the drilling device and the drill bit changing disc 1.

[0081] Specifically, the process of driving the drilling device forward and placing the old drill bit of the drilling device into the empty drill bit slot in the drill changing position, and then resetting the drilling device to the drill changing preparation position after the old drill bit of the drilling device has been removed, includes:

[0082] The coaxiality deviation between the empty drill bit slot and the old drill bit position of the drilling equipment is obtained by a laser sensor, and it is detected whether the coaxiality deviation is within a safe threshold range. If the coaxiality deviation exceeds the safe threshold range, the drill change preparation position of the drilling equipment is adjusted according to the coaxiality deviation. This can be achieved by using a triangulation laser sensor or a laser displacement sensor, thereby accurately obtaining the spatial relative position between the empty drill bit slot and the old drill bit. The coaxiality deviation refers to the offset between the center axis of the empty drill bit slot and the center axis of the old drill bit, which can be characterized by a vector deviation value or a radial offset distance to quantify the degree of alignment error.

[0083] If the coaxiality deviation is within the safety threshold range, the old drill bit of the drilling device is driven to insert inward. By switching the clamping state of the old drill bit between the drill changer disc 1 and the drilling device, the disassembly and transfer of the old drill bit are completed.

[0084] Specifically, the safety threshold range refers to the preset acceptable coaxiality deviation boundary, which can be achieved by dynamically adjusting the threshold range or a fixed tolerance zone, and can establish a judgment benchmark for safe operation; further, the drill change preparation position adjustment refers to the correction operation of the initial position of the drilling equipment, which can be achieved by a servo motor driven displacement platform or a hydraulic adjustment mechanism, and can eliminate the alignment error between the drilling equipment and the drill changer 1; in addition, the clamping state switching refers to the process of transferring the drill bit fixing force between the drill changer 1 and the drilling equipment, which can be achieved by an electromagnetic clamping mechanism or a mechanical jaw linkage device, to ensure the smoothness of drill bit transfer.

[0085] Furthermore, the coaxiality deviation data between the empty drill bit slot and the old drill bit is acquired in real time by a laser sensor. This data is transmitted to the control system for safety threshold determination. If the deviation exceeds the threshold range, the control system generates a position adjustment command to drive the drilling equipment to move to the corrected drill bit replacement preparation position, so that the deviation returns to the safe range. When the deviation is within the safe threshold range, the control system triggers the drilling equipment to perform an insertion action, and at the same time coordinates the state switching between the drill bit changer 1 and the clamping mechanism of the drilling equipment, so that the old drill bit is transferred from the drilling equipment to the empty drill bit slot of the drill bit changer 1. This process forms a closed-loop control mechanism to ensure that the insertion operation is performed only under safe conditions, avoiding equipment damage caused by forced insertion. At the same time, the dynamic adjustment mechanism adapts to the alignment requirements under different working conditions, giving the disassembly process an adaptive fault-tolerant capability.

[0086] Specifically, the process of driving the drilling device forward and placing the old drill bit into the empty drill bit slot in the drill changing position, and then resetting the drilling device to the drill changing preparation position after removing the old drill bit, further includes:

[0087] After the control system recognizes that the old drill bit has completed the disassembly and transfer operation, it updates the drill bit slot information corresponding to the current mark number and records the drill bit information of the current drill bit slot as the old drill bit, so as to realize the real-time update of the information of several drill bits inside the drill bit replacement disc 1 and realize the data management of the drill bits of the drill bit replacement disc 1.

[0088] S14: Adjust the position of the drill bit slot on the drill bit changer 1 so that the drill bit slot on the drill bit changer 1 with the new drill bit is located in the drill changing working position.

[0089] Specifically, when the control system obtains that the drilling equipment has been reset to the drill replacement preparation position, the control system can drive the drill replacement cutter head 1 to rotate and adjust so that the new drill bit of the drill replacement cutter head 1 is located in the drill replacement working position, so as to install the new drill bit on the drilling equipment.

[0090] Specifically, adjusting the position of the drill bit slot on the drill bit changer 1 so that the drill bit slot with the new drill bit is located within the drill changing working position includes:

[0091] The database of the drill bit changer 1 is queried to obtain the mark number of the drill bit slot with the new drill bit. The operation of retrieving drill bit slot information in the storage system can be implemented using a relational database or a non-relational database. This provides a traceable data source for the positioning of the drill bit slot of the drill bit changer 1, avoiding positioning ambiguity caused by mechanical limits or visual recognition. Through data management, the convenience and reliability of drill bit slot switching and drill bit management of the drill bit changer 1 are improved.

[0092] The difference between the marking number of the drill bit slot and the marking number of the drill bit slot at the drill changing working position is calculated, and the second rotation angle and second rotation direction of the drill changing cutterhead 1 are set based on the difference calculation data. The marking numbers are used to accurately index the information of several drill bit slots on the drill changing cutterhead 1, establishing an index benchmark for the slot positions of the drill changing cutterhead 1, ensuring the accuracy and consistency of the data source.

[0093] Furthermore, the calculation of the second rotation angle and the second rotation direction can refer to the calculation of the first rotation angle and the first rotation direction, which can determine the shortest adjustment path between the current drill bit slot position and the next target drill bit slot position based on the current drill bit slot position. This will not be elaborated on here.

[0094] Furthermore, the drill changer disc 1 is driven upward to the rotation adjustment position, and then rotated and adjusted according to the second rotation angle and the second rotation direction, so that the drill bit slot with the new drill bit is located within the drill changing working position. The rotation adjustment position refers to the dedicated area where the drill changer disc 1 performs rotational operations, allowing it to disengage from its adaptation state with the sensor and avoiding motion interference. Setting the drill changer disc 1 to perform rotational adjustment operations within a safe distance above the drill changing working position effectively avoids the risk of mechanical interference in the workspace and ensures the stability of the rotation process.

[0095] S15: Drive the drilling equipment forward and install the new drill bit. The installation identification mechanism 3 at the drill changing position will detect whether the new drill bit is installed in place. If it is not installed in place, an installation error message will be reported. If it is installed in place, the drill changing operation will be completed.

[0096] Specifically, the installation identification mechanism 3 is equipped with a first position sensor 31 and a second position sensor 32. The first position sensor 31 is used to identify the assembly status between the drilling device and the new drill bit, and the second position sensor 32 is used to detect the assembly status during the secondary assembly between the drilling device and the new drill bit, so as to ensure that the drilling device can accurately perform the installation operation of the new drill bit.

[0097] Furthermore, the second position sensor 32 is used to eliminate installation errors caused by the mechanical wear of the buffer spring of the drill bit mounting mechanism of the drilling equipment. In this embodiment, the drill bit mounting mechanism of the drilling equipment reduces the influence of rigid contact force during drill bit installation through the buffer spring. Since the buffer spring is prone to mechanical wear after long-term operation, affecting its elastic deformation performance, by setting the second position sensor 32, it can be ensured that the relative position state between the drilling equipment and the new drill bit meets the assembly requirements, and the error of drilling equipment installing drill bit caused by the mechanical wear of the buffer spring can be avoided.

[0098] Specifically, the driving drilling device moves forward and performs a new drill bit installation operation. The installation identification mechanism 3 at the drill changing position detects whether the new drill bit is installed correctly. If it is not installed correctly, an installation error message is reported. If it is installed correctly, the drill changing operation is completed, including:

[0099] The drilling device is driven to move towards the drill changing position, and the drill bit mounting end of the drilling device is driven to rotate at a first rotational speed. The first rotational speed refers to the set value of the rotational speed of the drill bit mounting end during the insertion process. It can be achieved by using an adjustable speed motor in conjunction with a closed-loop control system. Specifically, it can be dynamically adjusted by adjusting the frequency or duty cycle of the motor drive signal. Through the rotational auxiliary alignment mechanism, the new drill bit dynamically adapts to the geometry of the slot, avoiding jamming or misalignment caused by static insertion, and ensuring that the drilling device can automatically adapt and install with the new drill bit.

[0100] The drilling device is driven to move to the first preset position of the drill changing working position. The first position sensor 31 of the installation identification mechanism 3 is detected to see if it is triggered. If the first position sensor 31 is not triggered, it is determined that the new drill bit is installed in place. The first preset position is set based on the drill bit groove depth and drill bit size. The first position sensor 31 can detect whether the new drill bit is matched and installed with the drilling device, so as to realize the first verification operation of the drilling device and the new drill bit assembly.

[0101] If the first position sensor 31 is triggered, the drilling equipment is driven to perform a secondary installation operation of the new drill bit. When the first position sensor 31 is triggered, the new drill bit and the drilling equipment have not been properly adapted, resulting in a deviation in the position of the new drill bit. The control system can drive the drilling equipment to perform a secondary installation operation to ensure that the installation operation of the new drill bit can be performed accurately. By driving the drilling equipment to move towards the drill changing position and rotating the drill bit installation end synchronously, the new drill bit is gradually aligned with the slot entrance during dynamic rotation, effectively eliminating the initial alignment deviation. When the equipment moves to the first preset position, the first position sensor 31 of the installation identification mechanism 3 enters the effective detection area. At this time, the triggering state of the sensor is directly related to the physical contact relationship between the drill bit and the slot. No triggering indicates that the drill bit has been completely sunk into the slot without any protruding parts, while triggering indicates that there is incomplete embedding or external interference. Based on this detection result, the system automatically triggers the secondary installation operation instead of directly reporting an error. By repeating the process, random interference factors are eliminated, forming a closed-loop control mechanism of detection-judgment-correction, thereby ensuring the accuracy of the installation status judgment and the continuity of the operation process.

[0102] Specifically, the driving drilling device moves to the first preset position of the drill bit changing working position, and detects whether the first position sensor 31 of the installation identification mechanism 3 is triggered. If the first position sensor 31 is triggered, the driving drilling device performs a secondary installation operation of the new drill bit, including:

[0103] The drilling device is driven to move toward the drill changing position, while the drill bit installation position of the drilling device is kept rotating at a first rotation speed to achieve dynamic rotational adaptation with the new drill bit.

[0104] When the second position sensor 32 of the installation identification mechanism 3 is triggered, the drilling device is driven to reset to the first preset position. The drilling device then continues to move towards the drill-changing position, allowing the new drill bit and the drilling device to move synchronously. That is, after the new drill bit and the drilling device are matched, the new drill bit can move with the drilling device; or, if the new drill bit and the drilling device are not matched, the new drill bit can be moved by the pushing force of the drilling device. By detecting the position of the new drill bit through the second position sensor 32, the forward movement distance of the drilling device can be determined, ensuring that the mechanical wear of the drilling device's buffer spring is overcome. Specifically, the setting position of the second position sensor 32 can be set according to the model and specifications of the drilling device's buffer spring to ensure that the second position sensor 32 can meet the elastic limit position requirements of the buffer spring.

[0105] By driving the drilling device to reset to the first preset position, the first position sensor 31 can re-identify and determine the assembly status between the drilling device and the new drill bit. That is, after the new drill bit is assembled, the new drill bit can be reset with the drilling device; if the new drill bit fails to match the drilling device, the new drill bit will remain in a positional deviation.

[0106] Specifically, the system detects whether the first position sensor 31 of the installation and identification mechanism 3 is triggered. If the first position sensor 31 is not triggered, it is determined that the new drill bit is installed in place. The system also detects the assembly status between the drilling equipment and the new drill bit through the first position sensor 31. If the first position sensor 31 is triggered, it is determined that the new drill bit is not installed in place, and an installation error message is reported.

[0107] Specifically, the drill bit replacement control method further includes:

[0108] The drill bit identification mechanism 4 identifies the drill bit slot position of the drill bit changer 1 and obtains the drill bit status data of the drill bit slot position within the drill bit change working position.

[0109] The drill bit status data is compared with the drill bit slot information corresponding to the mark number. If the drill bit status data does not match the drill bit slot information corresponding to the mark number, an error message for the drill bit slot in the drill changing position is reported.

[0110] Among them, the drill bit identification mechanism 4 refers to a device used to detect the physical state of the drill bit slot. It can be implemented using photoelectric sensors, pressure sensors, or machine vision systems. Its purpose is to perceive the presence and integrity of the drill bit in real time. The drill bit status data refers to information that characterizes the actual physical state of the drill bit slot. It can include status indicators such as missing drill bits, damage, or abnormal installation, providing quantifiable actual status input. The comparison refers to the process of verifying the consistency between the drill bit status data and the drill bit slot information based on the tag number in the database. It can be implemented using logical judgment or data matching algorithms to confirm whether the system record is synchronized with the physical reality. When an inconsistency is detected, an alarm mechanism is triggered to report error information. This can include generating an error log, sending audible and visual signals, or pausing the operation process, which can promptly interrupt potential erroneous operations and prompt maintenance intervention.

[0111] The drill bit identification mechanism 4 captures the physical state of the drill bit slot in real time at the drill bit replacement work position. The acquired drill bit status data is dynamically compared with the database records associated with the marked number. When a discrepancy is found between the status data and the recorded information, an error message is immediately triggered and reported. This establishes a verification closed loop at the key node of the drill bit replacement operation, ensuring that the actual state of the drill bit slot is verified before disassembling the old drill bit or installing the new drill bit. This avoids the continuation of misoperation due to missing or abnormal drill bits, effectively ensuring the continuity of the drill bit replacement process and the safety of the equipment.

[0112] This invention provides a method and apparatus for controlling drill bit replacement in elevator shaft drilling equipment. By setting a marking code, the method achieves systematic management of the drill bit slot information of the drill bit replacement cutter head 1. During the drill bit replacement operation, the method uses sensors to identify the corresponding drill bit, enabling the drilling equipment to accurately replace and install the drill bit. The method also uses sensors to detect the stability of the drill bit replacement operation, thereby improving the stability of the drill bit replacement operation in the elevator shaft and achieving fully automatic and efficient drill bit replacement operation for the drilling equipment.

[0113] Example 2:

[0114] Figure 3 A schematic diagram of a drill changing control device according to an embodiment of the present invention is shown, which is used to implement the drill changing control method of the drilling equipment. The drill changing control device includes:

[0115] Drill changing module 10: used to drive the drill changing cutter head 1 to descend to the drill changing working position according to the drill changing signal, and to switch the position and posture state of the drill changing cutter head 1 according to the drill changing operation.

[0116] Drilling module 20: Used to generate a drill change signal according to the drilling operation task, and to cooperate with the drill change module 10 to perform the drill change operation;

[0117] Main control module 30: Used to control and coordinate the operation of the drill changing module 10 and the drilling module 20 based on the detection data of the drill changing operation process.

[0118] By combining the automatic descent and pose switching functions of the drill changing module 10, the intelligent signal generation and coordination function of the drilling module 20, and the real-time data coordination function of the main control module 30 in a modular collaborative manner, closed-loop automatic control of the drill changing process is realized, avoiding redundancy in operation steps and positioning errors caused by manual intervention, thereby improving drill changing efficiency and simplifying the operation process.

[0119] Specifically, the drill changing module 10 drives the drill changing cutterhead 1 to descend to the drill changing working position based on the drill changing signal, ensuring that the drill changing action is automatically triggered only when needed, avoiding delays caused by manual judgment and operation. Simultaneously, it switches the position and orientation of the drill changing cutterhead 1 according to the drill changing operation, enabling the cutterhead to dynamically adjust to a precise working position, providing reliable positioning for drill bit disassembly and installation. The drilling module 20 generates a drill changing signal based on the drilling operation task, directly linking the drill changing trigger to the drilling task status, intelligently responding to task requirements without manual intervention; it works in conjunction with the drill changing module 10 to perform the drill changing operation, achieving seamless connection between the drilling and drill changing stages. The main control module 30 controls and coordinates the operation process of each module based on the detection data during the drill changing operation, dynamically optimizing action execution using real-time collected data, ensuring that the drill changing steps are completed accurately according to the actual state. Through the above technical solutions, the inefficiency and cumbersome operation problems caused by insufficient slot positioning accuracy, redundant operation steps, and lack of closed-loop control mechanisms in traditional manual or semi-automatic drill changing operations are effectively overcome, significantly improving the continuous operation capability and construction reliability of elevator shaft drilling equipment.

[0120] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, which may include: read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, etc.

[0121] Furthermore, the above description provides a detailed explanation of the drilling control method and system for elevator shaft drilling equipment provided by the embodiments of the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method of drill changing control for an elevator shaft drilling apparatus, characterized by, The drill bit replacement control method includes: The numbering detection mechanism identifies the current drill bit slot marking number of the drill bit changer based on the drill changer's working position; Obtain the current drill bit slot information of the drill changer head according to the marked number, and adjust the adjacent empty drill bit slots in the drill changer head to be within the drill change working position based on the drill bit slot information; Drive the drilling equipment forward and install the old drill bit of the drilling equipment into the empty drill bit slot in the drill replacement working position. After the old drill bit of the drilling equipment is removed, drive the drilling equipment to reset to the drill replacement preparation position. Adjust the position of the drill bit slot on the drill bit changer so that the drill bit slot with the new drill bit is located within the drill changing working position; The drilling equipment is driven forward to install a new drill bit. The installation identification mechanism at the drill changing position detects whether the new drill bit is installed in place. If it is not installed in place, an installation error message is reported. If it is installed in place, the drill changing operation is completed. The step of obtaining the current drill bit slot information of the drill changer head according to the marker number, and adjusting the adjacent empty drill bit slots in the drill changer head to be within the drill change working position based on the drill bit slot information includes: The control system queries the database for the drill bit information recorded by the marked number to obtain the current drill bit slot information of the drill bit changer. The control system queries the database for the drill bit slot information of the drill bit changer and extracts information on one or more empty drill bit slots. Compare the current drill bit slot information with the information of one or more empty drill bit slots, and calculate the position difference data between the current drill bit slot information and each empty drill bit slot information; An adjustment instruction is generated based on the position difference data, and the current drill bit slot of the drill changer head at the drill change working position is converted into an empty drill bit slot based on the adjustment instruction. The adjustment of the drill bit slot position on the drill changer disc, so that the drill bit slot with the new drill bit is located within the drill changing working position, includes: Query the database of the drill bit changer to obtain the mark number of the drill bit slot with the new drill bit; The difference between the marking number of the drill bit slot and the marking number of the drill bit slot at the drill changing working position is calculated, and the second rotation angle and the second rotation direction of the drill changing cutterhead are set according to the difference calculation data. Drive the drill changer disc upward to the rotation adjustment position, and drive the drill changer disc to rotate and adjust according to the second rotation angle and the second rotation direction, so that the drill bit slot of the drill changer disc with the new drill bit is located in the drill changing working position.

2. The drill changing control method for elevator shaft drilling equipment as described in claim 1, characterized in that, The marking number used by the numbering detection mechanism based on the drill changing working position to identify the current drill bit slot of the drill changing cutterhead includes: The drill changer head is controlled to descend vertically to the drill change working position according to the drill change signal; The electrical status of several coded slots of the drill bit slot on the drill bit changer is obtained by the number detection mechanism at the drill changer position, and the mark number of the binary data of the current drill bit slot is output according to the electrical status of the several coded slots.

3. The drill changing control method for elevator shaft drilling equipment as described in claim 1, characterized in that, The step of generating an adjustment command based on the position difference data, and converting the current drill bit slot of the drill changer head at the drill change working position into an empty drill bit slot based on the adjustment command, includes: The position difference data with the smallest absolute value is extracted from the position difference data and used as adjustment data. The first rotation angle of the drill bit changer is set according to the absolute value of the position difference of the adjustment data, and the first rotation direction of the drill bit changer is set according to the positive or negative sign of the position difference data of the adjustment data. The adjustment command for the drill changer is set by defining the first rotation angle and the first rotation direction of the drill changer.

4. The drill changing control method for elevator shaft drilling equipment as described in claim 1, characterized in that, The driving drilling device moves forward and places the old drill bit of the drilling device into the empty drill bit slot in the drill changing working position. After the old drill bit of the drilling device is removed, the driving drilling device resets to the drill changing preparation position, including: The coaxiality deviation between the empty drill bit slot and the old drill bit position of the drilling equipment is obtained by a laser sensor, and it is detected whether the coaxiality deviation is within the safe threshold range. If the coaxiality deviation exceeds the safe threshold range, the drill change preparation position of the drilling equipment is adjusted according to the coaxiality deviation. If the coaxiality deviation is within the safety threshold range, the old drill bit of the drilling device is driven to insert inward. By switching the clamping state of the old drill bit between the drill changer disc and the drilling device, the disassembly and transfer of the old drill bit are completed.

5. The method for controlling drill changing in elevator shaft drilling equipment as described in claim 1, characterized in that, The driving drilling device moves forward and installs a new drill bit. The installation identification mechanism at the drill changing position detects whether the new drill bit is properly installed. If it is not properly installed, an installation error message is reported. If it is properly installed, the drill changing operation is completed, including: Drive the drilling device to move toward the drill changing working position, and drive the drill bit mounting end of the drilling device to rotate at a first rotational speed; The drilling device is driven to move to the first preset position of the drill changing working position, and the first position sensor of the installation identification mechanism is detected to be triggered. If the first position sensor is not triggered, it is determined that the new drill bit is installed in place. If the first position sensor is triggered, the drilling equipment will be driven to perform a second installation operation of the new drill bit.

6. The method for controlling drill changing in elevator shaft drilling equipment as described in claim 5, characterized in that, The driving drilling device moves to a first preset position within the drill changing working position, and detects whether the first position sensor of the installation identification mechanism is triggered. If the first position sensor is triggered, the driving drilling device performs a secondary installation operation of the new drill bit, including: Drive the drilling device to move towards the drill changing position; When the second position sensor of the installation identification mechanism is triggered, the drilling device is driven to reset to the first preset position; The system detects whether the first position sensor of the installation identification mechanism is triggered. If the first position sensor is not triggered, it is determined that the new drill bit is installed in place. If the first position sensor is triggered, it is determined that the new drill bit is not installed in place, and an installation error message is reported.

7. The method for controlling drill changing in elevator shaft drilling equipment as described in claim 1, characterized in that, The drill bit replacement control method also includes: The drill bit identification mechanism identifies the drill bit slot position of the drill bit changer and obtains the drill bit status data of the drill bit slot position within the drill bit change working position. The drill bit status data is compared with the drill bit slot information corresponding to the mark number. If the drill bit status data does not match the drill bit slot information corresponding to the mark number, an error message for the drill bit slot in the drill changing position is reported.

8. A drill changing control device for elevator shaft drilling equipment, characterized in that, The drill changing control device is used to implement the drill changing control method for drilling equipment as described in any one of claims 1 to 7, and the drill changing control device includes: Drill changing module: Used to drive the drill changing cutterhead to descend to the drill changing working position according to the drill changing signal, and to switch the position and posture of the drill changing cutterhead according to the drill changing operation; Drilling module: Used to generate drill change signals according to the drilling operation task, and to cooperate with the drill change module to perform the drill change operation; Main control module: Used to control and coordinate the operation of the drill changing module and the drilling module based on the detection data of the drill changing operation process.

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