Lifting oil cylinder provided with locking structure and used for geological exploration drilling machine and using method of lifting oil cylinder

Abstract

The invention discloses a lifting oil cylinder with a locking structure for a geological prospecting drilling rig and a using method, and belongs to the technical field of geological prospecting equipment.The lifting oil cylinder with the locking structure for the geological prospecting drilling rig comprises a machine body, the machine body is provided with a bottom plate, and a plurality of lifting oil cylinders are fixedly installed on the periphery of the lower surface of the bottom plate; symmetrical mounting seats are fixedly mounted on the surface of the lifting oil cylinder, and locking mechanisms are slidably connected into the mounting seats. A support mechanism is rotationally connected into the mounting base, a limiting mechanism used for manually locking the lifting oil cylinder is fixedly mounted on the surface of the mounting base, a telescopic section drives a connecting plate to move downwards when extending downwards, an upper support rotates to drive a moving block to move to a containing groove, and after a second conductive block and a first conductive block are attached, a coil is powered on to generate current. The metal block with magnetism is attracted by the strong magnet to be clamped into the butt joint groove to achieve automatic locking of the lifting oil cylinder.

Description

Technical Field

[0001] This invention belongs to the technical field of geological exploration equipment, specifically relating to a lifting cylinder with a locking structure for a geological exploration drilling rig and its usage method. Background Technology

[0002] Geological exploration is an investigation and research activity that uses various means and methods to explore and detect geology, determine suitable bearing strata, determine the foundation type based on the bearing capacity of the bearing strata, and calculate foundation parameters. It involves investigating and researching the geological conditions of a specific area, including rocks, strata, structures, minerals, hydrology, and geomorphology, to ascertain the quality and quantity of minerals, as well as the technical conditions for mining and utilization, and to provide the necessary mineral reserves and geological data for mine construction design. In practice, geological exploration often involves drilling rigs for borehole operations.

[0003] The lifting cylinders of a drilling rig play a crucial role in its operation. Through a hydraulic system, they provide strong support, ensuring the rig remains stable during operation. This stability is essential to prevent the rig from tilting, shaking, or moving, thus guaranteeing drilling accuracy and safety.

[0004] Vibration of the drilling rig is a common phenomenon during drilling operations, and this vibration is inevitably transmitted to the lifting cylinder. As a crucial support and power component of the drilling rig, the stability of the lifting cylinder directly affects the overall accuracy and safety of the rig. However, due to the vibration, the lifting cylinder may experience slight displacement or oscillation, affecting its supporting function, especially noticeable during drilling. When the lifting cylinder shifts or oscillates due to vibration, it may fail to provide stable and precise support to the drilling rig, causing the drilling direction to tilt. Drilling tilt not only affects the quality and efficiency of drilling but can also damage the drilling rig itself and even lead to safety accidents.

[0005] Therefore, there is an urgent need to provide a lifting cylinder for geological exploration drilling rigs with a locking structure and a method for using it to solve the above problems. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a lifting cylinder for a geological exploration drilling rig with a locking structure and a method of using it.

[0007] The technical solution adopted to solve the above technical problems is: to provide a lifting cylinder for a geological exploration drilling rig with a locking structure, including a body, the body being provided with a base plate, and multiple lifting cylinders being fixedly installed around the lower surface of the base plate, and also including;

[0008] The symmetric mounting seat is fixedly installed on the surface of the lifting oil cylinder, and a locking mechanism for automatically locking the lifting oil cylinder is slidably connected in the mounting seat.

[0009] The bracket mechanism for automatically locking the lifting oil cylinder in cooperation with the locking mechanism is rotatably connected in the mounting seat, and a limiting mechanism for manually locking the lifting oil cylinder is fixedly installed on the surface of the mounting seat.

[0010] The lifting oil cylinder is provided with a fixed section and an extension section, the fixed section is fixedly installed around the lower surface of the bottom plate, the extension section is fixedly installed with symmetric connecting plates on the surface, the end of the extension section is fixedly installed with a ground plate, and a plurality of fixed piles are fixedly installed on the surface of the ground plate.

[0011] Through the above technical scheme, when the lifting oil cylinder is started, the extension section is extended, the ground plate is in contact with the ground, and the fixed piles are inserted into the ground to fix the position of the geological exploration drilling machine, so that the geological exploration drilling machine can be kept stable during work.

[0012] The fixed section is fixedly installed with symmetric mounting seats on the surface, the extension section is slidably connected between the two mounting seats, a rotating groove is formed in the mounting seat, a guide groove is formed on the side of the mounting seat close to the rotating groove, an accommodating groove is formed on the side of the mounting seat close to the guide groove, and a first conductive block is fixedly installed on the inner wall of the rotating groove.

[0013] Through the above technical scheme, the rotating groove is provided as a fan shape to provide space for the rotation of the upper bracket and the lower bracket, the guide groove is provided as an arc shape to provide space for the rotation of the moving block and limit the moving block from deviating during rotation, thereby affecting the locking work of the locking mechanism, the accommodating groove is used for placing the metal block, and the first conductive block is electrically connected to the two ends of the coil through the wire, so that the metal block can generate magnetism.

[0014] The bracket mechanism includes an upper bracket, one end of the upper bracket is hinged to the surface of the connecting plate, a second conductive block is fixedly installed on one side of the surface of the upper bracket, the first conductive block is movably attached to the second conductive block, the second conductive block is connected to the positive and negative poles of the external power supply through the wire, the other end of the upper bracket is hinged with a lower bracket, a moving block is fixedly installed on the surface of the lower bracket, a butt joint groove is formed on the surface of the moving block, a strong magnet is fixedly installed in the butt joint groove, and the moving block is slidably connected in the guide groove.

[0015] Through the technical scheme, the telescopic section is extended downwards to drive the connecting plate to move downwards, the upper support is rotated through the hinged connection between the upper support and the connecting plate, the included angle between the upper support and the lower support becomes smaller and tends to be a straight line, the second conductive block is attached to the surface of the first conductive block, the upper support is rotated to drive the moving block to move to the accommodating groove, and the butt joint groove and the accommodating groove are in the same horizontal plane, the coil is electrified after the second conductive block is attached to the first conductive block, current is generated, according to the principle of electromagnetic induction, the metal block in the coil generates magnetism, the metal block with magnetism is clamped into the butt joint groove under the attraction of the strong magnet to limit the lower support, so that the upper support and the lower support are kept in a straight line state, and automatic locking of the lifting oil cylinder is realized.

[0016] The locking mechanism comprises a metal block, a coil is fixedly installed on the surface of the metal block, the metal block is slidingly connected in the accommodating groove and the butt joint groove, a second spring is fixedly installed on one side of the metal block, the other end of the second spring is fixedly connected with the inner wall of the accommodating groove, the other side of the metal block is movably attached to the surface of the strong magnet, and the first conductive block is electrically connected with the two ends of the coil through the wire.

[0017] Through the technical scheme, the coil is electrified after the second conductive block is attached to the first conductive block, current is generated, according to the principle of electromagnetic induction, the metal block in the coil generates magnetism, the metal block with magnetism is clamped into the butt joint groove under the attraction of the strong magnet to limit the lower support, so that the upper support and the lower support are kept in a straight line state, and automatic locking of the lifting oil cylinder is realized.

[0018] The metal block is internally provided with a positioning groove, an extension rod is slidingly connected in the positioning groove, a positioning ring is fixedly installed at one end of the extension rod, the positioning ring is attached to the inner wall of the positioning groove on one side, the positioning ring is slidingly connected in the positioning groove, the other end of the extension rod penetrates to the outside of the mounting seat and keeps a certain distance from the surface of the mounting seat, the extension rod penetrates the second spring, and a push plate is fixedly installed at the other end of the extension rod.

[0019] When working outdoors or the external power supply fails, the extension rod can be extruded into the mounting seat by pushing the push plate until the side of the push plate is attached to the surface of the mounting seat, the positioning ring at the end of the extension rod simultaneously pushes the metal block to move into the butt joint groove to limit the lower support, so that the purpose of manually locking the lifting oil cylinder is achieved, and the distance from the extension rod to the surface of the mounting seat is consistent with the distance from the metal block to the surface of the strong magnet.

[0020] The application is further provided with a fixing block fixedly installed on the surface of the mounting seat, a plug rod slidably connected inside the fixing block, and a plug hole opened on the surface of the push plate, and the plug rod is movably inserted into the plug hole.

[0021] Through the above technical solution, when the extension rod is manually pushed to the surface of the mounting seat, the metal block is attached to the strong magnet to limit the lower support, and the plug rod is inserted into the plug hole on the surface of the push plate to fix the position of the push plate, so that the position of the extension rod can be fixed and the metal block can be continuously inserted into the butt joint groove.

[0022] The application is further provided with a limiting groove opened inside the fixing block, a limiting ring fixedly installed on the surface of the plug rod, the limiting ring and the plug rod being slidably connected inside the limiting groove, a first spring fixedly installed on the surface of the limiting ring, the other end of the first spring being fixedly connected with the inner wall of the limiting groove, and the plug rod penetrating through the inside of the first spring.

[0023] Through the above technical solution, the limiting groove provides space for the movement of the plug rod and the limiting ring, and avoids the position of the plug rod from deviating from the plug hole when moving, in the initial state, the first spring pushes the limiting ring, so that the plug rod can remain inserted into the plug hole, when the metal block needs to be removed from the butt joint groove, the plug rod is pulled, the end of the plug rod is removed from the plug hole, the limiting of the extension rod is cancelled, the metal block is withdrawn into the accommodating groove, and the first spring restores the plug rod to the initial state for next use.

[0024] The application is further provided with walking wheels fixedly installed around the lower surface of the base plate, and the walking wheels and the lifting oil cylinders are provided as four groups, and each walking wheel is located on one side of each lifting oil cylinder.

[0025] Through the above technical solution, the geological exploration drilling machine is moved to the working position by the walking wheels for geological exploration, and the overall length of the fixed section and the fully extended telescopic section is consistent with the overall height of the walking wheels, so that the geological exploration drilling machine is prevented from tilting.

[0026] A use method of a lifting oil cylinder with a locking structure for a geological exploration drilling machine, comprising the following steps:

[0027] Step one: moving the geological exploration drilling machine to the working site by the walking wheels and starting the four lifting oil cylinders;

[0028] Step two: the telescopic section of the lifting oil cylinder is extended downward to drive the ground plate into contact with the ground, and the fixed pile is inserted into the ground to fix the geological exploration drilling machine;

[0029] Step three: when the telescopic section extends downward, the connecting plate moves downward, the upper support rotates through the hinge action of the upper support and the connecting plate, the included angle between the upper support and the lower support becomes smaller and tends to be straight, the second conductive block is attached to the surface of the first conductive block;

[0030] Step four: the upper support drives the moving block to move to the accommodating groove position, the butt joint groove and the accommodating groove are in the same horizontal plane, the coil is energized after the second conductive block is attached to the first conductive block, current is generated, according to the principle of electromagnetic induction, the metal block inside the coil generates magnetism, the metal block with magnetism is clamped into the butt joint groove under the attraction of the strong magnet, thereby limiting the lower support, so that the upper support and the lower support remain in a straight line state, and automatic locking of the lifting cylinder is realized.

[0031] The application is further provided as follows: further comprising, through intelligent algorithm combined with vibration sensor and load monitoring, the electromagnetic locking force of the drilling machine under different vibration intensities is automatically adjusted, and the locking effect is immediately enhanced when abnormal vibration occurs, so that the cylinder always remains stable, and the specific steps are as follows:

[0032] I. System hardware configuration

[0033] 1. Vibration sensor

[0034] Sensor type: three-axis accelerometer, which can monitor the vibration intensity of the drilling machine in real time;

[0035] Position: the vibration sensor is installed on the body structure of the drilling machine, close to the mounting seat of the oil cylinder, so as to detect the vibration information when the oil cylinder is operated;

[0036] Data type: the output data is the intensity and frequency of vibration, which can be expressed as v t , unit: acceleration (m / s 2 );

[0037] 2. Load sensor

[0038] Sensor type: strain gauge sensor, which can measure the load of the oil cylinder;

[0039] Position: the load sensor is installed between the telescopic section and the fixed section of the oil cylinder, and is used to monitor the axial load of the oil cylinder;

[0040] Data type: the output data is the load force τ t of the oil cylinder, unit: Newton N;

[0041] 3. Oil cylinder displacement sensor:

[0042] Sensor type: linear displacement sensor for real-time detection of the telescopic length or position of the oil cylinder;

[0043] Position: installed on the telescopic section of the cylinder, can accurately measure the telescopic amount of the cylinder;

[0044] Data type: output data is the displacement x of the cylinder t , unit is meter m;

[0045] II. Data acquisition and preprocessing

[0046] In order to ensure the accuracy and stability of the algorithm, the data acquisition and preprocessing is very important; the following are the detailed steps:

[0047] 1. Data acquisition:

[0048] All sensors convert the collected analog signals into digital signals through analog-digital converters; the data acquisition frequency is set to 100Hz, which can ensure the real-time of vibration, load and displacement;

[0049] 2. Data preprocessing:

[0050] Vibration data preprocessing: low-pass filter the vibration signal, remove high-frequency noise, and calculate the mean and variance of the vibration;

[0051]

[0052] Among them, v i is the i-th vibration sample, N is the number of sampling points, v t is the mean value of the current time vibration signal;

[0053] Load data preprocessing: remove environmental noise by bias removal processing on load data, and calculate the maximum and minimum values of the load;

[0054] τ t = max(τ)-min(τ)

[0055] Among them, τ t is the load range of the current sample, max(τ) is the maximum value in the load data, and min(τ) is the minimum value in the load data;

[0056] Displacement data preprocessing: standardize the displacement data so that the data range is between [0, 1];

[0057]

[0058] Among them, x t is the displacement value of the current sample after standardization, x raw is the original displacement value, x min and x max are the minimum and maximum values in the historical data respectively;

[0059] III. Core algorithm SAC (Soft Actor-Critic)

[0060] SAC algorithm is a maximum entropy reinforcement learning algorithm, which combines value function and policy network, and is trained by maximizing the weighted sum of expected return and entropy; the specific steps of the algorithm are as follows:

[0061] 1. State representation:

[0062] Define the state of the system as:

[0063] s t =[v t ,τ t ,x t ]

[0064] Where s t is the state vector, v t is the vibration intensity, τ t is the cylinder load, and x t is the cylinder displacement; 2. Action space:

[0065] The action space is the current regulation size:

[0066] u t ∈[u min ,u max ]

[0067] Where u t is the action vector, u min and u max are the minimum and maximum values of the current, respectively; 3. Reward function:

[0068] The reward function is designed according to the locking effect and stability of the system, and is evaluated by vibration suppression, load stability and cylinder position accuracy:

[0069] r t =-(λ1·|v t |+λ2·|τ t -τ target |+λ3·|x t -x target |)

[0070] Where r t is the reward value of the system at the current time, reflecting the locking effect and stability of the system, λ1, λ2, λ3 are hyperparameters, τ target and x target are the expected load and displacement targets; r t is positive, indicating small vibration, load matching and cylinder position close to target; r tis negative, indicating that the vibration is large, the load deviation is large, and the cylinder position deviation is large;

[0071] 4. Q-value function (action value function)

[0072] The Q-value function is used to represent the expected return of taking a certain action u t in a given state s t ; its formula is defined as:

[0073]

[0074] where Q π (s t , u t ) is the expected return of taking action u t in a given state s t , is the expected symbol, γ is the discount factor, which controls the weight of future returns, k is the index of the time step, represents the offset of future time, and r t+k is the immediate reward at time step t+k.

[0075] 5. V-value function (state value function)

[0076] The V-value function represents the expected return of taking the optimal policy in a given state s t ; its formula is:

[0077]

[0078] where V π (s t ) is the expected return of taking the optimal policy π in a given state s t , γ is the discount factor, and r t+k is the immediate reward at time step t+k.

[0079] 6. Bellman equation To optimize the Q-value function and the V-value function, the Bellman equation is used to update these two value functions; in SAC, the form of the Bellman equation is as follows:

[0080]

[0081] where rt is the immediate reward, representing feedback based on the current control policy; α is the temperature coefficient, used to balance exploration and exploitation.

[0082] π(u t |s t ) is the current policy, representing the probability of taking action u t in state s t ;

[0083] 7. Updates of the target Q-value network and V-value network

[0084] In SAC, the Q-value and V-value networks are optimized by the following update rules: Q-value network: minimize the error between the Q-value prediction and the target Q-value by gradient descent:

[0085]

[0086] where, is the loss function of the Q-value network, representing the error between the predicted Q-value and the target Q-value, is the expected value for the current state s t and action u t , is the target Q-value, i.e., the Q-value calculated by the target network, which is usually the result of the output of the target Q-value network; V-value network: minimize the error between the V-value prediction and the target V-value:

[0087]

[0088] where, is the loss function of the V-value network, is the expected value for the current state s t , is the target V-value, i.e., the V-value calculated by the target network, which is usually the result of the output of the target V-value network;

[0089] 8. Policy optimization and temperature regulation

[0090] The optimization of the policy is achieved by maximizing the following objective:

[0091]

[0092] where, is the loss function of the policy optimization;

[0093] The temperature a is dynamically adjusted to balance exploration and exploitation by optimizing the following objective:

[0094]

[0095] where, is the expected entropy value;

[0096] Four, output control

[0097] After training, the SAC policy network will output a current current regulation value u t according to the current system state (vibration intensity v t , load τ t , cylinder displacement x t )., dynamic adjustment, direct control of the current size of the electromagnet, thereby realizing the locking or unlocking control of the oil cylinder.

[0098] The beneficial effects of the present application are as follows:

[0099] 1、The automatic locking mechanism is arranged, the metal block in the coil is magnetized to be clamped into the butt joint groove to limit the lower support, so that the upper support and the lower support remain in a straight line state, the automatic locking of the lifting oil cylinder is realized, the vibration of the drilling machine is avoided, the drilling machine is tilted, the stable and accurate supporting force is provided for the drilling machine, and the working quality and efficiency of drilling are improved;

[0100] 2、The limiting mechanism is arranged, when working outdoors or external power failure occurs, the extending rod can be extruded into the mounting seat by pushing the push plate, until the side of the push plate is attached to the surface of the mounting seat, the positioning ring at the end of the extending rod pushes the metal block to move into the butt joint groove to limit the lower support, so that the purpose of manually locking the lifting oil cylinder is achieved;

[0101] 3、The SAC algorithm is introduced, the system can learn and adjust the current output in real time in a dynamic working environment, so that the locking force always remains in the optimal state. This solves the technical problem that the traditional method cannot cope with dynamic changes;

[0102] 4、The SAC algorithm can strengthen the memory of important experience and learn from it preferentially by introducing the priority experience replay (PER). This improves the robustness of the system in complex and unstable working conditions, and avoids control failure caused by bad experience. BRIEF DESCRIPTION OF DRAWINGS

[0103] Figure 1 is a schematic diagram of the three-dimensional structure of the present application;

[0104] Figure 2 is a schematic diagram of the lifting oil cylinder structure of the present application;

[0105] Figure 3 is a schematic diagram of the mounting seat cross-section structure of the present application;

[0106] Figure 4 is a schematic diagram of the mounting seat overall structure of the present application;

[0107] Figure 5 is a schematic diagram of the support mechanism structure of the present application;

[0108] Figure 6 is a schematic diagram of the locking mechanism structure of the present application;

[0109] Figure 7It is the schematic diagram of back profile structure of mounting seat of the application;

[0110] Figure 8 It is Figure 3 The enlarged view at A in the middle;

[0111] Figure 9 It is Figure 3 The enlarged view at B in the middle;

[0112] Figure 10 It is Figure 4 The enlarged view at C in the middle;

[0113] Figure 11 It is the flow chart of SAC-based adaptive reinforcement learning.

[0114] Reference signs: 1, body; 11, bottom plate; 12, walking wheel; 2, lifting oil cylinder; 21, fixed section; 22, telescopic section; 23, connecting plate; 24, ground plate; 25, fixed pile; 3, mounting seat; 31, rotating groove; 32, guide groove; 33, containing groove; 34, first conductive block; 4, support mechanism; 41, upper support; 411, second conductive block; 42, lower support; 43, moving block; 431, butt joint groove; 44, strong magnet; 5, limiting mechanism; 51, fixed block; 52, insertion rod; 53, limiting ring; 54, limiting groove; 55, first spring; 6, locking mechanism; 61, metal block; 611, positioning groove; 62, coil; 63, second spring; 64, extension rod; 641, positioning ring; 65, push plate; 651, insertion hole. DETAILED DESCRIPTION

[0115] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0116] Please refer to Figures 1-10 The application provides a lifting oil cylinder with a locking structure for a geological exploration drilling machine, which comprises a body 1, wherein the body 1 is provided with a bottom plate 11, and a plurality of lifting oil cylinders 2 are fixedly installed around the lower surface of the bottom plate 11.

[0117] As Figure 2 shown, the lifting oil cylinder 2 is provided with a fixed section 21 and a telescopic section 22, the fixed section 21 is fixedly installed around the lower surface of the bottom plate 11, the telescopic section 22 is fixedly installed with symmetrical connecting plates 23 on the surface, the end of the telescopic section 22 is fixedly installed with a ground plate 24, and the surface of the ground plate 24 is fixedly installed with a plurality of fixed piles 25.

[0118] The further implementation is further provided, the telescopic section 22 is extended, the ground plate 24 is in contact with the ground, the fixing pile 25 is inserted into the ground to fix the position of the geological exploration drilling machine, so that the geological exploration drilling machine can be stable during work.

[0119] As shown in Figure 1 , the bottom plate 11 is fixedly installed with walking wheels 12 around the lower surface, and the walking wheels 12 and the lifting oil cylinder 2 are arranged as four groups, and each walking wheel 12 is located on one side of each lifting oil cylinder 2.

[0120] The further implementation is further provided, the telescopic section 22 is extended, the ground plate 24 is in contact with the ground, the fixing pile 25 is inserted into the ground to fix the position of the geological exploration drilling machine, so that the geological exploration drilling machine can be stable during work.

[0121] The surface of the lifting oil cylinder 2 is fixedly installed with symmetrical mounting seats 3, and the locking mechanism 6 for automatically locking the lifting oil cylinder 2 is slidably connected in the mounting seat 3.

[0122] As shown in Figure 2 , Figure 3 and Figure 7 , the surface of the fixed section 21 is fixedly installed with symmetrical mounting seats 3, and the telescopic section 22 is slidably connected between the two mounting seats 3, the mounting seat 3 is provided with a rotating groove 31, the mounting seat 3 is provided with a guide groove 32 on the side close to the rotating groove 31, the mounting seat 3 is provided with a containing groove 33 on the side close to the guide groove 32, and the inner wall of the rotating groove 31 is fixedly installed with a first conductive block 34.

[0123] The further implementation is further provided, the rotating groove 31 is arranged as a fan shape, which provides space for the rotation of the upper bracket 41 and the lower bracket 42, the guide groove 32 is arc-shaped, which provides space for the rotation of the moving block 43 and limits the moving block 43, so as to avoid the moving block 43 from deviating during rotation, thereby affecting the locking work of the locking mechanism 6, the containing groove 33 is used for placing the metal block 61, and the first conductive block 34 is electrically connected with both ends of the coil 62 through wires, so that the metal block 61 can generate magnetism.

[0124] As shown in Figure 6 and Figure 8 , the locking mechanism 6 comprises a metal block 61, the surface of the metal block 61 is fixedly installed with a coil 62, the metal block 61 is slidably connected in the containing groove 33 and the butt joint groove 431, one side of the metal block 61 is fixedly installed with a second spring 63, the other end of the second spring 63 is fixedly connected with the inner wall of the containing groove 33, the other side of the metal block 61 is movably attached to the surface of the strong magnet 44, and the first conductive block 34 is electrically connected with both ends of the coil 62 through wires.

[0125] The second conductive block 411 is attached to the first conductive block 34, the coil 62 is energized to generate current, and according to the principle of electromagnetic induction, the metal block 61 inside the coil 62 generates magnetism. The metal block 61 with magnetism is attracted by the strong magnet 44 and is clamped into the docking groove 431 to limit the lower support 42, so that the upper support 41 and the lower support 42 remain in a straight line state, realizing automatic locking of the lifting oil cylinder 2. When the telescopic section 22 is retracted, the second conductive block 411 moves away from the first conductive block 34, and at this time the surface current of the coil 62 disappears, the metal block 61 loses magnetism, and under the action of the second spring 63, the metal block 61 is pulled back to the accommodating groove 33 inside to wait for next use. The attraction between the strong magnet 44 and the metal block 61 is greater than the stretching force of the second spring 63.

[0126] As shown in Figure 6 With Figure 8 The metal block 61 is internally provided with a positioning groove 611, the positioning groove 611 is internally slidably connected with an extension rod 64, one end of the extension rod 64 is fixedly installed with a positioning ring 641, one side of the positioning ring 641 is attached to the inner wall of the positioning groove 611, the positioning ring 641 is slidably connected inside the positioning groove 611, the other end of the extension rod 64 penetrates to the outside of the mounting seat 3 and keeps a certain distance from the surface of the mounting seat 3, the extension rod 64 penetrates through the inside of the second spring 63, and the other end of the extension rod 64 is fixedly installed with a push plate 65.

[0127] Further, when working outdoors or when the external power supply fails, the extension rod 64 can be extruded into the mounting seat 3 by pushing the push plate 65 until one side of the push plate 65 is attached to the surface of the mounting seat 3. The positioning ring 641 at the end of the extension rod 64 simultaneously pushes the metal block 61 to move into the docking groove 431 to limit the lower support 42, thereby achieving the purpose of manually locking the lifting oil cylinder 2. The distance from the extension rod 64 to the surface of the mounting seat 3 is consistent with the distance from the metal block 61 to the surface of the strong magnet 44.

[0128] The mounting seat 3 is internally rotatably connected with a support mechanism 4 for cooperating with the locking mechanism 6 to automatically lock the lifting oil cylinder 2, and the surface of the mounting seat 3 is fixedly installed with a limiting mechanism 5 for manually locking the lifting oil cylinder 2.

[0129] As shown in Figure 3 With Figure 5As shown, the support mechanism 4 includes an upper support 41, one end of the upper support 41 is hinged to the surface of the connecting plate 23, and a second conductive block 411 is fixedly installed on one side of the surface of the upper support 41. The first conductive block 34 is in active fit with the second conductive block 411. The second conductive block 411 is connected to the positive and negative poles of the external power supply through a wire. The other end of the upper support 41 is hinged to a lower support 42. The lower support 42 is fixedly installed with a moving block 43 on the surface. The moving block 43 is provided with a butt joint groove 431 on the surface. The butt joint groove 431 is fixedly installed with a strong magnet 44 inside. The moving block 43 is slidingly connected inside the guide groove 32.

[0130] Further in the embodiment, when the telescopic section 22 extends downward, it drives the connecting plate 23 to move downward. Through the hinged action of the upper support 41 and the connecting plate 23, the upper support 41 rotates. The included angle between the upper support 41 and the lower support 42 becomes smaller and tends to be a straight line. The second conductive block 411 is in surface fit with the first conductive block 34. The upper support 41 rotates to drive the moving block 43 to move to the accommodating groove 33 position, and the butt joint groove 431 and the accommodating groove 33 are in the same horizontal plane. After the second conductive block 411 is in fit with the first conductive block 34, the coil 62 is energized to generate current. As known from the principle of electromagnetic induction, the metal block 61 inside the coil 62 generates magnetism. The metal block 61 with magnetism is attracted by the strong magnet 44 and is clamped into the butt joint groove 431 inside to limit the lower support 42. Thus, the upper support 41 and the lower support 42 remain in a straight line state to realize automatic locking of the lifting oil cylinder 2.

[0131] As shown in the figure, Figure 7 As shown in the figure, Figure 10 The limiting mechanism 5 includes a fixed block 51 fixedly installed on the surface of the mounting seat 3. The fixed block 51 is slidingly connected with a plug rod 52 inside. The surface of the push plate 65 is provided with a plug hole 651. The plug rod 52 is movably inserted into the plug hole 651 inside.

[0132] Further in the embodiment, when the extension rod 64 is manually pushed to the surface of the mounting seat 3, the metal block 61 is in fit with the strong magnet 44 to limit the lower support 42. To prevent the extension rod 64 from rebounding under the action of the second spring 63, the plug rod 52 is inserted into the plug hole 651 inside to positionally fix the push plate 65. Thus, the position of the extension rod 64 can be fixed, and the metal block 61 can be continuously inserted into the butt joint groove 431 inside.

[0133] As shown in the figure, Figure 10 The fixed block 51 is provided with a limiting groove 54 inside. The surface of the plug rod 52 is fixedly installed with a limiting ring 53. The limiting ring 53 and the plug rod 52 are slidingly connected inside the limiting groove 54. The surface of the limiting ring 53 is fixedly installed with a first spring 55. The other end of the first spring 55 is fixedly connected with the inner wall of the limiting groove 54. The plug rod 52 penetrates through the inside of the first spring 55.

[0134] Further, the limiting groove 54 is arranged to provide space for the movement of the insertion rod 52 and the limiting ring 53, while avoiding the displacement of the insertion rod 52 from the position of the insertion hole 651 during movement. In the initial state, the first spring 55 pushes the limiting ring 53, so that the insertion rod 52 can remain inserted into the insertion hole 651. When it is necessary to move the metal block 61 out of the butt joint groove 431, the insertion rod 52 is pulled, and the end of the insertion rod 52 is moved out of the insertion hole 651, thereby canceling the limiting of the extension rod 64. The metal block 61 is retracted into the accommodating groove 33, and the first spring 55 restores the insertion rod 52 to the initial state for the next use.

[0135] The use method of the lifting oil cylinder of the geological exploration drilling rig with a locking structure comprises the following steps:

[0136] Step one: start the four lifting oil cylinders 2 after moving the geological exploration drilling rig to the working site through the walking wheels 12;

[0137] Step two: the telescopic section 22 of the lifting oil cylinder 2 is extended downward to drive the ground plate 24 to contact the ground, and the fixing pile 25 is inserted into the ground to fix the geological exploration drilling rig;

[0138] Step three: the connecting plate 23 is moved downward when the telescopic section 22 is extended downward, the upper support 41 is rotated through the hinged connection between the upper support 41 and the connecting plate 23, the included angle between the upper support 41 and the lower support 42 becomes smaller and tends to be a straight line, and the second conductive block 411 is attached to the surface of the first conductive block 34;

[0139] Step four: the moving block 43 is moved to the position of the accommodating groove 33 and the butt joint groove 431 is in the same horizontal plane with the accommodating groove 33 after the upper support 41 is rotated, the coil 62 is energized after the second conductive block 411 is attached to the first conductive block 34, a current is generated, according to the principle of electromagnetic induction, the metal block 61 inside the coil 62 generates magnetism, the metal block 61 with magnetism is attracted into the butt joint groove 431 under the attraction of the strong magnet 44 to limit the lower support 42, so that the upper support 41 and the lower support 42 remain in a straight line state, and the automatic locking of the lifting oil cylinder 2 is realized.

[0140] As shown in Figure 11 , in step four, the intelligent algorithm is combined with the vibration sensor and the load monitoring to automatically adjust the electromagnetic locking force under different vibration intensities, and the locking effect is immediately enhanced when abnormal vibration occurs, so as to ensure that the oil cylinder always remains stable. The specific steps are as follows:

[0141] I. Assume system input

[0142] Vibration intensity v t : the measured vibration is v t= 2.5 m / s 2

[0143] Load τ t : Load of oil cylinder is τ t = 1500 N

[0144] Oil cylinder displacement x t : Extension displacement of oil cylinder is x t = 0.1 m

[0145] System state s t : In the current state, the oil cylinder is in a partially locked state, and the locking force is L t = 30 N.

[0146] II. Input and output of SAC algorithm

[0147] Objective: Adjust the current u t to optimize the locking effect. Through algorithmic dynamic adjustment of the current output of the coil, its locking force is always kept in the appropriate range.

[0148] 1. Define Q value function

[0149]

[0150] Where, γ = 0.95;

[0151] Reward function:

[0152] r t = (λ1·|v t |+λ2·|τ t -τ target |+λ3·|x t -x target |)

[0153] Where, λ1 = 1, λ2 = 10, λ3 = 5, τ target = 1200 N, x target = 0.75 m; r t = -(1·|0.5|+10·|1500-1200|+5·|0.8-0.75|) = -3000.75

[0154] 2. V value function

[0155]

[0156] 3. Bellman equation

[0157]

[0158] Where, γ = 0.95;

[0159] 4. Select action (current regulation)

[0160] At each time step, the SAC algorithm will select the optimal action u t (including vibration, load, cylinder position) according to the current state s t , that is, the most suitable current regulation value.

[0161] Three, dynamic temperature regulation

[0162] Objective: Adjust the balance between exploration and exploitation using dynamic temperature regulation strategy to avoid the algorithm falling into local optimum too early.

[0163] β t = max(0, β t-1 - α·(v t - τ t ))

[0164] Wherein, α = 0.2;

[0165] Four, output control

[0166] After training, the SAC policy network will output the target current u t = 3.2A according to the current system state (vibration intensity v t , load τ t , cylinder displacement x t ) to directly control the current size of the electromagnet.

[0167] The above only describes the preferred embodiments of the present application and is not intended to limit the protection scope of the present application.

Claims

1. A lifting cylinder with locking structure for a geological exploration drilling rig, comprising a body (1), characterized in that, The machine body (1) is provided with a bottom plate (11), a plurality of lifting oil cylinders (2) are fixedly installed around the lower surface of the bottom plate (11), and the machine body (1) further comprises; The surface of the lifting oil cylinder (2) is fixedly installed with symmetrical mounting seats (3), and the inside of the mounting seat (3) is slidably connected with a locking mechanism (6) for automatically locking the lifting oil cylinder (2); The inside of the mounting seat (3) is rotatably connected with a support mechanism (4) for cooperating with the locking mechanism (6) to automatically lock the lifting oil cylinder (2), and the surface of the mounting seat (3) is fixedly installed with a limiting mechanism (5) for manually locking the lifting oil cylinder (2).

2. The lifting cylinder with locking structure for the geological exploration drilling rig according to claim 1, characterized in that, The lifting oil cylinder (2) is provided with a fixed section (21) and a telescopic section (22), the fixed section (21) is fixedly installed around the lower surface of the bottom plate (11), the surface of the telescopic section (22) is fixedly installed with symmetrical connecting plates (23), and the end of the telescopic section (22) is fixedly installed with a ground plate (24), the surface of the ground plate (24) is fixedly installed with a plurality of fixed piles (25).

3. The lifting cylinder with locking structure for the geological exploration drilling rig according to claim 2, characterized in that, The surface of the fixed section (21) is fixedly installed with symmetrical mounting seats (3), the telescopic section (22) is slidably connected between the two mounting seats (3), the inside of the mounting seat (3) is provided with a rotating groove (31), the side of the mounting seat (3) close to the rotating groove (31) is provided with a guide groove (32), and the side of the mounting seat (3) close to the guide groove (32) is provided with a containing groove (33), and the inner wall of the rotating groove (31) is fixedly installed with a first conductive block (34).

4. The lifting cylinder with locking structure for the geological exploration drilling rig according to claim 2, characterized in that, The support mechanism (4) comprises an upper support (41), one end of the upper support (41) is hinged to the surface of the connecting plate (23), the surface of the upper support (41) is fixedly installed with a second conductive block (411), the first conductive block (34) is movably attached to the second conductive block (411), the second conductive block (411) is connected to the positive and negative poles of the external power supply through wires, the other end of the upper support (41) is hinged with a lower support (42), the surface of the lower support (42) is fixedly installed with a moving block (43), the surface of the moving block (43) is provided with a butt joint groove (431), the inside of the butt joint groove (431) is fixedly installed with a strong magnet (44), and the moving block (43) is slidably connected in the guide groove (32).

5. The lifting cylinder with locking structure for the geological exploration drilling rig according to claim 4, characterized in that, The locking mechanism (6) comprises a metal block (61), the surface of the metal block (61) is fixedly installed with a coil (62), the metal block (61) is slidably connected in the containing groove (33) and the butt joint groove (431), one side of the metal block (61) is fixedly installed with a second spring (63), the other end of the second spring (63) is fixedly connected with the inner wall of the containing groove (33), the other side of the metal block (61) is movably attached to the surface of the strong magnet (44), and the first conductive block (34) is electrically connected to both ends of the coil (62) through wires.

6. The lifting cylinder with locking structure for the geological exploration drilling rig according to claim 5, characterized in that, The metal block (61) is internally provided with a positioning groove (611), the extending rod (64) is slidably connected in the positioning groove (611), one end of the extending rod (64) is fixedly installed with a positioning ring (641), one side of the positioning ring (641) is attached to the inner wall of the positioning groove (611), the positioning ring (641) is slidably connected in the positioning groove (611), the other end of the extending rod (64) penetrates to the outside of the mounting base (3) and keeps a certain distance from the surface of the mounting base (3), the extending rod (64) penetrates the inside of the second spring (63), and the other end of the extending rod (64) is fixedly installed with a push plate (65).

7. The lifting cylinder with locking structure for the geological exploration drilling rig according to claim 6, characterized in that, The limiting mechanism (5) comprises a fixed block (51) fixedly installed on the surface of the mounting base (3), and the push plate (65) is provided with an insertion hole (651) in the surface, and the insertion rod (52) is movably inserted in the insertion hole (651); The fixed block (51) is internally provided with a limiting groove (54), the insertion rod (52) is fixedly installed with a limiting ring (53) in the surface, the limiting ring (53) and the insertion rod (52) are slidably connected in the limiting groove (54), the limiting ring (53) is fixedly installed with a first spring (55) in the surface, the other end of the first spring (55) is fixedly connected with the inner wall of the limiting groove (54), and the insertion rod (52) penetrates the inside of the first spring (55).

8. The lifting cylinder with locking structure for geological exploration drilling rig according to claim 1, characterized in that, The bottom plate (11) is fixedly installed with walking wheels (12) around the lower surface, the walking wheels (12) and the lifting oil cylinders (2) are all provided in four groups, and each walking wheel (12) is located on one side of each lifting oil cylinder (2).

9. The method of using a locking structure of the lifting cylinder of the geological exploration drilling rig according to any one of claims 1-8, characterized in that, The method comprises the following steps: Step one: after the geological exploration drilling machine is moved to the working site by the walking wheels (12), four lifting oil cylinders (2) are started; Step two: the telescopic section (22) of the lifting oil cylinder (2) is extended downward to drive the ground contact plate (24) to contact the ground, and the fixing pile (25) is inserted into the ground to fix the geological exploration drilling machine; Step three: when the telescopic section (22) is extended downward, the connecting plate (23) is moved downward, the upper support (41) is rotated through the hinged connection between the upper support (41) and the connecting plate (23), the included angle between the upper support (41) and the lower support (42) becomes smaller and tends to be a straight line, and the second conductive block (411) is attached to the surface of the first conductive block (34). Step four: The upper bracket (41) rotates and moves the moving block (43) to the accommodating groove (33) position, and the butt joint groove (431) is at the same horizontal plane as the accommodating groove (33). After the second conductive block (411) is attached to the first conductive block (34), the coil (62) is energized, generating an electric current. According to the principle of electromagnetic induction, the metal block (61) inside the coil (62) generates magnetism. The metal block (61) with magnetism is attracted by the strong magnet (44) and is clamped into the butt joint groove (431) to limit the lower bracket (42). Thus, the upper bracket (41) and the lower bracket (42) remain in a straight line, achieving automatic locking of the lifting cylinder (2).

10. The lifting cylinder with locking structure for the geological exploration drilling rig according to claim 9, characterized in that, In addition, through intelligent algorithms combined with vibration sensors and load monitoring, the drilling rig can automatically adjust the electromagnetic locking force under different vibration intensities, and immediately increase the locking when abnormal vibration occurs, to ensure that the cylinder always remains stable. The specific steps are as follows: I. System hardware configuration (1) Vibration sensor Sensor type: Three-axis accelerometer, capable of real-time monitoring of drilling rig vibration intensity; Location: The vibration sensor is installed on the body structure of the drilling rig, close to the mounting seat of the cylinder, to detect the vibration information when the cylinder is operated; Data type: The output data is the intensity and frequency of the vibration, which can be represented as v t , with units of acceleration; (2) Load sensor Sensor type: Strain gauge sensor, capable of measuring the load of the cylinder; Location: The load sensor is installed between the telescopic section and the fixed section of the cylinder to monitor the axial load received by the cylinder; Data type: the output data is the load force τ of the oil cylinder t , in Newton N; (3) Cylinder displacement sensor Sensor type: Linear displacement sensor for real-time detection of cylinder extension length or position; Location: Installed on the telescopic section of the cylinder, it can accurately measure the extension amount of the cylinder; Data type: output data is cylinder displacement x t in meters m; Output control: control the size of the current, output is the adjusted current value u t , unit: ampere A; II. Data acquisition and preprocessing To ensure the accuracy and stability of the algorithm, data acquisition and preprocessing is very important; the following are the detailed steps: (1) Data acquisition All sensors convert the collected analog signals into digital signals through an analog-to-digital converter; the data acquisition frequency is set to 100Hz, ensuring real-time vibration, load, and displacement; (2) Data preprocessing Vibration data preprocessing: low-pass filter the vibration signal to remove high-frequency noise and calculate the mean and variance of the vibration; wherein v i is the i-th vibration sample, N is the number of sampling points, v t is the mean value of the vibration signal at the current time instant; Load data preprocessing: remove environmental noise by biasing the load data and calculate the maximum and minimum values of the load; τ t = max(τ) - min(τ) where τ t the load range of the current sample, max(τ) is the maximum value in the load data, and min(τ) is the minimum value in the load data; Displacement data preprocessing: standardize the displacement data to range between [0, 1]; wherein x t is the displacement value of the current sample after standardization, x raw is the original displacement value, x min and x max are the minimum and maximum values in the historical data, respectively; III. Core algorithm SAC SAC algorithm is a maximum entropy reinforcement learning algorithm that combines value function and policy network to maximize the weighted sum of expected return and entropy; the following are the specific steps of the algorithm: (1) State representation Define the state of the system as: s t = [v t ,τ t , x t ] where s t is the state vector, v t is the shock intensity, τ t is the cylinder load, and x t is the cylinder displacement. (2) Action space The action space is the current adjustment size: u t ∈[u min ,u max ] where u t is the action vector, u min and u max are the minimum and maximum values of the current, respectively; (3) Reward function The reward function is designed based on the locking effect and stability of the system, and is evaluated by vibration suppression, load stability, and cylinder position accuracy: r t = -(λ1 · |v t | + λ2 · |τ t -τ target | + λ3 · |x t -x target |) wherein, r t is the reward value of the system at the current moment, reflecting the locking effect and stability of the system, λ1, λ2, λ3 are hyperparameters, τ target and x target are the expected load and displacement targets; r t is a positive value, indicating that the vibration is small, the load is matched, and the cylinder position is close to the target; r t is a negative value, indicating that the vibration is large, the load deviation is large, and the cylinder position deviation is large. (4) Q value function The Q-value function is used to represent the expected return of taking some action u t in state s t ; it is defined by the formula: Among them, Q π (s t ,u r ) is in a given state s t Take action u t Expected returns Here, γ is the expected value, γ is the discount factor that controls the weight of future returns, k is the index of the time step, representing the offset in future time, and r is the expected value. t+k The instant reward for time step t+k; (5) V value function The V-value function represents the expected return from following the optimal policy in a given state s t The expected return from following the optimal policy in a given state s is given by the formula: Among them, V π (s t ) is a given state s t Under the following conditions, the expected return of adopting the optimal strategy π is given, where γ is the discount factor and r is the return. t+k It is the instant reward at time step t+k; (6) Bellman equation To optimize the Q-value function and the V-value function, the Bellman equation is used to update both value functions; in SAC, the Bellman equation takes the following form: where r t is the immediate reward, representing the feedback based on the current control policy; a is the temperature coefficient, used to balance exploration and exploitation. π(u t |s t ) is the current policy, representing the probability of taking action u t in state s t ; (7) Updates of the target Q-value network and the V-value network In SAC, the Q-value and V-value networks are optimized through the following update rules: Q-value network: minimize the error between the Q-value prediction and the target Q-value through gradient descent: wherein, is the loss function of the Q-value network, representing the error between the predicted Q-value and the target Q-value, is the target Q-value, i.e. the Q-value calculated by the target network, which is usually the result of the output of the target Q-value network; V-value network: minimizing the error between the predicted V-value and the target V-value: t and the action u t , and is the target Q-value, i.e. the Q-value calculated by the target network, which is usually the result of the output of the target Q-value network; V-value network: minimizing the error between the predicted V-value and the target V-value: wherein, is the loss function of the V-value network, is the expectation of the current state s t , and is the target V-value, i.e., the V-value calculated by the target network, which is usually the result of the output of the target V-value network. (8) Policy optimization and temperature regulation The optimization of the policy is achieved by maximizing the following objective: wherein, is the loss function for policy optimization; The temperature α is dynamically adjusted to balance exploration and exploitation by optimizing the following objective: wherein is the desired entropy value; Four, output control After training, the SAC policy network will output a current system state: vibration intensity v t , load τ t , cylinder displacement x t , output a current regulation value u t , dynamic adjustment, direct control of the size of the electromagnet current, thereby achieving the locking or unlocking control of the cylinder.

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