Drilling machine walking system and crawler-type drilling machine
By using a single universal handle to drive the multi-directional walking system in the crawler drilling rig, the problem of difficulty in operating and inability to accurately turn is solved, and more efficient and accurate walking operations are achieved.
Patent Information
- Application Number
- CN202420823443.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-19
- Publication Date
- 2025-03-25
- Estimated Expiration
- 2034-04-19
AI Technical Summary
The existing tracked drilling rig walking system requires the coordinated operation of two rockers, which increases the difficulty of operation and cannot accurately turn to a fixed angle, reducing construction efficiency.
A single universal handle is used to drive the multi-directional walking system of the crawler. By adjusting the hydraulic fluid flow, the crawlers on the left and right sides of the drill rig are moved in different states, thereby achieving multi-directional walking and precise steering.
It reduces operation difficulty, improves operation accuracy, and can perform efficient operations under complex road sections, solving the problem that traditional systems cannot turn accurately.
Smart Images
Figure CN222663567U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a drilling rig walking system and a crawler type drilling rig, belonging to the technical field of drilling rig walking. Background Art
[0002] In recent years, crawler open-pit drilling rigs have been widely used in most drilling construction projects because of their advantages such as large traction, small ground contact pressure, strong stability, strong climbing ability, small turning radius, maneuverability and strong site adaptability, and can operate in different environments.
[0003] With the use and understanding of crawler open-pit drill rigs by personnel in the mining industry, crawler drill rigs are being used more and more widely. As the basis for their engineering operations, the movement of the drill rig plays a particularly important role. The traditional method of controlling the movement direction of crawler drill rigs is relatively common. This method uses a pair of self-resetting linear rockers to control the left and right crawlers. The two rockers cooperate with each other to make the drill rig move, which requires the driver to concentrate highly and increases the difficulty of operation. At the same time, the drill rig cannot accurately turn to a fixed angle, which reduces the construction efficiency, so it is difficult to adapt to operations on complex roads. Utility Model Content
[0004] The purpose of the utility model is to overcome the deficiencies in the prior art and to provide a drilling rig walking system and a crawler drilling rig, which have the effect of crawler walking in multiple directions under the drive of a single universal handle, reduce the operating difficulty and improve the operating accuracy, and solve the problem that the current walking system requires the coordinated operation of two rockers, which increases the operating difficulty and the drilling rig cannot accurately turn to a fixed angle.
[0005] In order to solve the above technical problems, the utility model is implemented by adopting the following technical solutions:
[0006] The utility model provides a drilling rig walking system, including: a controller, a universal handle, a hydraulic transmission mechanism, a left crawler track of the drilling rig and a right crawler track of the drilling rig;
[0007] The universal handle is electrically connected to the controller;
[0008] The hydraulic transmission mechanism includes a hydraulic oil tank, a hydraulic pump, a first proportional valve, a first transmission mechanism, a second proportional valve, and a second transmission mechanism;
[0009] The first proportional valve and the second proportional valve are electrically connected to the controller respectively;
[0010] The hydraulic oil tank is connected to the hydraulic pump, and the hydraulic pump is connected to the first proportional valve and the second proportional valve respectively; the first proportional valve is connected to the first transmission mechanism, and the first transmission mechanism is connected to the left crawler of the drilling rig; the second proportional valve is connected to the second transmission mechanism, and the second transmission mechanism is connected to the right crawler of the drilling rig;
[0011] The universal handle includes at least six propulsion directions, and is used to drive the left crawler track and the right crawler track of the drilling rig to move in different states by adjusting the oil flow through the first proportional valve and the second proportional valve;
[0012] The pushing direction of the universal handle corresponds to different opening and closing degrees, and the opening and closing degrees include: the opening and closing degree when the handle is pushed forward, the opening and closing degree when the handle is pushed backward, the opening and closing degree when the handle is pushed left, and the opening and closing degree when the handle is pushed right.
[0013] Optionally, the state of the left crawler of the drilling rig includes: the forward speed of the left crawler of the drilling rig and the backward speed of the left crawler of the drilling rig; the state of the right crawler of the drilling rig includes: the forward speed of the right crawler of the drilling rig and the backward speed of the right crawler of the drilling rig.
[0014] Optionally, the propulsion directions of the universal handle include: a first direction, a second direction, a third direction, a fourth direction, a fifth direction and a sixth direction.
[0015] Optionally, when the propulsion direction of the universal handle is in the first direction, the opening and closing degree of the handle when pushed forward is greater than a preset value, the opening and closing degree of the handle when pushed backward is less than a preset value, the opening and closing degree of the handle when pushed left is less than a preset value, and the opening and closing degree of the handle when pushed right is less than a preset value;
[0016] When the propulsion direction of the universal handle is in the second direction, the handle is pushed forward to an opening degree < a preset value, the handle is pushed backward to an opening degree > a preset value, the handle is pushed left to an opening degree < a preset value, and the handle is pushed right to an opening degree < a preset value;
[0017] When the propulsion direction of the universal handle is in the third direction, the opening and closing degree of the handle when pushed forward is greater than the preset value, the opening and closing degree of the handle when pushed backward is less than the preset value, the opening and closing degree of the handle when pushed left is greater than the preset value, the opening and closing degree of the handle when pushed right is less than the preset value, and the opening and closing degree of the handle when pushed forward is less than the opening and closing degree of the handle when pushed left;
[0018] When the propulsion direction of the universal handle is in the fourth direction, the handle is pushed forward to an opening degree < a preset value, the handle is pushed backward to an opening degree > a preset value, the handle is pushed left to an opening degree < a preset value, the handle is pushed right to an opening degree > a preset value, and the handle is pushed right to an opening degree < a handle is pushed backward to an opening degree;
[0019] When the propulsion direction of the universal handle is in the fifth direction, the opening and closing degree of the handle when pushed forward is greater than the preset value, the opening and closing degree of the handle when pushed backward is less than the preset value, the opening and closing degree of the handle when pushed left is less than the preset value, the opening and closing degree of the handle when pushed right is greater than the preset value, and the opening and closing degree of the handle when pushed forward is less than the opening and closing degree of the handle when pushed right;
[0020] When the propulsion direction of the universal handle is in the sixth direction, the opening and closing degree of the handle when pushed forward is < the preset value, the opening and closing degree of the handle when pushed backward is > the preset value, the opening and closing degree of the handle when pushed left is > the preset value, the opening and closing degree of the handle when pushed right is < the preset value, and the opening and closing degree of the handle when pushed forward is < the opening and closing degree of the handle when pushed left.
[0021] Optionally, the propulsion direction of the universal handle also includes: a seventh direction, an eighth direction, a ninth direction and a tenth direction.
[0022] Optionally, when the propulsion direction of the universal handle is in the seventh direction, the opening and closing degree of the handle pushed forward>preset value, the opening and closing degree of the handle pushed backward<preset value, the opening and closing degree of the handle pushed left>preset value, the opening and closing degree of the handle pushed right<preset value, the opening and closing degree of the handle pushed forward>the opening and closing degree of the handle pushed right;
[0023] When the propulsion direction of the universal handle is in the eighth direction, the handle is pushed forward to an opening degree < a preset value, the handle is pushed backward to an opening degree > a preset value, the handle is pushed left to an opening degree < a preset value, the handle is pushed right to an opening degree < a preset value, the handle is pushed forward to an opening degree > the handle is pushed right to an opening degree;
[0024] When the propulsion direction of the universal handle is in the ninth direction, the opening and closing degree of the handle when pushed forward is greater than the preset value, the opening and closing degree of the handle when pushed backward is less than the preset value, the opening and closing degree of the handle when pushed left is less than the preset value, the opening and closing degree of the handle when pushed right is greater than the preset value, and the opening and closing degree of the handle when pushed forward is greater than the opening and closing degree of the handle when pushed right;
[0025] When the propulsion direction of the universal handle is in the tenth direction, the opening and closing degree of the handle when pushed forward is < the preset value, the opening and closing degree of the handle when pushed backward is > the preset value, the opening and closing degree of the handle when pushed left is > the preset value, the opening and closing degree of the handle when pushed right is < the preset value, and the opening and closing degree of the handle when pushed forward is > the opening and closing degree of the handle when pushed right.
[0026] Optionally, the angle formed by the fifth direction clockwise and the fourth direction, and the angle formed by the sixth direction clockwise and the third direction are the handle dead zone. When the universal handle is in the handle dead zone, the left track and the right track do not move.
[0027] Optionally, the first transmission mechanism includes: a first hydraulic motor and a first gear transmission mechanism; the first hydraulic motor is connected to a first proportional valve through a pipeline, and the first hydraulic motor is connected to the left crawler drive of the drilling rig through the first gear transmission mechanism.
[0028] Optionally, the second transmission mechanism includes: a second hydraulic motor and a second gear transmission mechanism; the second hydraulic motor is connected to a second proportional valve through a pipeline, and the second hydraulic motor is connected to the right crawler drive of the drilling rig through a second gear transmission mechanism.
[0029] Another aspect of the utility model provides a crawler drilling rig, comprising the above-mentioned drilling rig traveling system.
[0030] Compared with the prior art, the utility model has the following beneficial effects:
[0031] The utility model pushes the universal handle in different propulsion directions so that the first proportional valve and the second proportional valve are in different opening degrees to adjust the amount of hydraulic oil output by the hydraulic oil tank, thereby making the left crawler track and the right crawler track of the drilling rig move in different states, and finally making the drilling rig travel in different directions, solving the problem that the current walking system needs to work through the cooperation of two rockers, which increases the difficulty of operation and the drilling rig cannot accurately turn and fix the angle. BRIEF DESCRIPTION OF THE DRAWINGS
[0032] Figure 1 The utility model is a structural schematic diagram of a drilling rig traveling system and a crawler drilling rig embodiment of the drilling rig traveling system.
[0033] Figure 2 The utility model is a schematic diagram of the propulsion direction of the universal handle of the drilling rig walking system of the embodiment of the drilling rig and the crawler drilling rig.
[0034] In the figure: 1. controller; 2. universal handle; 3. hydraulic transmission mechanism; 301. hydraulic oil tank; 302. hydraulic pump; 303. first proportional valve; 304. first transmission mechanism; 3041. first hydraulic motor; 3042. first gear transmission mechanism; 305. second proportional valve; 306. second transmission mechanism; 3061. second hydraulic motor; 3062. second gear transmission mechanism; 4. left crawler track of drilling rig; 5. right crawler track of drilling rig. DETAILED DESCRIPTION
[0035] The utility model is further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the utility model, and cannot be used to limit the protection scope of the utility model.
[0036] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.
[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.
[0038] Embodiment 1
[0039] like Figure 1 As shown, a drilling rig walking system includes: a controller 1, a universal handle 2, a hydraulic transmission mechanism 3, a left crawler 4 of the drilling rig and a right crawler 5 of the drilling rig; specifically:
[0040] The hydraulic transmission mechanism 3 includes a hydraulic oil tank 301, a hydraulic pump 302, a first proportional valve 303, a first transmission mechanism 304, a second proportional valve 305, and a second transmission mechanism 306. The hydraulic oil tank 301 is connected to the hydraulic pump 302, and the hydraulic pump 302 is connected to the first proportional valve 303 and the second proportional valve 305 respectively; the first proportional valve 303 is connected to the first transmission mechanism 304, and the second proportional valve 305 is connected to the second transmission mechanism 306;
[0041] The first transmission mechanism 304 includes: a first hydraulic motor 3041 and a first gear transmission mechanism 3042. The first hydraulic motor 3041 is connected to the first proportional valve 303 through a pipeline. The first hydraulic motor 3041 is connected to the left crawler 4 of the drilling rig through the first gear transmission mechanism 3042.
[0042] The second transmission mechanism 306 includes: a second hydraulic motor 3061 and a second gear transmission mechanism 3062, the second hydraulic motor 3061 is connected to the second proportional valve 305 through a pipeline, and the second hydraulic motor 3061 is connected to the right crawler 5 of the drilling rig through the second gear transmission mechanism 3062;
[0043] The universal handle 2 is electrically connected to the controller 1, and the first proportional valve 303 and the second proportional valve 305 are electrically connected to the controller 1 respectively;
[0044] The universal handle 2 includes at least six propulsion directions, which are used to drive the left crawler 4 and the right crawler 5 of the drilling rig to move in different states, wherein the state of the left crawler 4 of the drilling rig includes: the forward speed of the left crawler 4 of the drilling rig and the backward speed of the left crawler 4 of the drilling rig; the state of the right crawler 5 of the drilling rig includes: the forward speed of the right crawler 5 of the drilling rig and the backward speed of the right crawler 5 of the drilling rig;
[0045] The pushing direction of the universal handle 2 corresponds to different opening and closing degrees, and the opening and closing degrees include: the opening and closing degree of the handle pushing forward, the opening and closing degree of the handle pushing backward, the opening and closing degree of the handle pushing left, and the opening and closing degree of the handle pushing right. Specifically:
[0046] The propulsion directions of the universal handle 2 include: a first direction, a second direction, a third direction, a fourth direction, a fifth direction and a sixth direction;
[0047] When the propulsion direction of the universal handle 2 is in the first direction, the opening and closing degree of the handle when pushed forward is greater than the preset value, the opening and closing degree of the handle when pushed backward is less than the preset value, the opening and closing degree of the handle when pushed left is less than the preset value, and the opening and closing degree of the handle when pushed right is less than the preset value;
[0048] When the propulsion direction of the universal handle 2 is in the second direction, the opening and closing degree of the handle when pushed forward is less than the preset value, the opening and closing degree of the handle when pushed backward is greater than the preset value, the opening and closing degree of the handle when pushed left is less than the preset value, and the opening and closing degree of the handle when pushed right is less than the preset value;
[0049] When the propulsion direction of the universal handle 2 is in the third direction, the opening and closing degree of the handle pushed forward> the preset value, the opening and closing degree of the handle pushed backward< the preset value, the opening and closing degree of the handle pushed left> the preset value, the opening and closing degree of the handle pushed right< the preset value, and the opening and closing degree of the handle pushed forward<the opening and closing degree of the handle pushed left;
[0050] When the propulsion direction of the universal handle 2 is in the fourth direction, the handle is pushed forward to an opening degree < a preset value, the handle is pushed backward to an opening degree > a preset value, the handle is pushed left to an opening degree < a preset value, the handle is pushed right to an opening degree > a preset value, and the handle is pushed right to an opening degree < a handle is pushed backward to an opening degree;
[0051] When the propulsion direction of the universal handle 2 is in the fifth direction, the opening and closing degree of the handle pushed forward> the preset value, the opening and closing degree of the handle pushed backward< the preset value, the opening and closing degree of the handle pushed left< the preset value, the opening and closing degree of the handle pushed right> the preset value, and the opening and closing degree of the handle pushed forward<the opening and closing degree of the handle pushed right;
[0052] When the pushing direction of the universal handle 2 is in the sixth direction, the opening and closing degree of the handle pushed forward is < the preset value, the opening and closing degree of the handle pushed backward is > the preset value, the opening and closing degree of the handle pushed left is > the preset value, the opening and closing degree of the handle pushed right is < the preset value, and the opening and closing degree of the handle pushed forward is < the opening and closing degree of the handle pushed left.
[0053] In order to avoid excessive changes in the states of the left track 4 and the right track of the drilling rig when operating the universal handle 2, the angle formed by the fifth direction clockwise and the fourth direction, and the angle formed by the sixth direction clockwise and the third direction are the handle dead zone. When the universal handle 2 is in the handle dead zone, the left track and the right track do not move.
[0054] The controller 1 used in this embodiment is an IMC T controller, model IMC T5040;
[0055] IMC T series controller is a general-purpose programmable controller. With a 32-bit Tricore high-speed processor and a clock frequency of up to 180MHz, it can quickly handle various tasks.
[0056] The controller 1 includes at least 4 AI input ports and 4 PWM output ports. The input ports of the controller 1 are electrically connected to the universal handle 2, and the output ports of the universal handle 2 are electrically connected to the first proportional valve 303 and the second proportional valve 305 respectively.
[0057] The input value of universal handle 2 is collected by the AI input port of controller 1. When universal handle 2 is moved, controller 1 collects voltage signals with a signal range of 0-5V. The voltage signals are converted into AD values in controller 1 with a signal range of 0-5V and an AD value of 0-4096. The actual effective input voltage of universal handle 2 is 0.5-4.5V, and the corresponding AD value is 410-3686. The range of 0-0.5V and 4.5-5V is the dead zone voltage, corresponding to the dead zone of the handle.
[0058] The minimum input parameter value of the universal handle 2 controlling the movement of the left crawler 4 and the right crawler 5 of the drilling rig corresponds to the preset values of the handle forward push opening and closing degree, the handle backward push opening and closing degree, the handle left push opening and closing degree, the handle right push opening and closing degree, and the handle forward push opening and closing degree;
[0059] When the universal handle 2 moves, the AI input terminal of the controller 1 collects the front signal, rear signal, left signal and right signal input by the universal handle 2, where:
[0060] The AD value corresponding to the front signal: the handle push value is 2048-3686, and the handle push value is 2048-410;
[0061] The AD value corresponding to the rear signal: the handle push value is 2048-410, and the handle push value is 2048-3686;
[0062] The AD value corresponding to the left signal: the handle pushes the value to the left 2048-3686, the handle pushes the value to the right 2048-410;
[0063] When the universal handle 2 is pushed forward, the front signal and the rear signal provide the handle push value at the same time; the handle push value of the front signal is first converted into the opening and closing degree of the universal handle 2 0-100%, and the opening and closing degree represents the proportion of the input signal of the universal handle 2, which corresponds to the first proportional valve 303 and the second proportional valve 305, so as to adjust the flow of the hydraulic pressure in the proportional valve, and output the forward PWM value after logical calculation, and the size of the forward PWM value depends on the handle push value of the front signal; by analogy, the logic of backing up, turning left and turning right is the same as that of forwarding;
[0064] The algorithm is:
[0065] Handle forward push opening degree = (handle forward push value - 2048) / 16, maximum value: 100%, minimum value: 0%;
[0066] Handle push back opening and closing degree = (handle push back value - 2048) / 16, maximum value: 100%, minimum value: 0%;
[0067] Handle left push opening degree = (handle left push value - 2048) / 16, maximum value: 100%, minimum value: 0%;
[0068] Handle right push opening degree = (handle right push value - 2048) / 16, maximum value: 100%, minimum value: 0%;
[0069] In this embodiment, the PWM outputs corresponding to the six direction controllers 1 are:
[0070] When the propulsion direction of the universal handle 2 is in the first direction, the PWM output is related to the opening and closing degree of the handle forward push, and the forward PWM output value of the crawler 4 on the left side of the drilling rig = the forward PWM output value of the crawler 5 on the right side of the drilling rig, and the output range refers to the maximum and minimum values of the set current;
[0071] The PWM of the backward movement of crawler 4 on the left side of the drilling rig and the PWM of the backward movement of crawler 5 on the right side of the drilling rig are not output;
[0072] When the propulsion direction of the universal handle 2 is in the second direction, the PWM output is related to the opening and closing degree of the handle backward push, and the PWM output value of the left crawler 4 of the drilling rig backward is equal to the PWM output value of the right crawler 5 of the drilling rig, and the output range refers to the maximum and minimum values of the set current;
[0073] The forward PWM of crawler 4 on the left side of the drilling rig and the forward PWM of crawler 5 on the right side of the drilling rig are not output;
[0074] When the propulsion direction of the universal handle 2 is in the third direction, the PWM output is related to the opening and closing degree of the handle. The forward PWM output value of the left crawler 4 of the drilling rig = the backward PWM output value of the right crawler 5 of the drilling rig. The output range refers to the maximum and minimum values of the set current.
[0075] The backward PWM of crawler 4 on the left side of the drilling rig and the forward PWM of crawler 5 on the right side of the drilling rig are not output;
[0076] When the propulsion direction of the universal handle 2 is in the fourth direction, the PWM output is related to the handle push back opening and closing degree, the forward PWM output value of the left crawler 4 of the drilling rig = the backward PWM output value of the right crawler 5 of the drilling rig, and the output range refers to the maximum and minimum values of the set current;
[0077] The backward PWM of crawler 4 on the left side of the drilling rig and the forward PWM of crawler 5 on the right side of the drilling rig are not output;
[0078] When the propulsion direction of the universal handle 2 is in the fifth direction, the PWM output is related to the opening and closing degree of the handle forward push, and the forward PWM output value of the left crawler 4 of the drilling rig = the backward PWM output value of the right crawler 5 of the drilling rig, and the output range refers to the maximum and minimum values of the set current;
[0079] The backward PWM of crawler 4 on the left side of the drilling rig and the forward PWM of crawler 5 on the right side of the drilling rig are not output;
[0080] When the propulsion direction of the universal handle 2 is in the sixth direction, the PWM output is related to the handle push back opening and closing degree, the forward PWM output value of the left crawler 4 of the drilling rig = the backward PWM output value of the right crawler 5 of the drilling rig, and the output range refers to the maximum and minimum values of the set current;
[0081] The backward PWM of crawler track 4 on the left side of the drilling rig and the forward PWM of crawler track 5 on the right side of the drilling rig are not output.
[0082] Embodiment 2
[0083] like Figure 1 As shown, a drilling rig walking system includes: a controller 1, a universal handle 2, a hydraulic transmission mechanism 3, a left crawler 4 of the drilling rig and a right crawler 5 of the drilling rig; specifically:
[0084] The hydraulic transmission mechanism 3 includes a hydraulic oil tank 301, a hydraulic pump 302, a first proportional valve 303, a first transmission mechanism 304, a second proportional valve 305, and a second transmission mechanism 306. The hydraulic oil tank 301 is connected to the hydraulic pump 302, and the hydraulic pump 302 is connected to the first proportional valve 303 and the second proportional valve 305 respectively; the first proportional valve 303 is connected to the first transmission mechanism 304, and the second proportional valve 305 is connected to the second transmission mechanism 306;
[0085] The first transmission mechanism 304 includes: a first hydraulic motor 3041 and a first gear transmission mechanism 3042. The first hydraulic motor 3041 is connected to the first proportional valve 303 through a pipeline. The first hydraulic motor 3041 is connected to the left crawler 4 of the drilling rig through the first gear transmission mechanism 3042.
[0086] The second transmission mechanism 306 includes: a second hydraulic motor 3061 and a second gear transmission mechanism 3062, the second hydraulic motor 3061 is connected to the second proportional valve 305 through a pipeline, and the second hydraulic motor 3061 is connected to the right crawler 5 of the drilling rig through the second gear transmission mechanism 3062;
[0087] The universal handle 2 is electrically connected to the controller 1, and the first proportional valve 303 and the second proportional valve 305 are electrically connected to the controller 1 respectively;
[0088] The universal handle 2 includes at least six propulsion directions, which are used to drive the left crawler 4 and the right crawler 5 of the drilling rig to move in different states, wherein the state of the left crawler 4 of the drilling rig includes: the forward speed of the left crawler 4 of the drilling rig and the backward speed of the left crawler 4 of the drilling rig; the state of the right crawler 5 of the drilling rig includes: the forward speed of the right crawler 5 of the drilling rig and the backward speed of the right crawler 5 of the drilling rig;
[0089] The pushing direction of the universal handle 2 corresponds to different opening and closing degrees, and the opening and closing degrees include: the opening and closing degree of the handle pushing forward, the opening and closing degree of the handle pushing backward, the opening and closing degree of the handle pushing left, and the opening and closing degree of the handle pushing right. Specifically:
[0090] like Figure 2 As shown, the propulsion directions of the universal handle 2 include: a first direction, a second direction, a third direction, a fourth direction, a fifth direction and a sixth direction;
[0091] When the propulsion direction of the universal handle 2 is in the first direction, the opening and closing degree of the handle when pushed forward is greater than the preset value, the opening and closing degree of the handle when pushed backward is less than the preset value, the opening and closing degree of the handle when pushed left is less than the preset value, and the opening and closing degree of the handle when pushed right is less than the preset value;
[0092] When the propulsion direction of the universal handle 2 is in the second direction, the opening and closing degree of the handle when pushed forward is less than the preset value, the opening and closing degree of the handle when pushed backward is greater than the preset value, the opening and closing degree of the handle when pushed left is less than the preset value, and the opening and closing degree of the handle when pushed right is less than the preset value;
[0093] When the propulsion direction of the universal handle 2 is in the third direction, the opening and closing degree of the handle pushed forward> the preset value, the opening and closing degree of the handle pushed backward< the preset value, the opening and closing degree of the handle pushed left> the preset value, the opening and closing degree of the handle pushed right< the preset value, and the opening and closing degree of the handle pushed forward<the opening and closing degree of the handle pushed left;
[0094] When the propulsion direction of the universal handle 2 is in the fourth direction, the handle is pushed forward to an opening degree < a preset value, the handle is pushed backward to an opening degree > a preset value, the handle is pushed left to an opening degree < a preset value, the handle is pushed right to an opening degree > a preset value, and the handle is pushed right to an opening degree < a handle is pushed backward to an opening degree;
[0095] When the propulsion direction of the universal handle 2 is in the fifth direction, the opening and closing degree of the handle pushed forward> the preset value, the opening and closing degree of the handle pushed backward< the preset value, the opening and closing degree of the handle pushed left< the preset value, the opening and closing degree of the handle pushed right> the preset value, and the opening and closing degree of the handle pushed forward<the opening and closing degree of the handle pushed right;
[0096] When the pushing direction of the universal handle 2 is in the sixth direction, the opening and closing degree of the handle pushed forward is < the preset value, the opening and closing degree of the handle pushed backward is > the preset value, the opening and closing degree of the handle pushed left is > the preset value, the opening and closing degree of the handle pushed right is < the preset value, and the opening and closing degree of the handle pushed forward is < the opening and closing degree of the handle pushed left.
[0097] In order to increase the adjustment range of the universal handle 2, the propulsion direction of the universal handle 2 also includes: a seventh direction, an eighth direction, a ninth direction and a tenth direction;
[0098] When the propulsion direction of the universal handle 2 is in the seventh direction, the handle is pushed forward and the opening degree is greater than the preset value, the handle is pushed backward and the opening degree is less than the preset value, the handle is pushed left and the opening degree is greater than the preset value, the handle is pushed right and the opening degree is less than the preset value, and the handle is pushed forward and the opening degree is greater than the handle is pushed right;
[0099] When the propulsion direction of the universal handle 2 is in the eighth direction, the handle is pushed forward to an opening degree < the preset value, the handle is pushed backward to an opening degree > the preset value, the handle is pushed left to an opening degree < the preset value, the handle is pushed right to an opening degree < the preset value, the handle is pushed forward to an opening degree > the handle is pushed right to an opening degree;
[0100] When the propulsion direction of the universal handle 2 is in the ninth direction, the opening and closing degree of the handle pushed forward> the preset value, the opening and closing degree of the handle pushed backward< the preset value, the opening and closing degree of the handle pushed left< the preset value, the opening and closing degree of the handle pushed right> the preset value, and the opening and closing degree of the handle pushed forward> the opening and closing degree of the handle pushed right;
[0101] When the propulsion direction of the universal handle 2 is in the tenth direction, the handle is pushed forward to an opening degree < a preset value, the handle is pushed backward to an opening degree > a preset value, the handle is pushed left to an opening degree > a preset value, the handle is pushed right to an opening degree < a preset value, the handle is pushed forward to an opening degree > the handle is pushed right to an opening degree;
[0102] In order to avoid excessive changes in the states of the left track 4 and the right track of the drilling rig when operating the universal handle 2, the angle formed by the fifth direction clockwise and the fourth direction, and the angle formed by the sixth direction clockwise and the third direction are the handle dead zone. When the universal handle 2 is in the handle dead zone, the left track and the right track do not move.
[0103] The controller 1 used in this embodiment is an IMC T controller, model IMC T5040. The IMC T series controller is a general-purpose programmable controller. With a 32-bit Tricore high-speed processor and a clock frequency of up to 180MHz, it can quickly process various tasks.
[0104] The controller 1 includes at least 4 AI input ports and 4 PWM output ports. The input ports of the controller 1 are electrically connected to the universal handle 2, and the output ports of the universal handle 2 are electrically connected to the first proportional valve 303 and the second proportional valve 305 respectively.
[0105] The input value of universal handle 2 is collected by the AI input port of controller 1. When universal handle 2 is moved, controller 1 collects voltage signals with a signal range of 0-5V. The voltage signals are converted into AD values in controller 1 with a signal range of 0-5V and an AD value of 0-4096. The actual effective input voltage of universal handle 2 is 0.5-4.5V, and the corresponding AD value is 410-3686. The range of 0-0.5V and 4.5-5V is the dead zone voltage, corresponding to the dead zone of the handle.
[0106] The minimum input parameter value of the universal handle 2 controlling the movement of the left crawler 4 and the right crawler 5 of the drilling rig corresponds to the preset values of the handle forward push opening and closing degree, the handle backward push opening and closing degree, the handle left push opening and closing degree, the handle right push opening and closing degree, and the handle forward push opening and closing degree;
[0107] When the universal handle 2 moves, the AI input terminal of the controller 1 collects the front signal, rear signal, left signal and right signal input by the universal handle 2, where:
[0108] The AD value corresponding to the front signal: the handle push value is 2048-3686, and the handle push value is 2048-410;
[0109] The AD value corresponding to the rear signal: the handle push value is 2048-410, and the handle push value is 2048-3686;
[0110] The AD value corresponding to the left signal: the handle pushes the value to the left 2048-3686, the handle pushes the value to the right 2048-410;
[0111] When the universal handle 2 is pushed forward, the front signal and the rear signal provide the handle push value at the same time; the handle push value of the front signal is first converted into the opening and closing degree of the universal handle 2 0-100%, and the opening and closing degree represents the proportion of the input signal of the universal handle 2, which corresponds to the first proportional valve 303 and the second proportional valve 305, so as to adjust the flow of the hydraulic pressure in the proportional valve, and output the forward PWM value after logical calculation, and the size of the forward PWM value depends on the handle push value of the front signal; by analogy, the logic of backing up, turning left and turning right is the same as that of forwarding;
[0112] The algorithm is:
[0113] Handle forward push opening degree = (handle forward push value - 2048) / 16, maximum value: 100%, minimum value: 0%;
[0114] Handle push back opening and closing degree = (handle push back value - 2048) / 16, maximum value: 100%, minimum value: 0%;
[0115] Handle left push opening degree = (handle left push value - 2048) / 16, maximum value: 100%, minimum value: 0%;
[0116] Handle right push opening degree = (handle right push value - 2048) / 16, maximum value: 100%, minimum value: 0%;
[0117] In this embodiment, the PWM outputs corresponding to the 10 direction controllers 1 are:
[0118] When the propulsion direction of the universal handle 2 is in the first direction, the PWM output is related to the opening and closing degree of the handle forward push, and the forward PWM output value of the crawler 4 on the left side of the drilling rig = the forward PWM output value of the crawler 5 on the right side of the drilling rig, and the output range refers to the maximum and minimum values of the set current;
[0119] The PWM of the backward movement of crawler 4 on the left side of the drilling rig and the PWM of the backward movement of crawler 5 on the right side of the drilling rig are not output;
[0120] When the propulsion direction of the universal handle 2 is in the second direction, the PWM output is related to the opening and closing degree of the handle backward push, and the PWM output value of the left crawler 4 of the drilling rig backward is equal to the PWM output value of the right crawler 5 of the drilling rig, and the output range refers to the maximum and minimum values of the set current;
[0121] The forward PWM of crawler 4 on the left side of the drilling rig and the forward PWM of crawler 5 on the right side of the drilling rig are not output;
[0122] When the propulsion direction of the universal handle 2 is in the third direction, the PWM output is related to the opening and closing degree of the handle. The forward PWM output value of the left crawler 4 of the drilling rig = the backward PWM output value of the right crawler 5 of the drilling rig. The output range refers to the maximum and minimum values of the set current.
[0123] The backward PWM of crawler 4 on the left side of the drilling rig and the forward PWM of crawler 5 on the right side of the drilling rig are not output;
[0124] When the propulsion direction of the universal handle 2 is in the fourth direction, the PWM output is related to the handle push back opening and closing degree, the forward PWM output value of the left crawler 4 of the drilling rig = the backward PWM output value of the right crawler 5 of the drilling rig, and the output range refers to the maximum and minimum values of the set current;
[0125] The backward PWM of crawler 4 on the left side of the drilling rig and the forward PWM of crawler 5 on the right side of the drilling rig are not output;
[0126] When the propulsion direction of the universal handle 2 is in the fifth direction, the PWM output is related to the opening and closing degree of the handle forward push, and the forward PWM output value of the left crawler 4 of the drilling rig = the backward PWM output value of the right crawler 5 of the drilling rig, and the output range refers to the maximum and minimum values of the set current;
[0127] The backward PWM of crawler 4 on the left side of the drilling rig and the forward PWM of crawler 5 on the right side of the drilling rig are not output;
[0128] When the propulsion direction of the universal handle 2 is in the sixth direction, the PWM output is related to the handle push back opening and closing degree, the forward PWM output value of the left crawler 4 of the drilling rig = the backward PWM output value of the right crawler 5 of the drilling rig, and the output range refers to the maximum and minimum values of the set current;
[0129] The backward PWM of crawler 4 on the left side of the drilling rig and the forward PWM of crawler 5 on the right side of the drilling rig are not output;
[0130] When the propulsion direction of the universal handle 2 is in the seventh direction, the PWM output is related to the opening and closing degree of the handle forward push and the opening and closing degree of the handle left push. The forward PWM output value of the crawler 4 on the left side of the drilling rig is less than the forward PWM output value of the crawler 5 on the right side of the drilling rig. The output range refers to the maximum and minimum values of the set current.
[0131] The PWM of the backward movement of crawler 4 on the left side of the drilling rig and the PWM of the backward movement of crawler 5 on the right side of the drilling rig are not output;
[0132] When the propulsion direction of the universal handle 2 is in the eighth direction, the PWM output is related to the handle push back opening and closing degree, the handle push left opening and closing degree, the PWM output value of the left crawler 4 of the drilling rig backward is less than the PWM output value of the right crawler 5 of the drilling rig backward, and the output range refers to the maximum and minimum values of the set current;
[0133] The forward PWM of crawler track 4 on the left side of the drilling rig and the forward PWM of crawler track 5 on the right side of the drilling rig are not output.
[0134] When the propulsion direction of the universal handle 2 is in the ninth direction, the PWM output is related to the opening and closing degree of the handle forward push and the opening and closing degree of the handle right push. The forward PWM output value of the crawler 4 on the left side of the drilling rig is greater than the forward PWM output value of the crawler 5 on the right side of the drilling rig. The output range refers to the maximum and minimum values of the set current.
[0135] The PWM of the backward movement of crawler 4 on the left side of the drilling rig and the PWM of the backward movement of crawler 5 on the right side of the drilling rig are not output;
[0136] When the propulsion direction of the universal handle 2 is in the tenth direction, the PWM output is related to the handle's backward opening and closing degrees and the handle's rightward opening and closing degrees. The PWM output value of the drill's left crawler 4 backward is greater than the PWM output value of the drill's right crawler 5 backward. The output range refers to the maximum and minimum values of the set current.
[0137] The forward PWM of crawler track 4 on the left side of the drilling rig and the forward PWM of crawler track 5 on the right side of the drilling rig are not output.
[0138] How it works
[0139] When the propulsion direction of the universal handle is in the first direction, the crawler track on the left side of the drilling rig moves forward, and the crawler track on the right side of the drilling rig moves forward;
[0140] When the propulsion direction of the universal handle is in the second direction, the crawler track on the left side of the drilling rig moves backward, and the crawler track on the right side of the drilling rig moves backward;
[0141] When the propulsion direction of the universal handle is in the third direction, the crawler track on the left side of the drilling rig moves backward, and the crawler track on the right side of the drilling rig moves forward;
[0142] When the propulsion direction of the universal handle is in the fourth direction, the crawler track on the left side of the drilling rig moves backward, and the crawler track on the right side of the drilling rig moves forward;
[0143] When the propulsion direction of the universal handle is in the fifth direction, the crawler track on the left side of the drilling rig moves forward, and the crawler track on the right side of the drilling rig moves backward;
[0144] When the propulsion direction of the universal handle is in the sixth direction, the crawler track on the left side of the drilling rig moves forward, and the crawler track on the right side of the drilling rig moves backward;
[0145] When the propulsion direction of the universal handle is in the seventh direction, the left crawler of the drilling rig moves forward, the right crawler of the drilling rig moves forward, the forward output of the right crawler of the drilling rig is greater than the forward output of the left crawler of the drilling rig, and the forward speed of the right crawler of the drilling rig is greater than the forward speed of the left crawler of the drilling rig;
[0146] When the propulsion direction of the universal handle is in the eighth direction, the left crawler of the drilling rig moves backward, the right crawler of the drilling rig moves backward, the backward output of the right crawler of the drilling rig is greater than the backward output of the left crawler of the drilling rig, and the backward speed of the right crawler of the drilling rig is less than the backward speed of the left crawler of the drilling rig;
[0147] When the propulsion direction of the universal handle is in the ninth direction, the left crawler of the drilling rig moves forward; the right crawler of the drilling rig moves forward, the forward output of the right crawler of the drilling rig is less than the forward output of the left crawler of the drilling rig, and the forward speed of the right crawler of the drilling rig is less than the forward speed of the left crawler of the drilling rig;
[0148] When the propulsion direction of the universal handle is in the tenth direction, the left crawler track of the drilling rig moves backward, the right crawler track of the drilling rig moves backward, the backward output of the left crawler track of the drilling rig is greater than the backward output of the right crawler track of the drilling rig, and the backward speed of the left crawler track of the drilling rig is less than the backward speed of the right crawler track of the drilling rig.
[0149] Embodiment 3
[0150] A crawler drilling rig comprises the above-mentioned drilling rig traveling system.
[0151] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.
Claims
1. A drilling rig travel system, characterized in that: include: Controller, universal handle, hydraulic transmission mechanism, left crawler track of drilling rig and right crawler track of drilling rig; The universal handle is electrically connected to the controller; The hydraulic transmission mechanism includes a hydraulic oil tank, a hydraulic pump, a first proportional valve, a first transmission mechanism, a second proportional valve, and a second transmission mechanism; The first proportional valve and the second proportional valve are electrically connected to the controller respectively; The hydraulic oil tank is connected to the hydraulic pump, and the hydraulic pump is connected to the first proportional valve and the second proportional valve respectively; the first proportional valve is connected to the first transmission mechanism, and the first transmission mechanism is connected to the left crawler of the drilling rig; the second proportional valve is connected to the second transmission mechanism, and the second transmission mechanism is connected to the right crawler of the drilling rig; The universal handle includes at least six propulsion directions, and is used to drive the left crawler track and the right crawler track of the drilling rig to move in different states by adjusting the oil flow through the first proportional valve and the second proportional valve; The pushing direction of the universal handle corresponds to different opening and closing degrees, and the opening and closing degrees include: the opening and closing degree when the handle is pushed forward, the opening and closing degree when the handle is pushed backward, the opening and closing degree when the handle is pushed left, and the opening and closing degree when the handle is pushed right.
2. The drilling rig travel system according to claim 1, characterized in that: The state of the left crawler of the drilling rig includes: the forward speed of the left crawler of the drilling rig and the backward speed of the left crawler of the drilling rig; the state of the right crawler of the drilling rig includes: the forward speed of the right crawler of the drilling rig and the backward speed of the right crawler of the drilling rig.
3. The drilling rig travel system according to claim 1, characterized in that: The propulsion directions of the universal handle include: a first direction, a second direction, a third direction, a fourth direction, a fifth direction and a sixth direction.
4. The drilling rig travel system according to claim 3, characterized in that: When the propulsion direction of the universal handle is in the first direction, the opening and closing degree of the handle when pushed forward is greater than the preset value, the opening and closing degree of the handle when pushed backward is less than the preset value, the opening and closing degree of the handle when pushed left is less than the preset value, and the opening and closing degree of the handle when pushed right is less than the preset value; When the propulsion direction of the universal handle is in the second direction, the handle is pushed forward to an opening degree < a preset value, the handle is pushed backward to an opening degree > a preset value, the handle is pushed left to an opening degree < a preset value, and the handle is pushed right to an opening degree < a preset value; When the propulsion direction of the universal handle is in the third direction, the opening and closing degree of the handle when pushed forward is greater than the preset value, the opening and closing degree of the handle when pushed backward is less than the preset value, the opening and closing degree of the handle when pushed left is greater than the preset value, the opening and closing degree of the handle when pushed right is less than the preset value, and the opening and closing degree of the handle when pushed forward is less than the opening and closing degree of the handle when pushed left; When the propulsion direction of the universal handle is in the fourth direction, the handle is pushed forward to an opening degree < a preset value, the handle is pushed backward to an opening degree > a preset value, the handle is pushed left to an opening degree < a preset value, the handle is pushed right to an opening degree > a preset value, and the handle is pushed right to an opening degree < a handle is pushed backward to an opening degree; When the propulsion direction of the universal handle is in the fifth direction, the opening and closing degree of the handle when pushed forward is greater than the preset value, the opening and closing degree of the handle when pushed backward is less than the preset value, the opening and closing degree of the handle when pushed left is less than the preset value, the opening and closing degree of the handle when pushed right is greater than the preset value, and the opening and closing degree of the handle when pushed forward is less than the opening and closing degree of the handle when pushed right; When the propulsion direction of the universal handle is in the sixth direction, the opening and closing degree of the handle when pushed forward is < the preset value, the opening and closing degree of the handle when pushed backward is > the preset value, the opening and closing degree of the handle when pushed left is > the preset value, the opening and closing degree of the handle when pushed right is < the preset value, and the opening and closing degree of the handle when pushed forward is < the opening and closing degree of the handle when pushed left.
5. The drilling rig travel system according to claim 1, characterized in that: The propulsion directions of the universal handle also include: a seventh direction, an eighth direction, a ninth direction and a tenth direction.
6. The drilling rig travel system according to claim 5, characterized in that: When the propulsion direction of the universal handle is in the seventh direction, the opening and closing degree of the handle pushed forward> the preset value, the opening and closing degree of the handle pushed backward< the preset value, the opening and closing degree of the handle pushed left> the preset value, the opening and closing degree of the handle pushed right< the preset value, and the opening and closing degree of the handle pushed forward> the opening and closing degree of the handle pushed right; When the propulsion direction of the universal handle is in the eighth direction, the handle is pushed forward to an opening degree < a preset value, the handle is pushed backward to an opening degree > a preset value, the handle is pushed left to an opening degree < a preset value, the handle is pushed right to an opening degree < a preset value, the handle is pushed forward to an opening degree > the handle is pushed right to an opening degree; When the propulsion direction of the universal handle is in the ninth direction, the opening and closing degree of the handle when pushed forward is greater than the preset value, the opening and closing degree of the handle when pushed backward is less than the preset value, the opening and closing degree of the handle when pushed left is less than the preset value, the opening and closing degree of the handle when pushed right is greater than the preset value, and the opening and closing degree of the handle when pushed forward is greater than the opening and closing degree of the handle when pushed right; When the propulsion direction of the universal handle is in the tenth direction, the opening and closing degree of the handle when pushed forward is < the preset value, the opening and closing degree of the handle when pushed backward is > the preset value, the opening and closing degree of the handle when pushed left is > the preset value, the opening and closing degree of the handle when pushed right is < the preset value, and the opening and closing degree of the handle when pushed forward is > the opening and closing degree of the handle when pushed right.
7. The drilling rig travel system according to claim 3, characterized in that: The angle formed by the fifth direction clockwise and the fourth direction, and the angle formed by the sixth direction clockwise and the third direction are the handle dead zone. When the universal handle is in the handle dead zone, the left track and the right track do not move.
8. The drilling rig travel system according to claim 1, characterized in that: The first transmission mechanism includes: a first hydraulic motor and a first gear transmission mechanism; the first hydraulic motor is connected to a first proportional valve through a pipeline, and the first hydraulic motor is connected to the left crawler drive of the drilling rig through the first gear transmission mechanism.
9. The drilling rig travel system according to claim 1, characterized in that: The second transmission mechanism includes: a second hydraulic motor and a second gear transmission mechanism; the second hydraulic motor is connected to a second proportional valve through a pipeline, and the second hydraulic motor is connected to the right crawler drive of the drilling rig through the second gear transmission mechanism.
10. A crawler drilling rig, characterized in that: It comprises the drilling rig walking system as described in any one of claims 1-9.