A leveling device of an all-terrain self-adaptive hydraulic drilling rig chassis for open-pit mine bench blasting

Abstract

The present application belongs to the technical field of open-pit mine drilling equipment, and provides a leveling device of an all-terrain self-adaptive hydraulic drilling rig chassis for open-pit mine bench blasting. The present application comprises: triple hydraulic self-adaptive leveling support assemblies, which are arranged in multiple groups and left-right symmetrically arranged on rigid bases outside the chassis track frame; wherein each group of triple hydraulic self-adaptive leveling support assemblies comprises: a support assembly, a connecting limiting mechanism and a self-adaptive load-bearing track assembly; an independent multi-path hydraulic oil supply system for independently controlling the extension and retraction of the center main hydraulic cylinder and the two side auxiliary hydraulic cylinders; an inclination sensor for detecting the attitude signal of the drilling rig body; each cylinder pressure sensor for detecting the ground pressure signal of each cylinder; and a leveling controller connected with the inclination sensor, each cylinder pressure sensor and the independent multi-path hydraulic oil supply system, so that the drilling rig can automatically level on the rugged working surface of the open-pit mine bench blasting.

Description

Technical Field

[0001] This invention relates to the field of open-pit mine drilling equipment technology, specifically to a leveling device for an all-terrain adaptive hydraulic drilling rig chassis used in open-pit mine bench blasting. Background Technology

[0002] Open-pit mine bench blasting operations are conducted in harsh environments, with uneven rock surfaces, piles of gravel, soft soil, mud, and sloping terrain commonly presenting challenges.

[0003] Currently, the commonly used tracked open-pit drilling rigs mostly adopt a chassis stabilization support structure that uses a single-point independent hydraulic outrigger on the side of the rig body, combined with a rigid pad.

[0004] The traditional solution has the following drawbacks: First, it lacks adaptability to terrain. The rigid pad is difficult to fully adhere to undulating ground, easily resulting in weak support or partial suspension, leading to insufficient leveling accuracy of the chassis. Second, it has poor support stability. The rigid pad has limited ground contact area and friction coefficient, making it prone to sinking in soft soil areas and weak gripping ability when working on gravel slopes. The continuous vibration and counter-torque generated during drilling can easily cause the entire machine to slip and sway, affecting the verticality of the borehole and the quality of the hole. Third, the force distribution is unreasonable. The outriggers are mostly fixed or single-pin hinged, and the lateral load from the undulating terrain causes the hydraulic cylinder to bear lateral bending moment. Long-term operation can easily lead to piston rod damage, oil seal leakage, and loose pins, resulting in high equipment maintenance costs. Fourth, the outriggers are usually arranged on the side of the upper support of the machine body, with a long support arm, resulting in weak anti-overturning ability of the entire machine. They also cannot be integrated with the chassis, resulting in a messy layout.

[0005] Therefore, there is an urgent need to develop a hydraulic leveling device that is integrated into the chassis, can adapt to complex terrain, provides stable support, and has reasonable stress distribution. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a leveling device for the chassis of an all-terrain adaptive hydraulic drilling rig used in open-pit mine bench blasting, which improves terrain adaptability, support stability and operational safety, reduces equipment failure rate, and achieves integrated leveling of the chassis.

[0007] A leveling device for an all-terrain adaptive hydraulic drilling rig chassis used in bench blasting in open-pit mines, comprising: The triple hydraulic adaptive leveling support assembly consists of multiple sets, symmetrically arranged on a rigid base on the outer side of the chassis track frame; each set of the triple hydraulic adaptive leveling support assembly includes: The support assembly includes a central main hydraulic cylinder and two sets of independent auxiliary hydraulic cylinders, wherein the two sets of independent auxiliary hydraulic cylinders are symmetrically arranged on the left and right sides of the central main hydraulic cylinder. A connecting limiting mechanism is configured to allow the hydraulic cylinder to self-adaptively deflect and limit the maximum deflection angle of the hydraulic cylinder; wherein the connecting limiting mechanism is disposed on a rigid base and includes connecting members and limiting members; the connecting members are provided at three locations, and the central main hydraulic cylinder and two sets of independent auxiliary hydraulic cylinders are respectively connected to the rigid base through the connecting members; the limiting members are provided at three locations, respectively located on the outer periphery of the three connecting members, and extending towards the ground; An adaptive load-bearing track assembly includes a middle track section, a left track section, and a right track section, which are sequentially hinged together by hinge pins to form a bendable, integrated load-bearing track. The bottom end of the piston rod of the central main hydraulic cylinder is connected to the middle track section via an omnidirectional hinge joint, the bottom end of the piston rod of the left auxiliary hydraulic cylinder is connected to the left track section via another omnidirectional hinge joint, and the bottom end of the piston rod of the right auxiliary hydraulic cylinder is connected to the right track section via yet another omnidirectional hinge joint. An independent multi-channel hydraulic oil supply system is used to independently control the extension and retraction of the central main hydraulic cylinder and the two auxiliary hydraulic cylinders on both sides. Inclination sensor, used to detect attitude signals of the drilling rig body; Each hydraulic cylinder pressure sensor is installed on the central main hydraulic cylinder and two sets of independent auxiliary hydraulic cylinders, respectively, to detect the ground pressure signal of each hydraulic cylinder; The leveling controller is connected to the tilt sensor, the pressure sensors of each cylinder, and the independent multi-channel hydraulic oil supply system. Based on the body attitude signal fed back by the tilt sensor and the ground pressure signal fed back by each cylinder pressure sensor, it independently adjusts the extension and retraction of each cylinder, so that the drilling rig can automatically level the rugged working surface of the open-pit mine bench blasting.

[0008] In some preferred embodiments of the present invention, the connecting member includes: a ball joint seat, fixedly connected to the rigid base on the outer side of the track frame; a ball head, fixedly connected to the top of the corresponding hydraulic cylinder body and accommodated within the ball joint seat to form a universal ball joint; the limiting member includes at least one arc-shaped mechanical limiting block, protruding from the ball joint seat or the rigid base on the outer side of the track frame, and a replaceable elastic damping buffer block is provided on the limiting surface of the arc-shaped mechanical limiting block. The universal ball joint provides the hydraulic cylinder with omnidirectional adaptive deflection capability, eliminating the lateral bending moment caused by terrain undulations, so that the hydraulic cylinder only bears axial pressure; the arc-shaped mechanical limiting block prevents the universal ball joint from having too much freedom, causing structural instability; the elastic damping buffer block contacts the metal part first when the deflection is in place, changing the rigid limiting to elastic buffering, absorbing impact energy, and protecting the universal ball joint and the arc-shaped mechanical limiting block.

[0009] Furthermore, there are two arc-shaped mechanical limit blocks, symmetrically arranged on both sides of the preset sway direction of the hydraulic cylinder. The inner arc surface of each arc-shaped mechanical limit block constitutes the limiting surface, and the elastic damping buffer blocks are detachably fixed to the inner arc surface. This symmetrical limiting structure can evenly withstand the left and right sway impacts, and the elastic damping buffer blocks can be replaced independently, making maintenance convenient.

[0010] Furthermore, the elastic damping buffer block is made of oil-resistant and wear-resistant polymer material and is fixed in the mounting groove of the inner arc surface by countersunk screws or embedding. If the elastic damping buffer block wears or ages after long-term use, it can be easily replaced individually, resulting in low maintenance costs.

[0011] In some preferred embodiments of the present invention, the omnidirectional hinge joint has three rotational degrees of freedom in space; and the omnidirectional hinge joint is a thrust ball joint assembly, comprising: a ball joint seat, fixedly connected to the corresponding track section; a ball head, fixedly connected to the bottom end of the corresponding hydraulic cylinder piston rod; and a pressure cap, detachably fixed to the ball joint seat and confining the ball head between the ball joint seat and the pressure cap. The inner wall surfaces of the ball joint seat and the pressure cap respectively have spherical seat surfaces that mate with the outer spherical surface of the ball head, so that the ball head can omnidirectionally deflect within the ball joint seat. The thrust ball joint assembly has a large spherical contact area, which can reliably withstand heavy-load axial thrust, and forms a two-force member configuration with the universal ball joint at the top of the cylinder that perfectly matches the degrees of freedom, completely eliminating the additional bending moment caused by the mismatch of degrees of freedom, and significantly improving the service life of the hydraulic cylinder and the hinge mechanism.

[0012] Furthermore, a self-lubricating gasket is provided between the ball head and the spherical seat surface, a sealing ring is provided at the mating surface of the ball joint seat and the pressure cap, and an oil injection hole is provided on the ball joint seat or pressure cap, along with a removable dustproof grease nipple. The self-lubricating gasket reduces the coefficient of friction, the sealing ring prevents external mud and water from entering, the oil injection hole allows for periodic replenishment of grease, and the dustproof grease nipple prevents oil passage blockage, comprehensively improving the maintenance-free nature and reliability of the hinge point under harsh mining conditions.

[0013] In some preferred embodiments of the present invention, the leveling device of the all-terrain adaptive hydraulic drilling rig chassis further includes an anti-slip pad layer. This anti-slip pad layer is disposed on the ground contact surface of each track section of the adaptive load-bearing track assembly. The anti-slip pad layer is a rubber-metal composite anti-slip pad, comprising a steel plate base and a vulcanized rubber layer. The vulcanized rubber layer is disposed on the lower surface of the steel plate base. The steel plate base is detachably fixed to the ground contact surface of the corresponding track section by multiple countersunk bolts. This rubber-metal composite anti-slip pad can fill minor ground unevenness through the local elastic deformation of the vulcanized rubber layer, improving the fit quality. It also utilizes the vulcanized rubber layer to increase the friction coefficient with various rock surfaces, enhancing grip and anti-slip capability, and preventing the entire machine from slipping during drilling. Furthermore, the detachable design facilitates quick replacement after wear.

[0014] In some preferred embodiments of the present invention, a protective cover is also provided at the hinge pin of adjacent track sections. This protective cover is an elastic rubber corrugated sleeve. The elastic rubber corrugated sleeve is fitted around the outer periphery of the hinge pin, and its two ends are pressed and sealed against the end faces of adjacent track sections, effectively preventing gravel and mud from entering the gaps of the hinge pin, preventing jamming and abnormal wear, and ensuring long-term flexible bending of the middle track section, the left track section, and the right track section. Furthermore, the internal space of the protective cover can be filled with grease, and the surface of the hinge pin is provided with a wear-resistant hardened layer to further improve the wear resistance and self-lubricating properties of the hinge point.

[0015] In some preferred embodiments of the present invention, the upper part of the cylinder of the central main hydraulic cylinder and the upper part of the cylinders of the two auxiliary hydraulic cylinders are respectively connected by adjustable threaded connecting rods. Both ends of the adjustable threaded connecting rods are connected by ball joints to limit the maximum opening distance between the cylinders. The adjustable threaded connecting rod adopts a steel main structure, which is impact-resistant and resistant to high and low temperatures. Its length can be finely adjusted and then locked. While resisting the overturning moment and lateral load of the drilling rig, the ball joint connection at both ends retains a small relative swing space, which does not restrict the normal terrain-adaptive yaw action.

[0016] In some preferred embodiments of the present invention, the automatic leveling logic of the leveling controller is as follows: taking the hydraulic cylinder corresponding to the minimum ground pressure among the ground pressure signals detected by each cylinder pressure sensor as the reference cylinder, the extension and retraction of other hydraulic cylinders are adjusted first to make the ground pressure of each hydraulic cylinder tend to be balanced, and the tilt angle of the machine body is returned to zero.

[0017] Furthermore, during the adjustment process, the leveling controller monitors the ground pressure signal of each cylinder pressure sensor in real time. When the ground pressure signal exceeds a preset threshold, the corresponding hydraulic cylinder is locked and an alarm is triggered.

[0018] Furthermore, the leveling controller has a built-in terrain matching model of the open-pit mine step surface. Based on the fusion signals of the tilt sensor and each of the hydraulic cylinder pressure sensors, the leveling controller predicts the grounding status of the middle track section, left track section and right track section of the adaptive load-bearing track assembly, and adjusts the extension and retraction of the central main hydraulic cylinder and the two auxiliary hydraulic cylinders in advance to achieve active leveling.

[0019] Compared with the prior art, the present invention has the following advantages: 1. Strong all-terrain adaptability: The three-section articulated self-adaptive load-bearing track assembly is driven by three sets of independent hydraulic cylinders. With the help of the connecting limit mechanism, the cylinders are allowed to self-adaptively swing and are supplemented by elastic damping buffer blocks. It can closely fit the uneven rock surface, inclined steps and soft foundation, eliminate false support and improve leveling accuracy.

[0020] 2. Significantly improved support stability and operational safety: The tracked continuous grounding system, combined with the anti-slip pad layer, greatly reduces and evenly distributes the grounding pressure, preventing soft soil subsidence and machine slippage, effectively suppressing vibration and shaking during drilling, and ensuring borehole verticality.

[0021] 3. Effectively reduces the probability of equipment failure. The cylinder adopts an omnidirectional hinge structure at both ends, so that the cylinder only bears axial load and avoids lateral bending moment; the elastic damping buffer block reduces the impact damage of the sway limit; the protective cover and self-lubricating design extend the service life of the hinge point and reduce maintenance costs.

[0022] 4. The device is integrated on the outside of the chassis track frame, resulting in a low center of gravity and strong anti-overturning ability. When folded up, it is close to the track frame, with a compact layout that does not affect the normal movement and relocation of the drilling rig.

[0023] 5. The leveling controller uses the fusion signals of the tilt sensor and the cylinder pressure sensor, combined with the built-in open-pit mine step surface terrain matching model, to predict the grounding status and pre-adjust the extension and retraction of each hydraulic cylinder, thereby achieving active leveling and further improving leveling efficiency and accuracy. At the same time, it uses the cylinder corresponding to the minimum ground pressure as the benchmark for leveling and locks the alarm when the ground pressure exceeds the limit, ensuring that the leveling process is safe and reliable.

[0024] Effect Comparison Explanation To visually demonstrate the technical advantages of this invention, a comparative verification was conducted using open-pit drilling rigs of the same tonnage under the same uneven rock surface conditions. The test group used the leveling device of the all-terrain adaptive hydraulic drilling rig chassis provided by this invention, while the control group used a traditional four-legged system with rigid pads. The comparison results are as follows: (1) Grounding area: The three sections of adaptive load-bearing track components in the test group can achieve full-section contact on the uneven rock surface, and the effective grounding area is basically equal to the design grounding area of ​​the adaptive load-bearing track components; the four rigid pads in the control group cannot be bent according to the shape, and the actual effective grounding area is only 50% to 70% of their design area, with some areas suspended.

[0025] (2) Grounding pressure: Based on the above differences in grounding area, under the same overall weight conditions, the average grounding pressure of the test group was about 30% lower than that of the control group, and the pressure distribution was uniform; the control group had significant pressure concentration in the effective grounding area due to local suspension.

[0026] (3) Support gap: The middle track section, left track section and right track section of the test group bend due to the terrain, and the maximum gap between each track section and the ground does not exceed a few millimeters, basically achieving full fit; there are multiple centimeter-level gaps between the rigid pad and the uneven rock surface in the control group, and only two to three of the four legs can effectively bear the load.

[0027] (4) Horizontal displacement of the whole machine: Under the same drilling parameters, the horizontal displacement of the whole machine in the test group was reduced by more than 50% compared with the control group due to the high friction coefficient of the tracked continuous support and anti-slip pad layer.

[0028] (5) Cylinder stress state: After disassembly and inspection after the same working cycle, the piston rod surfaces of the main hydraulic cylinder and auxiliary hydraulic cylinder in the test group were smooth and without obvious wear marks; the piston rod surfaces of the outrigger cylinders in the control group had visible lateral friction marks, and some cylinders showed signs of oil leakage.

[0029] (6) Leveling time: The test group completed the adaptive extension of the central main hydraulic cylinder and two sets of auxiliary hydraulic cylinders in one operation through the independent multi-channel hydraulic oil supply system. With the active leveling of the leveling controller, the time to level to the working posture was significantly shortened, which was about one-quarter to one-third of the time spent by the control group on repeated shim adjustment.

[0030] The above comparison shows that the present invention is significantly superior to the traditional four-leg rigid pad solution in key performance aspects such as grounding area utilization, grounding pressure distribution, bonding quality, overall stability, cylinder stress state, and leveling efficiency. Attached Figure Description

[0031] To more clearly illustrate the specific embodiments of the present invention, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, the elements or parts are not necessarily drawn to scale.

[0032] Figure 1 The front view of a leveling device for an all-terrain adaptive hydraulic drilling rig chassis used in bench blasting in open-pit mines, provided by the present invention; Figure 2 This is a schematic diagram of a partial installation structure of the support component of the present invention on a rigid base; Figure 3 This is a schematic diagram of a partial installation structure of the omnidirectional articulated joint of the present invention in an adaptive load-bearing track assembly; Figure label: 1—Tracked chassis; 2—Rigid base; 3—Central main hydraulic cylinder; 4—Auxiliary hydraulic cylinder; 5—Connecting and limiting mechanism; 51—Connecting component; 511—Spherical hinge seat; 512—Ball head; 52—Limiting component; 521—Arc-shaped mechanical limit stop; 522—Elastic damping buffer block; 6—Adaptive load-bearing track assembly; 61—Middle track section; 62—Left track section; 63—Right track section; 64—Hinged pin; 7—Adjustable threaded connecting rod; 8—Omnidirectional hinge joint; 81—Spherical hinge seat of thrust ball hinge assembly; 82—Ball head of thrust ball hinge assembly; 83—Pressure cover; 84—Spherical seat surface; 9—Anti-slip pad layer; 91—Steel plate base layer; 92—Vulcanized rubber layer; 10—Protective cover; 12—Leveling controller; 13—Tilt sensor; 11—Cylinder pressure sensor. Detailed Implementation

[0033] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0034] The basic implementation examples are as follows: Figures 1 to 3 As shown: Example 1: like Figure 1-3 As shown in the figure, this embodiment provides a leveling device for an all-terrain adaptive hydraulic drilling rig chassis used in open-pit mine bench blasting. The device is integrated and installed on a rigid base 2 on the outer side of the track frame of the drilling rig track chassis 1. This rigid base 2 is the core rigid load-bearing component of the drilling rig chassis. Installing the leveling device here effectively lowers the center of gravity, shortens the support lever arm, improves the overall anti-overturning performance, and achieves integrated leveling of the chassis. The leveling device includes multiple sets of triple-hydraulic adaptive leveling support assemblies, which are symmetrically arranged on the rigid base 2.

[0035] Each triple hydraulic adaptive leveling support assembly includes a support component, which comprises a central main hydraulic cylinder 3 and two sets of independent auxiliary hydraulic cylinders 4, symmetrically arranged on the left and right sides of the central main hydraulic cylinder 3. The top ends of the cylinder bodies of the central main hydraulic cylinder 3 and the two sets of independent auxiliary hydraulic cylinders 4 are all hinged to the rigid base 2 through their respective connecting and limiting mechanisms 5.

[0036] The connecting and limiting mechanism 5 is mounted on the rigid base 2 and includes connecting members 51 and limiting members 52. The connecting members 51 are located in three places, with the central main hydraulic cylinder 3 and two sets of independent auxiliary hydraulic cylinders 4 respectively connected to the rigid base 2 via the connecting members 51. The limiting members 52 are located in three places, respectively on the outer periphery of the three connecting members 51, and extend towards the ground.

[0037] The connecting member 51 includes a ball joint seat 511, which is fixed to the rigid base 2 by bolts; it also includes a ball head 512, which is threaded to or integrally formed with the top of the corresponding hydraulic cylinder body and is housed within the ball joint seat 511 to form a universal ball joint that can rotate in all directions. The limiting member 52 includes at least one arc-shaped mechanical limiting block 521, which protrudes from the ball joint seat 511 or the rigid base 2. The limiting surface of the arc-shaped mechanical limiting block 521 is provided with a replaceable elastic damping buffer block 522. In this embodiment, there are two arc-shaped mechanical limiting blocks 521, which are symmetrically arranged on both sides of the preset deflection direction of the hydraulic cylinder. The inner arc surface of each arc-shaped mechanical limiting block 521 constitutes the limiting surface, and the elastic damping buffer block 522 can be detachably fixed to the inner arc surface. The elastic damping buffer block 522 is made of oil-resistant and wear-resistant polymer material and is fixed in the mounting groove on the inner arc surface by countersunk screws or embedding.

[0038] When the hydraulic cylinder wobbles due to uneven terrain, the universal ball joint allows it to deflect in all directions to conform to the terrain. When the wobbling approaches the preset maximum angle, the side wall of the cylinder body first contacts the elastic damping buffer block 522, causing it to deform under pressure, changing the rigid limit to a progressive elastic buffer, and finally achieving hard limit by the arc-shaped mechanical limit stop block 521. If the elastic damping buffer block 522 wears or ages after long-term use, it can be easily replaced individually, resulting in low maintenance costs.

[0039] The piston rods of the central main hydraulic cylinder 3 and two sets of independent auxiliary hydraulic cylinders 4 jointly drive the adaptive load-bearing track assembly 6. The adaptive load-bearing track assembly 6 consists of a middle track section 61, a left track section 62, and a right track section 63, which are sequentially hinged together by hinge pins 64 to form a freely bending, integrated load-bearing track. It does not have a drive motor and does not have a walking function; it only serves as a leveling support component. The piston rod of the central main hydraulic cylinder 3 is connected to the middle track section 61 via an omnidirectional hinge joint 8. The piston rod of the left auxiliary hydraulic cylinder 4 is connected to the left track section 62 via another omnidirectional hinge joint 8. The piston rod of the right auxiliary hydraulic cylinder 4 is connected to the right track section 63 via yet another omnidirectional hinge joint 8.

[0040] The omnidirectional articulated joint 8 has three rotational degrees of freedom in space, so that the bottom end of the piston rod and the universal ball joint at the top of the cylinder are completely matched, forming a configuration with omnidirectional articulation at both ends. In this embodiment, the omnidirectional articulated joint 8 is a thrust ball joint assembly, which includes a ball joint seat 81 of the thrust ball joint assembly, which is welded or fixed to the upper surface of the corresponding track section by bolts; a ball head 82 of the thrust ball joint assembly, which is threadedly connected to the bottom end of the corresponding hydraulic cylinder piston rod; and a pressure cap 83, which is detachably fixed to the ball joint seat 81 of the thrust ball joint assembly by bolts, and confines the ball head 82 of the thrust ball joint assembly between the ball joint seat 81 and the pressure cap 83. The inner walls of the ball joint seat 81 and the pressure cap 83 of the thrust ball joint assembly are respectively machined with spherical seat surfaces 84 that mate with the outer spherical surface of the ball head 82 of the thrust ball joint assembly, allowing the ball head 82 of the thrust ball joint assembly to omnidirectionally deflect within them. A self-lubricating gasket 85 is also provided between the ball head 82 and the spherical seat surface 84 of the thrust ball joint assembly to reduce the coefficient of friction and achieve maintenance-free operation. A sealing ring 86 is embedded at the mating surface of the ball joint seat 81 and the pressure cap 83 of the thrust ball joint assembly to prevent mud and water intrusion. The ball joint seat 81 or the pressure cap 83 of the thrust ball joint assembly is provided with an oil injection hole and equipped with a removable dustproof grease nipple for supplying grease to the spherical sliding pair.

[0041] A removable anti-slip pad layer 9 is installed on the ground contact surface of the middle track section 61, the left track section 62, and the right track section 63. The anti-slip pad layer 9 is a rubber-metal composite anti-slip pad, comprising a steel plate base layer 91 and a vulcanized rubber layer 92. The vulcanized rubber layer 92 is located on the lower surface of the steel plate base layer 91, which is detachably fixed to the corresponding track section ground contact surface by multiple countersunk bolts. The lower surface of the vulcanized rubber layer 92 has crisscrossing drainage grooves and gripping protrusions, greatly improving the friction coefficient with various rock surfaces. It can also adapt to minor unevenness through localized elastic deformation, resulting in a more uniform ground pressure distribution.

[0042] A protective cover 10 is also fitted at the hinge pin 64 of the adjacent track section. The protective cover 10 is an elastic rubber corrugated sleeve, which is directly fitted onto the outer circumference of the hinge pin 64, and its two ends are pressed and sealed to the end faces of the two track sections respectively. The internal space of the protective cover 10 can be filled with grease, and the surface of the hinge pin 64 is quenched or hard chrome plated to form a wear-resistant hardened layer, thereby effectively preventing gravel and mud from entering the hinge gap and ensuring that the hinge is flexible and free from jamming for a long time.

[0043] To improve the overall anti-overturning capability of the triple hydraulic adaptive leveling support assembly, an adjustable threaded connecting rod 7 is connected to the upper part of the cylinder of the central main hydraulic cylinder 3 and the upper part of the cylinders of the two auxiliary hydraulic cylinders 4. Both ends of the adjustable threaded connecting rod 7 are connected to the connecting seats on the cylinder via ball joints, and its total length can be finely adjusted and locked using the threaded joints. During normal adaptive yaw, the ball joints at both ends allow for slight variations in the cylinder spacing without hindering independent operation. When the drilling rig is subjected to an overturning moment that causes the cylinders to tend to over-open, the adjustable threaded connecting rod 7 is under tension, limiting the maximum opening distance of the cylinders and improving the lateral stiffness of the support assembly.

[0044] The leveling device for the all-terrain adaptive hydraulic drilling rig chassis provided in this embodiment also includes a leveling controller 12, an inclination sensor 13, and cylinder pressure sensors 11. The inclination sensor 13 is installed on the drilling rig body to detect the attitude signal of the drilling rig body, which includes the inclination angle of the body in the front-back and left-right directions. The cylinder pressure sensors 11 are respectively located on the central main hydraulic cylinder 3 and two sets of independent auxiliary hydraulic cylinders 4, and are used to detect the ground pressure signal of each cylinder. An independent multi-channel hydraulic oil supply system is used to independently control the extension and retraction of the central main hydraulic cylinder 3 and the two auxiliary hydraulic cylinders 4. The leveling controller 12 is connected to the inclination sensor 13, the cylinder pressure sensors 11, and the independent multi-channel hydraulic oil supply system, and independently adjusts the extension and retraction of each cylinder according to the body attitude signal fed back by the inclination sensor 13 and the ground pressure signal fed back by the cylinder pressure sensors 11, so that the drilling rig automatically levels itself on the rugged working surface of open-pit mine bench blasting.

[0045] The automatic leveling logic of the leveling controller 12 is as follows: taking the hydraulic cylinder corresponding to the minimum ground pressure among the ground pressure signals detected by each cylinder pressure sensor 11 as the reference cylinder, the extension and retraction of other hydraulic cylinders are adjusted first to make the ground pressure of each hydraulic cylinder tend to be balanced, and the tilt angle of the machine body is returned to zero.

[0046] During the adjustment process, the leveling controller 12 monitors the ground pressure signal of each cylinder pressure sensor 11 in real time. When the ground pressure signal exceeds the preset threshold, the corresponding hydraulic cylinder is locked and an alarm is triggered.

[0047] The leveling controller 12 has a built-in terrain matching model of the open-pit mine step surface. Based on the fusion signal of the tilt sensor 13 and the pressure sensors 11 of each cylinder, the leveling controller 12 predicts the grounding status of the middle track section 61, the left track section 62 and the right track section 63 of the adaptive load-bearing track assembly 6, and adjusts the extension and retraction of the central main hydraulic cylinder 3 and the two auxiliary hydraulic cylinders 4 in advance to achieve active leveling.

[0048] This embodiment also provides the working method of the above-mentioned leveling device.

[0049] After the drilling rig reaches the work site, the leveling controller 12, based on the fused signals from the tilt sensor 13 and the pressure sensors 11 of each cylinder, and combined with the built-in open-pit mine bench surface terrain matching model, predicts the grounding status of the adaptive load-bearing track assembly 6, and pre-adjusts the extension and retraction of the central main hydraulic cylinder 3 and the two auxiliary hydraulic cylinders 4. Subsequently, the multi-way valves of the independent multi-way hydraulic oil supply system control the extension of the central main hydraulic cylinder 3 and the two auxiliary hydraulic cylinders 4 respectively. The central main hydraulic cylinder 3 and the two sets of independent auxiliary hydraulic cylinders 4 independently adjust the extension amount according to the terrain elevation, driving the middle track section 61, the left track section 62 and the right track section 63 of the adaptive load-bearing track assembly 6 to bend until the anti-slip pad layer 9 is tightly attached to the ground, forming a continuous and stable support surface. During the adjustment process, the leveling controller 12 uses the hydraulic cylinder corresponding to the lowest ground pressure signal detected by the pressure sensors 11 of each cylinder as the reference cylinder, and prioritizes adjusting the extension and retraction of other hydraulic cylinders to make the ground pressure of each hydraulic cylinder tend to be balanced and the tilt angle of the machine body return to zero; when the ground pressure signal exceeds the preset threshold, the corresponding hydraulic cylinder is locked and an alarm is triggered. During the bonding process, the universal ball joint at the top of the cylinder and the thrust ball joint assembly at the bottom adaptively eliminate lateral stress in real time, and the elastic damping buffer block 522 buffers the extreme impact of sway. After leveling is completed, the overall posture of the machine is stable and drilling operations can begin. After construction is completed, each cylinder retracts, driving the adaptive load-bearing track assembly 6 to retract and bond to the outside of the rigid base 2. To further ensure the safety of relocation and transportation, a mechanical locking device can be added to the outside of the rigid base 2 at the position corresponding to the end of the track section in the retracted state. The mechanical locking device can be a spring-return pin, which automatically inserts into the pin hole on the track section to lock after being retracted into place; or it can be an eccentric locking hook, which is manually tightened by the operator. During transportation, the mechanical locking device reliably fixes the adaptive load-bearing track assembly 6 to the track frame, preventing cylinder drift and track loosening and collision caused by vibration. The lock must be released before operation.

[0050] Numerous specific details are set forth in this specification. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification. The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A leveling device for the chassis of an all-terrain adaptive hydraulic drilling rig used in bench blasting in open-pit mines, characterized in that, include: The three-unit hydraulic adaptive leveling support assembly has multiple sets, which are symmetrically arranged on the rigid base on the outside of the chassis track frame. Each of the three-unit hydraulic adaptive leveling support assemblies includes: The support assembly includes a central main hydraulic cylinder and two sets of independent auxiliary hydraulic cylinders, wherein the two sets of independent auxiliary hydraulic cylinders are symmetrically arranged on the left and right sides of the central main hydraulic cylinder. A connecting limiting mechanism is configured to allow the hydraulic cylinder to self-adaptively deflect and limit the maximum deflection angle of the hydraulic cylinder; wherein the connecting limiting mechanism is disposed on a rigid base and includes connecting members and limiting members; the connecting members are provided at three locations, and the central main hydraulic cylinder and two sets of independent auxiliary hydraulic cylinders are respectively connected to the rigid base through the connecting members; the limiting members are provided at three locations, respectively located on the outer periphery of the three connecting members, and extending towards the ground; An adaptive load-bearing track assembly includes a middle track section, a left track section, and a right track section, which are sequentially hinged together by hinge pins to form a bendable, integrated load-bearing track. The bottom end of the piston rod of the central main hydraulic cylinder is connected to the middle track section via an omnidirectional hinge joint, the bottom end of the piston rod of the left auxiliary hydraulic cylinder is connected to the left track section via another omnidirectional hinge joint, and the bottom end of the piston rod of the right auxiliary hydraulic cylinder is connected to the right track section via yet another omnidirectional hinge joint. An independent multi-channel hydraulic oil supply system is used to independently control the extension and retraction of the central main hydraulic cylinder and the two auxiliary hydraulic cylinders on both sides. Inclination sensor, used to detect attitude signals of the drilling rig body; Each hydraulic cylinder pressure sensor is used to detect the ground pressure signal of each hydraulic cylinder; The leveling controller is connected to the tilt sensor, the pressure sensors of each cylinder, and the independent multi-channel hydraulic oil supply system. Based on the body attitude signal fed back by the tilt sensor and the ground pressure signal fed back by each cylinder pressure sensor, it independently adjusts the extension and retraction of each cylinder, so that the drilling rig can automatically level the rugged working surface of the open-pit mine bench blasting.

2. The leveling device for the all-terrain adaptive hydraulic drilling rig chassis according to claim 1, characterized in that, The connector includes: A ball joint seat is fixedly connected to a rigid base on the outer side of the track frame; The ball head is fixedly connected to the top of the corresponding hydraulic cylinder body and is housed in the ball joint seat to form a universal ball joint; The limiting component includes at least one arc-shaped mechanical limiting block, which protrudes from the rigid base on the outside of the ball joint seat or track frame, and a replaceable elastic damping buffer block is provided on the limiting surface of the arc-shaped mechanical limiting block.

3. The leveling device for the all-terrain adaptive hydraulic drilling rig chassis according to claim 2, characterized in that, There are two arc-shaped mechanical limit blocks, symmetrically arranged on both sides of the preset deflection direction of the hydraulic cylinder. The inner arc surface of each arc-shaped mechanical limit block constitutes the limiting surface, and the elastic damping buffer block can be detachably fixed to the inner arc surface.

4. The leveling device for the all-terrain adaptive hydraulic drilling rig chassis according to claim 3, characterized in that, The elastic damping buffer block is made of oil-resistant and wear-resistant polymer material and is fixed in the mounting groove of the inner arc surface by countersunk screws or embedding.

5. The leveling device for the all-terrain adaptive hydraulic drilling rig chassis according to claim 1, characterized in that, The omnidirectional hinge joint has three rotational degrees of freedom in space; and the omnidirectional hinge joint is a thrust ball joint assembly, including: The ball joint seat is fixedly connected to the corresponding track section; The ball head is fixedly connected to the bottom end of the corresponding hydraulic cylinder piston rod; The pressure cap is detachably fixed to the ball joint seat and defines the ball head between the ball joint seat and the pressure cap. The inner wall surfaces of the ball joint seat and the pressure cap respectively have spherical seat surfaces that mate with the outer spherical surface of the ball head.

6. The leveling device for the all-terrain adaptive hydraulic drilling rig chassis according to claim 5, characterized in that, A self-lubricating gasket is provided between the ball head and the spherical seat surface. A sealing ring is provided at the joint surface between the ball joint seat and the pressure cover. An oil injection hole is provided on the ball joint seat or the pressure cover, and a detachable dustproof oil nozzle is provided.

7. The leveling device for the all-terrain adaptive hydraulic drilling rig chassis according to claim 1, characterized in that, It also includes an anti-slip pad layer, which is disposed on the grounding surface of each track section of the adaptive load-bearing track assembly. The anti-slip pad layer is a rubber-metal composite anti-slip pad plate, including a steel plate base and a vulcanized rubber layer, wherein the vulcanized rubber layer is disposed on the lower surface of the steel plate base, and the steel plate base can be detachably fixed to the grounding surface of the corresponding track section by multiple countersunk bolts.

8. The leveling device for the all-terrain adaptive hydraulic drilling rig chassis according to claim 1, characterized in that, A protective cover, which is an elastic rubber corrugated sleeve, is also installed at the hinge pin of the adjacent track section.

9. The leveling device for the all-terrain adaptive hydraulic drilling rig chassis according to claim 1, characterized in that, The upper part of the cylinder of the central main hydraulic cylinder is connected to the upper part of the cylinders of the two auxiliary hydraulic cylinders, respectively, with adjustable threaded connecting rods. Both ends of the adjustable threaded connecting rods are connected by ball joints to limit the maximum opening distance between the cylinders.

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