A pile foundation drilling apparatus and method

Abstract

The application discloses a pile foundation drilling equipment and method, and relates to the technical field of drilling equipment, wherein the pile foundation drilling equipment comprises a moving part drilling part and a control unit, the drilling part comprises a stand and a drilling mechanism, the stand comprises a first frame body and a second frame body, the first frame body is installed on a connecting frame, and the second frame body is driven to linearly slide by a second power device; the drilling mechanism is fixedly connected with the second frame body; the control unit is used for acquiring real-time feeding resistance and real-time rotating torque, so as to judge the formation state, the drilling speed and the feeding speed of the drilling mechanism are calculated based on the formation state judgment result, and the corresponding drilling speed of the drilling mechanism is output and the second power device is driven to move the drilling part at the corresponding feeding speed. The application can automatically adapt to the change of the formation state, reduce the problem of low efficiency caused by the lag of manual adjustment, and reduce the risk of hole accidents such as drill sticking and drill burying.

Description

Technical Field

[0001] This invention relates to the field of drilling equipment technology, and more particularly to a pile foundation drilling equipment and method. Background Technology

[0002] Piling equipment, such as rotary drilling rigs and long auger drilling rigs, is widely used in foundation engineering construction for buildings, bridges, ports, and other projects. This type of equipment typically includes a movable carrier and a drilling mechanism mounted on it. Through the rotation and feed motion of the drill bit, it excavates holes into the ground. With the expansion of foundation engineering construction scale and the increasing complexity of construction environments, higher demands are placed on the efficiency, quality, and safety of pile foundation construction.

[0003] Currently, mainstream pile foundation drilling equipment has made some progress in automation. For example, some existing equipment uses hydraulic tracked chassis, automatic raising and lowering drill masts, telescopic drill rods, and automatic verticality detection and adjustment systems, significantly improving the convenience of equipment positioning and the vertical accuracy of drilling. In addition, some studies have attempted to provide operators with stratum prediction information before drilling by constructing three-dimensional geological models or acquiring digital geological information, in order to assist operators in dealing with complex geological conditions such as karst caves and inclined rocks. In terms of control technology, existing patent applications have proposed a scheme to identify geological conditions by acquiring working condition feedback parameters in real time and to determine drilling operation parameters in combination with preset models. However, existing technologies still have the following shortcomings: most current equipment still relies on operators to observe instrument data such as current and pressure, and manually adjust the drill bit speed (drilling speed) and feed rate based on personal experience. This makes it difficult to respond to changes in strata in a timely manner, which can easily lead to low drilling efficiency or even borehole accidents such as stuck drill bits and buried drill bits. Summary of the Invention

[0004] Therefore, in order to overcome the above-mentioned shortcomings, the present invention provides a pile foundation drilling equipment and method to automatically adapt to changes in the stratum state, reduce the inefficiency caused by the lag in manual adjustment, and reduce the risk of borehole accidents such as stuck drill and buried drill.

[0005] On one hand, the present invention provides a pile foundation drilling device, including a movable part and a drilling part, wherein the movable part is movable on the ground and the drilling part is mounted on the movable part; The drilled portion includes: A connecting frame is rotatably connected to a movable part, and the connecting frame is rotated by a first power device mounted on the movable part. The support frame includes a first frame and a second frame. The first frame is mounted on a connecting frame, and the second frame is slidably mounted on the first frame. The second frame is driven to slide linearly by a second power device. A drilling mechanism, which is fixedly connected to the second frame and slidably engaged with the first frame; The drilling equipment also includes: The sensing unit is used to collect the real-time feed resistance of the drilling section and the real-time rotational torque of the drilling mechanism. The control unit is used to acquire the real-time feed resistance of the drilling section and the real-time rotational torque of the drilling mechanism, determine the formation state based on the real-time feed resistance and real-time rotational torque, calculate the drilling speed and feed rate of the drilling mechanism based on the formation state determination result, generate a first control signal based on the drilling speed calculation result of the drilling mechanism and send it to the drilling mechanism so that the drilling mechanism outputs a drilling speed corresponding to the first control signal, and generate a second control signal based on the feed rate calculation result of the drilling mechanism and send it to the second power unit so that the second power unit drives the drilling section to move at a feed rate corresponding to the second control signal.

[0006] Furthermore, the upright frame and the connecting frame are slidably engaged, and the drilling section also includes a winch device, which drives the upright frame to move linearly as a whole.

[0007] Furthermore, the drilling section also includes a clamping mechanism, which includes: The slider is slidably mounted on the first frame and is driven to slide by the fourth power device. The arc-shaped rod has two sets, which are arranged opposite each other. One end of each set of arc-shaped rods is hinged to the slider, and the other end is kept connected by a third power device.

[0008] On the other hand, a pile foundation drilling method, using the aforementioned pile foundation drilling equipment, includes the following steps: The moving part drives the drilling part to move to the preset drilling area; The first power unit drives the upright frame to rotate, so that the upright frame remains in an upright position; Start the drilling mechanism and use the second power device to drive the drilling mechanism downward to drill holes in the preset drilling area; During the drilling process, the real-time feed resistance of the drilling section and the real-time rotational torque of the drilling mechanism are collected by the sensing unit. The control unit acquires real-time feed resistance and real-time rotational torque, judges the formation condition based on the real-time feed resistance and real-time rotational torque, and calculates the drilling speed and feed rate of the drilling mechanism based on the formation condition judgment result. A first control signal is generated based on the drilling speed calculation result of the drilling mechanism and sent to the drilling mechanism so that the drilling mechanism outputs a drilling speed corresponding to the first control signal. The second control signal is generated based on the feed speed calculation result of the drilling mechanism and sent to the second power unit so that the second power unit drives the drilling part to move at the feed speed corresponding to the second control signal. Once the hole has been drilled to the preset depth, a stop signal is generated by the control unit and sent to the drilling mechanism and the second power unit, causing the drilling mechanism to stop rotating and the second power unit to stop driving the second frame to continue feeding. The second power unit drives the second frame and drilling mechanism to retract, causing the drill bit to exit the borehole.

[0009] Furthermore, the determination of formation condition based on real-time feed resistance and real-time rotational torque includes: The load index is calculated based on the real-time feed resistance and real-time rotational torque. The load index is compared with the first threshold and the second threshold, and the formation state is determined based on the comparison results.

[0010] Furthermore, the specific method for calculating the load index based on real-time feed resistance and real-time rotational torque is as follows: ; in, C For load indicators; F Real-time feed resistance, in Newtons; T This is the real-time rotational torque, measured in Newton-meters. F min , F max The minimum and maximum statistical thresholds for feed resistance are, in order, expressed in Newtons. T min , T max The minimum and maximum statistical thresholds for feed resistance are, in order, expressed in Newton-meters. α This is the first weighting coefficient; β The second weighting coefficient is 1; the sum of the first and second weighting coefficients is 1.

[0011] Furthermore, the method for determining the formation state based on the comparison results is as follows: when C ≤ C At time 1, the stratum was determined to be a soft soil layer; when C 1 < C < C At time 2, the stratum was determined to be a hard soil layer; when C ≥ C At time 2, the strata were determined to be rock strata; in, C For load indicators; C 1 represents the boundary threshold between soft and hard soil layers. C 2 represents the boundary threshold between the hard soil layer and the rock layer.

[0012] Furthermore, when the stratum is soft soil, the drilling speed and feed rate of the drilling mechanism are calculated as follows: ; ; in, v The drilling speed of the drilling mechanism is expressed in meters per second. ω The rotational speed of the drilling mechanism, measured in seconds; v max This represents the maximum feed rate of the drilling mechanism, measured in meters per second. ω 0 represents the basic rotational speed of the drilling mechanism, measured in seconds.

[0013] Furthermore, when the stratum is hard soil, the drilling speed and feed rate of the drilling mechanism are calculated as follows: ; ; in, ρ This is the drilling speed compensation coefficient. v The drilling speed of the drilling mechanism is expressed in meters per second. ω The rotational speed of the drilling mechanism, measured in seconds; v max This represents the maximum feed rate of the drilling mechanism, measured in meters per second. ω 0 represents the basic rotational speed of the drilling mechanism, measured in seconds.

[0014] Furthermore, when the stratum is rock, the drilling speed and feed rate of the drilling mechanism are calculated as follows: ; ; in, δ This is the drilling speed increment coefficient.

[0015] The present invention has the following advantages: This invention uses a sensing unit to collect the feed resistance of the drilling section and the rotational torque of the drilling mechanism in real time. The control unit then uses these two parameters to determine the formation condition. Based on the identified formation condition, the control unit can automatically calculate and output the optimal drilling speed and feed speed commands, and control the drilling mechanism and the second power unit respectively. This allows the pile foundation drilling equipment to automatically adapt to changes in formation condition, reducing the inefficiency caused by manual adjustment delays and lowering the risk of borehole accidents such as stuck drill and buried drill. Attached Figure Description

[0016] Figure 1 This is a structural diagram of the drilling equipment; Figure 2 yes Figure 1A side view of the drilling equipment shown. Figure 3 yes Figure 1 A partial structural diagram of the drilling section in the drilling equipment shown. Figure 4 yes Figure 1 An enlarged schematic diagram of a portion of structure A in the borehole shown; Figure 5 yes Figure 1 The diagram shows the control logic of the drilling equipment. In the picture: 100. Moving parts; 110. Vehicle body; 120. Supporting mechanism; 200. Drilling section; 210. Connecting frame; 220. First power unit; 230. Hoisting device; 240. Vertical frame; 241. First frame body; 242. Second frame body; 243. Second power unit; 244. Limiting frame; 250. Drilling mechanism; 260. Clamping mechanism; 261. Slider; 262. Arc rod; 263. Third power unit; 264. Fourth power unit; 300. Sensing unit; 400. Control Unit. Detailed Implementation

[0017] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0018] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0019] As described in the background section, most current equipment still relies on operators to observe instrument data such as current and pressure, and manually adjust the drill bit speed, drilling speed and feed rate based on personal experience. This makes it difficult to respond to changes in the formation in a timely manner, which can easily lead to low drilling efficiency or even borehole accidents such as stuck drill bit or buried drill bit.

[0020] Example 1: Therefore, in order to solve the above-mentioned technical problems existing in the prior art, this embodiment provides a pile foundation drilling device, such as... Figure 1 As shown, the drilling equipment includes a movable part 100 and a drilling part 200. The movable part can move on the ground, and the drilling part is mounted on the movable part. like Figure 2 As shown, the drilled portion includes: A connecting frame 210 is rotatably connected to the movable part, and the connecting frame is rotated by a first power device 220 mounted on the movable part. Frame 240, such as Figure 3 As shown, the support frame includes a first frame 241 and a second frame 242. The first frame is mounted on a connecting frame, and the second frame is slidably mounted on the first frame. The second frame is driven to slide linearly by a second power device 243. Drilling mechanism 250, which is fixedly connected to the second frame and slidably engaged with the first frame; like Figure 5 As shown, the drilling equipment also includes: Sensing unit 300 is used to collect the real-time feed resistance of the drilling section and the real-time rotational torque of the drilling mechanism. The control unit 400 is used to acquire the real-time feed resistance of the drilling section and the real-time rotational torque of the drilling mechanism, determine the formation state based on the real-time feed resistance and real-time rotational torque, calculate the drilling speed and feed rate of the drilling mechanism based on the formation state determination result, generate a first control signal based on the drilling speed calculation result of the drilling mechanism and send it to the drilling mechanism so that the drilling mechanism outputs a drilling speed corresponding to the first control signal, and generate a second control signal based on the feed rate calculation result of the drilling mechanism and send it to the second power unit so that the second power unit drives the drilling section to move at a feed rate corresponding to the second control signal.

[0021] Specifically, the moving part may include a vehicle body 110 and a support mechanism 120. The vehicle body may be a tracked chassis to enhance passability and stability on complex terrain. The support mechanism may be hydraulic outriggers that extend and support the ground during drilling operations. The first power unit may be a hydraulic cylinder or an electric push rod, with its cylinder end hinged to the moving part and its piston rod end hinged to the connecting frame. The extension and retraction of the piston rod enables the connecting frame and the entire drilling part to be erected and lowered. In the upright frame, the first frame is a fixed frame with a linear guide rail extending vertically on its inner side, and the second frame is a sliding frame with a slider fixed on its outer side that slides in cooperation with the linear guide rail. The second power unit may be a hydraulic cylinder, a screw lifting mechanism driven by a hydraulic motor, or a gear and rack mechanism. Its power output end is connected to the second frame to drive the second frame to move up and down along the first frame 241. The drilling mechanism may include a power head, a drill rod connected to the output end of the power head, and a drill bit installed at the end of the drill rod. The outer shell of the power head is fixedly connected to the second frame, while the main body or guide sleeve of the power head slides in conjunction with the linear guide rail on the first frame.

[0022] In this embodiment, the sensing unit may include: The feed resistance sensor, which can be a strain gauge pressure sensor or a piezoelectric force sensor, can be installed at the connection flange between the second frame and the drilling mechanism, or set inside the second power unit, to detect in real time the reaction force of the soil or rock on the drilling mechanism when it feeds downward.

[0023] The rotary torque sensor, which can be a strain gauge torque sensor or a phase difference torque sensor, can be installed on the output shaft of the power head or at the connection between the drive motor and the reducer to collect the torque borne by the drill pipe during rotational cutting in real time.

[0024] The control unit can be an industrial control computer or a programmable logic controller (PLC) located in the driver's cab of the mobile unit, equipped with a display screen and input devices. The control unit is electrically connected to the sensing unit, the first power unit, the second power unit, and the drive controller of the drilling mechanism via a data bus.

[0025] In this embodiment, during operation, the operator drives or remotely controls the mobile unit to the designated pile foundation construction location. Upon arrival, the control unit or operator manually extends the hydraulic outriggers of the support mechanism to support the ground. Subsequently, the control unit issues a command to activate the first power unit, pushing the connecting frame to rotate and smoothly flip the upright frame, which was originally in a horizontal transport state, to a vertical working state. After the upright frame is in place, the control unit, according to a preset program or parameters input by the operator, drives the second frame to slide downwards a short distance along the linear guide rail on the first frame via the second power unit, so that the drill bit of the drilling mechanism contacts or approaches the ground, completing the initial feed positioning. The operator issues a drilling start command through the control unit. The power head of the drilling mechanism begins to drive the drill rod and drill bit to rotate, while the second power unit drives the second frame to move the entire drilling mechanism downwards at the initially set feed speed. During this process, the sensing unit collects the axial resistance of the drill bit downwards and the torque of the drill rod rotation. All sensor data is transmitted to the control unit in real time. The control unit determines the formation condition based on real-time feed resistance and rotational torque. Based on this determination, it calculates the drilling speed and feed rate of the drilling mechanism. A first control signal is generated based on the calculated drilling speed and sent to the drilling mechanism, causing it to output a drilling speed corresponding to this signal. A second control signal is generated based on the calculated feed rate and sent to the second power unit, causing it to drive the drilling unit at a feed rate corresponding to the second control signal. When the drilling depth reaches the preset pile hole depth, the second power unit stops feeding and reverses, slightly lifting the drilling mechanism to loosen the drill cuttings at the bottom of the hole. Then, the power head decelerates and stops rotating. Finally, the second power unit quickly retracts, lifting the drilling mechanism from the hole to its initial height. The operator restarts the first power unit via the control unit, smoothly lowering the support frame from a vertical position to a horizontal transport position. Finally, the hydraulic outriggers of the support mechanism are retracted, and the moving unit can then leave the current pile location and proceed to the next construction site.

[0026] Specifically, the determination of formation condition based on real-time feed resistance and real-time rotational torque includes: The load index is calculated based on the real-time feed resistance and real-time rotational torque. The load index is compared with the first threshold and the second threshold, and the formation state is determined based on the comparison results.

[0027] In this embodiment, the specific method for calculating the load index based on the real-time feed resistance and real-time rotational torque is as follows: ; in, C For load indicators; F Real-time feed resistance, in Newtons; TThis is the real-time rotational torque, measured in Newton-meters. F min , F max The minimum and maximum statistical thresholds for feed resistance are, in order, expressed in Newtons. T min , T max The minimum and maximum statistical thresholds for feed resistance are, in order, expressed in Newton-meters. α This is the first weighting coefficient; β The second weighting coefficient is 1; the sum of the first and second weighting coefficients is 1.

[0028] Specifically, this load index standardizes two physical quantities (resistance and torque) with different dimensions and orders of magnitude, allowing them to be weighted and fused on the same scale to comprehensively reflect the load intensity experienced by the drill bit. The minimum and maximum statistical thresholds for feed resistance, and for rotational torque, are preset based on statistical data obtained from calibration tests of the pile foundation drilling equipment in typical strata (such as soft soil, hard soil, weathered rock, bedrock, etc.), or dynamically updated by the control unit based on historical drilling data during equipment operation. These thresholds represent the range of resistance and torque that can be measured by the drill bit under no-load or extremely soft and extremely hard strata. The weighting coefficients reflect the differences in the sensitivity of feed resistance and rotational torque to the load contribution under different strata conditions.

[0029] In this embodiment, the method for determining the formation state based on the comparison results is as follows: when C ≤ C At time 1, the stratum was determined to be a soft soil layer; when C 1 < C < C At time 2, the stratum was determined to be a hard soil layer; when C ≥ C At time 2, the strata were determined to be rock strata; in, C 1 represents the boundary threshold between soft and hard soil layers. C 2 represents the boundary threshold between the hard soil layer and the rock layer.

[0030] Specifically, when the stratum is soft soil, the drilling speed and feed rate of the drilling mechanism are calculated as follows: ; ; in, v The drilling speed of the drilling mechanism is expressed in meters per second. ωThe rotational speed of the drilling mechanism, measured in seconds; v max This represents the maximum feed rate of the drilling mechanism, measured in meters per second. ω 0 represents the basic rotational speed of the drilling mechanism, measured in seconds.

[0031] Specifically, when the stratum is hard soil, the drilling speed and feed rate of the drilling mechanism are calculated as follows: ; ; in, ρ This is the drilling speed compensation coefficient.

[0032] Specifically, when the stratum is rock, the drilling speed and feed rate of the drilling rig are calculated as follows: ; ; in, δ This is the drilling speed increment coefficient.

[0033] Specifically, when the load index is less than or equal to the boundary threshold between soft and hard soil layers, it is judged to be a soft soil layer (such as silt, clay, silt, etc.). At this time, drilling resistance is low and feeding is easy, so the maximum feed rate is used to improve drilling efficiency. The rotational speed is set to the base rotational speed, which is usually taken as 60% to 80% of the rig's rated speed, to ensure that the drill bit has sufficient rotational torque to cut the soil layer. It should be noted that... v max This is not an absolute maximum value, but rather a safe upper limit limited by the flow rate of the drilling rig's hydraulic system, drill rod strength, and slag removal capacity. It is generally given by the equipment manufacturer or determined through process testing. When the load index is greater than the boundary threshold between soft and hard soil layers, but less than or equal to the boundary threshold between hard soil and rock layers, it is judged to be a hard soil layer. At this point, as the load index increases, it indicates that the strata are gradually hardening, requiring a reduction in feed rate to avoid drill bit overload, while appropriately increasing the rotational speed to enhance cutting and breaking capabilities. The rotational speed compensation coefficient typically ranges from 0.2 to 0.6, with the specific value depending on the drill bit type. This formula achieves a smooth adjustment where the feed rate decreases linearly with increasing load, and the rotational speed increases linearly with increasing load, ensuring that cutting capability is maintained in hard soil layers without exceeding torque limits due to excessive feed rate. When the load index exceeds the boundary threshold between hard soil and rock layers, it is judged to have entered a hard rock layer. At this point, the minimum feed rate is used to ensure that the drill bit can effectively break the rock without causing severe impact; generally, a value of [missing value] is used. v max 10% to 20% of the base speed. The engine speed is then increased to (1+) times the base speed. δ ) times, of which δThis is the drilling speed increment coefficient, typically ranging from 0.2 to 0.5. Its function is to increase the breaking frequency while ensuring torque output.

[0034] The sensor unit collects the feed resistance of the borehole and the rotational torque of the drilling mechanism in real time. The control unit judges the formation condition based on these two parameters. Based on the identified formation condition, the control unit can automatically calculate and output the optimal drilling speed and feed speed commands, and control the drilling mechanism and the second power unit respectively. This enables the pile foundation drilling equipment to automatically adapt to drilling work in different formation conditions, which can reduce the inefficiency caused by the lag of manual adjustment and reduce the risk of borehole accidents such as stuck drill and buried drill.

[0035] like Figure 2 As shown, the upright frame and the connecting frame are slidably engaged, and the drilling section also includes a winch device 230, which drives the upright frame to move linearly as a whole.

[0036] Specifically, the connecting frame can be equipped with a linear guide rail or guide groove extending vertically, and a slider or guide wheel that mates with the linear guide rail can be fixedly installed on the back of the upright frame. Through this sliding engagement, the upright frame can slide up and down vertically on the connecting frame, enabling fine adjustment of the overall height of the drilling section. The winch device can be fixedly installed on the vehicle body.

[0037] like Figure 2 As shown, the drilling section also includes a clamping mechanism 260, such as... Figure 4 As shown, the clamping mechanism includes: Slider 261 is slidably mounted on the first frame and is driven to slide by the fourth power device; The arc-shaped rod 262 has two sets, which are arranged opposite to each other. One end of each set of arc-shaped rods is hinged to the slider, and the other end is kept connected by the third power device 263.

[0038] Specifically, the clamping mechanism is used to hold the drill rod during drill rod unloading or handling in-hole accidents, preventing it from swinging or falling, thereby improving operational safety and efficiency. The slider can be mounted on a linear guide rail of the first frame and driven up and down along the guide rail by a fourth power device to finely adjust the height of the clamping mechanism. The fourth power device can be a hydraulic cylinder, electric push rod, or lead screw mechanism; its fixed end can be mounted on the first frame, and its movable end can be connected to the slider. There is no connecting shaft at the intersection of the two sets of arc-shaped rods; the two sets of arc-shaped rods only intersect spatially at this point and are not mutually constrained. One end of each set of arc-shaped rods is hinged to both sides of the slider, allowing the arc-shaped rods to rotate freely around the hinge axis. The third power device can be a hydraulic cylinder or a pneumatic cylinder, with its cylinder body hinged to the end of one set of arc-shaped rods and its piston rod hinged to the end of the other set of arc-shaped rods. The extension and retraction of the third power device can drive the two sets of arc-shaped rods to open and close, thereby achieving the clamping and release of the drill rod. When the drill pipe needs to be clamped, the third power unit pushes the free ends of the two sets of arc-shaped rods closer together, thereby gripping the drill pipe tightly. When the drill pipe needs to be released, the third power unit pulls the two sets of arc-shaped rods to open, releasing the drill pipe.

[0039] Example 2: This embodiment provides a pile foundation drilling method using a pile foundation drilling device described in Embodiment 1, including the following steps: S100: The moving part drives the drilling part to move to the preset drilling area; Specifically, the operator starts the mobile unit via a control console or remote control in the cab. The unit uses a tracked or wheeled walking mechanism and travels smoothly to the pre-determined pile foundation construction point under power. Upon reaching the target location, the control unit can calibrate the orientation of the drilling section based on GPS positioning or manual fine-tuning, ensuring its vertical center is aligned with the pile location mark. To improve the stability of subsequent drilling operations, the control unit issues a command to activate the hydraulic outriggers of the support mechanism, which extend and support the ground.

[0040] S200: The first power unit drives the upright frame to rotate so that the upright frame remains in an upright position; Specifically, the control unit sends a command to the first power unit (such as a hydraulic cylinder or electric actuator), which then drives the connecting frame to rotate. The connecting frame gradually flips from a horizontal transport state, causing the upright frame to stand upright. Once the upright frame reaches the upright position, the first power unit stops operating.

[0041] S300: Start the drilling mechanism and use the second power unit to drive the drilling mechanism downward to drill holes in the preset drilling area; Specifically, the control unit first sends a start signal to the power head of the drilling mechanism based on preset initial drilling parameters (usually in soft soil mode), driving the drill rod and drill bit to rotate at the base speed. At the same time, the control unit sends a feed command to the second power unit, which drives the second frame to slide down along the linear guide rail of the first frame, thus feeding the entire drilling mechanism downwards.

[0042] S400: During the drilling process, the real-time feed resistance of the drilling section and the real-time rotational torque of the drilling mechanism are collected by the sensing unit. Specifically, as drilling continues, the sensors in the sensing unit collect axial feed resistance and rotational torque in real time. All sensor signals, after filtering, amplification, and analog-to-digital conversion, are transmitted to the control unit via a fieldbus (such as CANopen or Profinet) at a high frequency (e.g., 10ms). The control unit can then perform digital filtering and outlier removal on the raw data.

[0043] S500: The control unit acquires real-time feed resistance and real-time rotational torque, judges the formation condition based on the real-time feed resistance and real-time rotational torque, and calculates the drilling speed and feed rate of the drilling mechanism based on the formation condition judgment result. Specifically, after the control unit obtains the real-time feed resistance and real-time rotational torque, it calls the normalization formula to calculate the load index. The specific calculation method can be found in the load index calculation method described in Example 1, where the threshold and weight can be preset based on geological data. The load index is compared with the preset threshold to determine the current formation state. The specific determination method can be found in the formation state determination method described in Example 1. Based on the formation state, the target drilling speed and rotational speed are calculated using the corresponding control strategy. The specific calculation method can be found in the drilling speed and feed rate calculation method for the corresponding formation described in Real-Time 1.

[0044] S600: Generate a first control signal based on the drilling speed calculation result of the drilling mechanism and send it to the drilling mechanism so that the drilling mechanism outputs a drilling speed corresponding to the first control signal; Specifically, the control unit can convert the calculated target speed into analog or digital commands, which are then sent to the inverter or hydraulic proportional valve of the power head via a bus. The drive system of the power head adjusts the motor speed or hydraulic motor flow in real time according to the commands.

[0045] S700: Generate a second control signal based on the feed speed calculation result of the drilling mechanism and send it to the second power unit so that the second power unit drives the drilling part to move at a feed speed corresponding to the second control signal; Specifically, the control unit can convert the target feed speed into an electronic control signal and send it to the drive controller of the second power unit (such as a hydraulic servo valve or a servo motor driver). The second power unit adjusts the output flow or speed according to the command, driving the second frame to slide down the guide rail at a preset speed.

[0046] S800: When the hole is drilled to the preset depth, the control unit generates a stop signal and sends it to the drilling mechanism and the second power unit, so that the drilling mechanism stops rotating and the second power unit stops driving the second frame to continue feeding. Specifically, the drilling depth can be monitored by a depth encoder. When the actual depth reaches the preset pile hole depth value (or a manual stop command is received), the control unit immediately enters the drilling stop procedure. First, a hold command is sent to the second power unit to pause the feed; at the same time, a deceleration and stop command is sent to the drilling mechanism, and the power head decelerates to zero until the drill rod completely stops rotating.

[0047] S900: The second power unit drives the second frame and drilling mechanism to retract, causing the drill bit to exit the hole.

[0048] Specifically, the control unit sends a reverse operation command to the second power unit, driving the second frame to slide upwards along the first frame, which in turn slowly lifts the drilling mechanism. Once the drill bit is completely disengaged from the borehole, the control unit stops the second power unit, completing the drill lifting. Subsequently, the operator can, as needed, operate the winch to further lower the erector frame, or use the first power unit to lower the erector frame to a transport position and retract the support mechanism, preparing for relocation or the construction of the next pile.

[0049] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A drilling method for a pile foundation drilling device, characterized in that, The pile foundation drilling equipment includes a moving part and a drilling part. The moving part moves on the ground and the drilling part is mounted on the moving part. The drilled portion includes: A connecting frame is rotatably connected to a movable part, and the connecting frame is rotated by a first power device mounted on the movable part. The support frame includes a first frame and a second frame. The first frame is mounted on a connecting frame, and the second frame is slidably mounted on the first frame. The second frame is driven to slide linearly by a second power device. A drilling mechanism, which is fixedly connected to the second frame and slidably engaged with the first frame; The pile foundation drilling equipment also includes: The sensing unit is used to collect the real-time feed resistance of the drilling section and the real-time rotational torque of the drilling mechanism. The control unit acquires the real-time feed resistance of the drilling section and the real-time rotational torque of the drilling mechanism. Based on these data, it determines the formation condition and calculates the drilling speed and feed rate of the drilling mechanism. A first control signal is generated based on the calculated drilling speed and sent to the drilling mechanism to output a drilling speed corresponding to the first control signal. A second control signal is generated based on the calculated feed rate and sent to the second power unit to drive the drilling section at a feed rate corresponding to the second control signal. When the drilling depth reaches the preset pile hole depth, the second power unit stops feeding and reverses, slightly lifting the drilling mechanism to loosen the drill cuttings at the bottom of the hole. The power head decelerates and stops rotating. The second power unit quickly retracts, lifting the drilling mechanism from the hole to its initial height. The operator restarts the first power unit via the control unit, smoothly lowering the support frame from a vertical position to a horizontal transport position. The hydraulic outriggers of the support mechanism are retracted, and the moving part can then leave the current pile location and proceed to the next construction point. The drilling method of the pile foundation drilling equipment includes the following steps: The moving part drives the drilling part to move to the preset drilling area; The first power unit drives the upright frame to rotate, so that the upright frame remains in an upright position; Start the drilling mechanism and use the second power device to drive the drilling mechanism downward to drill holes in the preset drilling area; During the drilling process, the real-time feed resistance of the drilling section and the real-time rotational torque of the drilling mechanism are collected by the sensing unit. (1) The control unit acquires real-time feed resistance and real-time rotational torque, and determines the formation condition based on the real-time feed resistance and real-time rotational torque, including: The load index is calculated based on the real-time feed resistance and real-time rotational torque, specifically as follows: ； in, C For load indicators; F Real-time feed resistance, in Newtons; T This is the real-time rotational torque, measured in Newton-meters. F min , F max The minimum and maximum statistical thresholds for feed resistance are, in order, expressed in Newtons. T min , T max The minimum and maximum statistical thresholds for feed resistance are, in order, expressed in Newton-meters. α The first weighting coefficient; β This is the second weighting coefficient; the sum of the first and second weighting coefficients is 1. (2) Compare the load index with the first threshold and the second threshold, and determine the formation state based on the comparison results; the specific method is as follows: (2.1) When C ≤ C At time 1, the stratum was determined to be a soft soil layer; When the stratum is soft soil, the drilling speed and feed rate of the drilling mechanism are calculated as follows: ； ； in, v The drilling speed of the drilling mechanism is expressed in meters per second. ω The rotational speed of the drilling mechanism, measured in seconds; v max This represents the maximum feed rate of the drilling mechanism, measured in meters per second. ω 0 represents the basic rotational speed of the drilling mechanism, measured in seconds; (2.2) When C 1 < C < C At time 2, the stratum was determined to be a hard soil layer; When the stratum is hard soil, the drilling speed and feed rate of the drilling mechanism are calculated as follows: ； ； in, ρ This is the drilling speed compensation coefficient. v The drilling speed of the drilling mechanism is expressed in meters per second. ω The rotational speed of the drilling mechanism, measured in seconds; v max This represents the maximum feed rate of the drilling mechanism, measured in meters per second. ω 0 represents the basic rotational speed of the drilling mechanism, measured in seconds; (2.3) When C ≥ C At time 2, the strata were determined to be rock strata; When the stratum is rock, the drilling speed and feed rate of the drilling rig are calculated as follows: ； ； in, δ This is the drilling speed increment coefficient; in, C For load indicators; C 1 represents the boundary threshold between soft and hard soil layers. C 2 represents the boundary threshold between the hard soil layer and the rock layer; (3) Calculate the drilling speed and feed rate of the drilling mechanism based on the formation condition judgment results; (3.1) Generate a first control signal based on the drilling speed calculation result of the drilling mechanism and send it to the drilling mechanism so that the drilling mechanism outputs a drilling speed corresponding to the first control signal; (3.2) Generate a second control signal based on the feed speed calculation result of the drilling mechanism and send it to the second power unit so that the second power unit drives the drilling part to move at the feed speed corresponding to the second control signal; (4) When the hole is drilled to the preset depth, the control unit generates a stop signal and sends it to the drilling mechanism and the second power device to stop the drilling mechanism from rotating and at the same time stop the second power device from driving the second frame to continue feeding. The second power unit drives the second frame and drilling mechanism to retract, causing the drill bit to exit the borehole.

2. The drilling method of the pile foundation drilling equipment according to claim 1, characterized in that, The upright frame and the connecting frame slide together, and the drilling section also includes a winch device, which drives the entire upright frame to move linearly.

3. The drilling method of the pile foundation drilling equipment according to claim 1, characterized in that, The drilling section also includes a clamping mechanism, which includes: The slider is slidably mounted on the first frame and is driven to slide by the fourth power device. The arc-shaped rod has two sets, which are arranged opposite to each other. One end of each set of arc-shaped rods is hinged to the slider, and the other end is kept connected by a third power device. The slider is slidably mounted on the linear guide rail of the first frame. Driven by a fourth power device, it slides up and down along the guide rail to finely adjust the height of the clamping mechanism. The fourth power device uses a hydraulic cylinder, electric push rod, or lead screw mechanism. Its fixed end is mounted on the first frame, and its movable end is connected to the slider. There is no connecting shaft at the intersection of the two sets of arc-shaped rods; the two sets of arc-shaped rods only intersect spatially at this point and are not mutually constrained. One end of each set of arc-shaped rods is hinged to both sides of the slider, allowing the arc-shaped rods to rotate freely around the hinge axis. The third power device is a hydraulic cylinder or pneumatic cylinder. Its cylinder body end is hinged to the end of one set of arc-shaped rods, and its piston rod end is hinged to the end of the other set of arc-shaped rods. The extension and retraction of the third power device can open and close the two sets of arc-shaped rods, thereby achieving the clamping and release of the drill rod. When clamping the drill rod, the third power device pushes the free ends of the two sets of arc-shaped rods closer together, thus gripping the drill rod tightly. When releasing the drill rod, the third power device pulls the two sets of arc-shaped rods open, releasing the drill rod.

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