Crawler-type node instrument laying machine

Abstract

The utility model discloses a crawler-type node instrument laying machine which comprises a module square cabin, an RTK positioning system, a cab, laying equipment, an engine room and a crawler-type chassis, the crawler-type chassis serves as a base, and the module square cabin, the RTK positioning system, the cab, the laying equipment and the engine room are all arranged on the crawler-type chassis. The cab and the engine room are arranged in front of the top of the crawler chassis side by side; the module square cabin is arranged on the middle rear portion of the top of the crawler chassis and used for storing the conveying node instrument. And the laying equipment is arranged at the foremost end of the crawler-type node instrument laying machine and is mounted on the front sides of a cab and an engine room. According to the utility model, the autonomous power modular design is adopted, the driving speed and the passing capacity are improved, the drilling laying efficiency can be ensured, and the laying efficiency of the whole node instrument is relatively high. And the equipment operation stability is fully considered in design and selection of each part, and the failure rate is reduced.

Description

Technical Field

[0001] This utility model belongs to the field of petroleum seismic exploration, and in particular relates to node instrument deployment, specifically a tracked node instrument deployment machine. Background Technology

[0002] As seismic exploration in the petroleum industry deepens, the need for detailed structural interpretation and reservoir characterization, particularly for the exploration of thin, deep, small, fragmented, and more concealed geological bodies in older areas of eastern China, necessitates the further promotion and application of single-point high-density technology. Nodal nodes, compared to traditional wired seismographs, are smaller, lighter, and simpler to deploy, making them more conducive to the implementation of single-point high-density technology and improving construction efficiency, leading to their increasing use in production. Currently, nodal node deployment is mostly done manually, by hand. With tens of thousands of nodal nodes required in a single project, this not only requires a large amount of manpower, hindering project cost management, but also increases HSE (Health, Safety, and Environment) risks. With advancements in science and technology, improving efficiency and saving labor costs is an inevitable trend. Therefore, developing highly efficient automated nodal node deployment equipment is an urgent need.

[0003] In the domestic market, there are currently no mature automatic deployment devices for wireless node instruments. This is mainly because of their high degree of customization, small target audience, and high cost, which makes it difficult for manufacturers to focus on this market. Therefore, it is essential to develop a device that can efficiently and effectively deploy node instruments in complex environments.

[0004] CN 114893165 A discloses an automatic deployment device for wireless node detectors, comprising a frame, a hopper, a drilling and feeding mechanism, and a unloading mechanism. The hopper includes a central shaft, a small hopper, and a rotating disk. The rotating disk drives the small hopper to rotate, and the node detector is placed inside the small hopper. Falling node detectors enter the feeding mechanism. The drilling and feeding mechanism includes a auger drill bit, a drill, a first slide, a receiving claw, and a switching arm. The receiving claw catches the node detector falling from the small hopper. After the drill bit makes a hole, the switching arm moves the receiving claw above the hole. The unloading mechanism includes a second slide, a unloading cylinder, a soil-pressing plate, and a four-jaw pneumatic gripper. The four-jaw pneumatic gripper grabs the node detector located on the receiving claw and places it into the hole. After the node detector is placed in the hole, the unloading cylinder controls the soil-pressing plate to compact and fill the hole with soil. This invention achieves fully automatic and unmanned operation of the node detector deployment process, reducing manpower costs and improving work efficiency. However, this application focuses on the deployment of a single type of node, with a small amount of material loaded at one time, and lacks a power system, making it unable to move on its own; the use of a gasoline engine poses a safety risk in high-temperature desert areas; the towing method results in large deployment errors and low efficiency; and the wheeled structure lacks mobility and off-road capability, which will limit construction in complex areas and inevitably affect construction efficiency, failing to meet the requirements for high efficiency.

[0005] Looking at the development trend of wireless node devices, the difficulties of actual deployment have been overlooked during the research and development process. Deploying node devices suffers from problems such as high manpower consumption, low efficiency, difficulty in large-scale deployment in the field, large errors in manual positioning, and high costs. Developing an automated deployment device for wireless node devices that can achieve precise positioning via satellite communication, based on existing technology, would have a significant impact on the node device market. Utility Model Content

[0006] This utility model aims to design and develop an intelligent deployment device for wireless nodes, including hardware and supporting software, to achieve high positioning accuracy, fast deployment efficiency, and good deployment effect, thereby solving the problems of low efficiency and high cost of manual deployment. It realizes precise navigation and positioning by Beidou satellite, intelligent construction that is simple and efficient, and deployment effect that meets requirements.

[0007] Technical solution:

[0008] A tracked node deployment machine includes a modular container, an RTK positioning system, a driver's cab, deployment equipment, an engine compartment, and a tracked chassis. The tracked chassis serves as the base, and the modular container, RTK positioning system, driver's cab, deployment equipment, and engine compartment are all mounted on the tracked chassis. The driver's cab and engine compartment are arranged side by side at the top front of the tracked chassis. The modular container is located at the middle and rear of the top of the tracked chassis and is used to store and transport node instruments. The deployment equipment is located at the foremost end of the tracked node deployment machine and is installed in front of the driver's cab and engine compartment.

[0009] Preferably, the RTK positioning system is installed directly above the drilling module for positioning.

[0010] Preferably, the driver's cab is located on the left side of the engine compartment.

[0011] Preferably, the engine compartment uses a Changchai ZN490B diesel engine with a rated power of 34KW and a rated speed of 2400r / min.

[0012] Preferably, the tracked chassis has its own power source.

[0013] Preferably, the modular container includes a plate chain conveyor, a tilting and lowering mechanism, and a hopper. The hopper has shelves on both sides for storing magazine-style transfer boxes. Each transfer box includes a cylinder for storing node devices. The bottom of the cylinder has a limiting structure to prevent the node devices from falling. The top of the cylinder has a cover, which acts as a manual switch to compress a spring inside the transfer box so that the node device can pop out. A slotted structure is provided on one side of the top of the cylinder near the opening. This slotted structure corresponds to the bottom of the first node device stored in the transfer box, and a fork is inserted to push the node device off the cylinder. The plate chain conveyor is centrally located within the hopper. The conveyor belt includes a plate chain and a power mechanism for driving the plate chain to rotate. A transfer box pushing mechanism is set at the top of the plate chain. The transfer box pushing mechanism includes a crossbeam for placing the transfer box and a fork mechanism for pushing down the node instrument. Standard tooling boxes are installed around the plate chain, corresponding one-to-one with the positions of the transfer boxes, so that the node instrument in the transfer box can be accurately dropped into the tooling box under the action of the fork. The front end of the plate chain conveyor is a flipping and positioning mechanism. The tooling box that moves to this position with the plate chain is reversed due to the flipping of the plate chain. The node instrument falls into the flipping and positioning mechanism by gravity and then enters the placement equipment with the help of the guide cylinder.

[0014] Preferably, the fork mechanism includes a vertical fork and a horizontal bar. The top of the fork has an inclined surface facing the outlet of the transfer box. The fork and the horizontal bar move as a unit. In the standby state, the horizontal bar is positioned at the opening of the transfer box to prevent the node from falling. The fork is located below the slotted structure of the transfer box. In the working state, the horizontal bar and the fork are lifted vertically together. The horizontal bar moves away from the opening of the transfer box, and the fork inserts into the slotted structure of the transfer box. Under the force exerted by the inclined surface and the node, the node is pushed off the transfer box and falls into the tooling box.

[0015] Preferably, the deployment equipment comprises three parts: a drilling module, a pressing device, and a translating module, all of which are driven by a motor. The drilling module and the pressing device are installed at the front end of the translating module, and the drilling module and the pressing device can move left and right under the operation of the translating module.

[0016] Preferably, the drilling module includes a digging drill bit, a drilling slide rail, a drilling stabilization module, and a digging servo motor. The head of the digging servo motor fixes the digging drill bit. When the digging servo motor is working, the digging drill bit moves up and down on the drilling slide rail through the drilling stabilization module.

[0017] Preferably, the pressing device includes a deployment servo motor, a deployment stabilizing module, a soil-pressing steel ring, and a deployment slide rail. The deployment servo motor controls the lifting and lowering of the soil-pressing steel ring. When the deployment servo motor is working, the soil-pressing steel ring moves up and down on the deployment slide rail through the deployment stabilizing module.

[0018] Preferably, the translation module relies on a four-speed mechanical gear motor to achieve the left and right translation of the drilling module and the pressing device.

[0019] Beneficial effects of this utility model

[0020] This utility model adopts an independent power modular design, which improves the travel speed and throughput, ensures drilling and deployment efficiency, and results in high overall node deployment efficiency. The design and selection of each component fully considers the operational stability of the equipment, reducing the failure rate. Attached Figure Description

[0021] Figure 1 This is a structural diagram of the present invention.

[0022] Figure 2 This is a structural diagram of the modular shelter of this utility model.

[0023] Figure 3 This is a structural diagram of the deployment device of this utility model.

[0024] Figure 4 This is a schematic diagram of the track portion of this utility model.

[0025] Figure 5 This is a schematic diagram of the overall framework of the present invention.

[0026] Figure 6 This is a screenshot of the monitoring page interface in the embodiment.

[0027] Figure 7 This is a screenshot of the manual control page interface in the embodiment.

[0028] Figure 8 This is one of the screenshots of the parameter setting interface in the embodiment.

[0029] Figure 9 This is the second screenshot of the parameter setting interface in the embodiment.

[0030] Figure 10 This is a screenshot of the alarm page interface in the embodiment.

[0031] Figure 11 This is a screenshot of the alarm content interface in the embodiment.

[0032] Figure 12 This is a screenshot of the event query page in the embodiment.

[0033] Figure 13 Screenshot of the I / O interface in the embodiment

[0034] Figure 14 This is one of the screenshots of the hopper settings page in the embodiment.

[0035] Figure 15 This is the second screenshot of the hopper settings page in the embodiment.

[0036] Figure 16 This is a screenshot of the device network settings interface in the embodiment.

[0037] Figure 17 This is a screenshot of the WIFI connection interface in the embodiment. Detailed Implementation

[0038] The present invention will be further described below with reference to embodiments, but the scope of protection of the present invention is not limited thereto:

[0039] like Figure 1 As shown, the overall structure of the equipment mainly consists of a driver's cab 3, a modular container 1, a tracked chassis 6, a transmission mechanism, a sliding platform mechanism, deployment equipment 4, an RTK positioning system 2, and an engine compartment 5 (diesel generator). Figure 4 As shown, the tracked chassis 6 is a modified version of a commercially available agricultural vehicle with 400mm wide tracks, incorporating a high-horsepower Changchai high-altitude diesel engine, a DMDS7500LE diesel generator, and a solid gearbox, giving the entire chassis its own power source system. For example... Figure 2As shown, the modular storage unit 1 mainly consists of a plate chain conveyor 1-1, a tilting and lowering mechanism 1-2, and a storage bin 1-3. Material feeding and retrieval operations are performed through the ingenious coordination of a switching cylinder and a ten-unit double-control gate. Specifically: Storage bin 1-3 has shelves 1-4 on both sides for storing magazine-type transfer boxes 1-5 for later use (in a preferred embodiment, a long shelf 1-4 is provided on one side, a short shelf 1-4 on the other side, and the remaining space is used to place a generator). The transfer box 1-5 includes a cylinder for storing node instruments. The bottom of the cylinder has a limiting structure to prevent the node instruments from falling. The top of the cylinder has a cover, which acts as a manual switch to compress the spring inside the transfer box so that the node instruments can pop out. A slotted structure is provided on one side of the top of the cylinder near the opening. This slotted structure corresponds to the bottom of the first node instrument stored in the transfer box 1-5. The slotted structure allows a fork to be inserted to... The node device is dislodged from the cylinder (in this embodiment, a ten-link dual-control gate is used to simultaneously control ten pulsating node devices); a plate chain conveyor 1-1 is centrally located in the hopper 1-3, the plate chain conveyor 1-1 includes a plate chain 1-6 and a power mechanism for driving the plate chain 1-6 to rotate; a transfer box pushing mechanism is set at the top of the plate chain 1-6, the transfer box pushing mechanism includes a crossbeam for placing the transfer box 1-5 and a pulsating fork mechanism for dislodging the node device (in a preferred embodiment, the pulsating fork mechanism includes a vertical pulsating fork and a horizontal crossbar, the top of the pulsating fork has an inclined surface facing the outlet direction of the transfer box 1-5, the pulsating fork and the crossbar are integrated). Action: In the standby state, the crossbar is positioned at the opening of the transfer box 1-5 to prevent the node from falling, and the shift fork is located below the slotted structure of the transfer box 1-5. In the working state, the crossbar and the shift fork are lifted vertically together, the crossbar moves away from the opening of the transfer box 1-5, and the shift fork inserts into the slotted structure of the transfer box 1-5. Under the force exerted by its inclined surface and the node, the node is dislodged from the transfer box 1-5 and falls into the tooling box 1-7. Standard tooling boxes 1-7 are installed all around the plate chain 1-6, corresponding one-to-one with the positions of the transfer box 1-5, so that the node in the transfer box 1-5 can accurately fall into the tooling box 1-7 under the action of the shift fork (in the preferred embodiment, the plate chain 1-6 is equipped with standard tooling boxes 1-7, which correspond one-to-one with the positions of the transfer box 1-5, so that the node in the transfer box 1-5 can accurately fall into the tooling box 1-7 under the action of the shift fork (in the preferred embodiment, the plate chain 1-6 is equipped with standard tooling boxes 1-7, which correspond one-to-one with the positions of the transfer box 1-5). Chain 1-6 moves according to instructions under the drive of plate chain conveyor 1-1, each movement corresponding to the position of one tooling box 1-7. With the design of a ten-link double-control gate, the ten-link double-control gate activates once every ten tooling boxes 1-7 moves (completing one drop of the node instrument). The front end of plate chain conveyor 1-1 is a flipping and dropping mechanism 1-2. Tooling boxes 1-7 that move to this position with plate chain 1-6 are reversed due to the flipping of plate chain 1-6, and the node instrument falls into the flipping and dropping mechanism 1-2 by gravity. The bottom of the flipping and dropping mechanism 1-2 actively releases, allowing the node instrument to fall and then enter the placement device 4 via guide cylinder 4-7. Figure 3As shown, the deployment device 4 mainly consists of servo motors (including digging servo motor 4-4, deployment servo motor 4-5, and a four-speed mechanical geared motor 4-3), a translational module, a soil-pressing steel ring 4-8, and a digging drill bit 4-1. The servo motors (digging servo motor 4-4 and deployment servo motor 4-5) control the lifting and lowering of the entire module, while the translational module controls the switching between drilling and material feeding processes. The soil-pressing steel ring 4-8 is used to backfill and compact the holes after the node instrument is deployed. The digging drill bit 4-1 is responsible for the drilling operation. Figure 5 As shown, the vehicle frame is welded from square tubing with a baked enamel finish. The surfaces of each device are ground smooth to ensure that each device is placed horizontally.

[0040] The deployment machine uses a tracked chassis 6 as its base, with all other components mounted on it. The driver's cab 3 is located at the front left of the tracked chassis 6; the engine compartment 5 is located at the front right of the tracked chassis 6, to the right of the driver's cab 3; the deployment equipment 4 is located at the very front of the machine, mounted in front of the driver's cab 3 and the engine compartment 5; the middle and rear section of the tracked chassis 6 houses the modular container 1, used to store the conveyor node instrument; and the drilling module 4 is mounted directly above the RTK positioning system 2 for positioning. During operation, the deployment equipment 4 moves left and right along a slide rail to perform drilling and deployment.

[0041] During operation, the deployment vehicle uses RTK positioning to accurately reach the deployment point. Next, the digging servo motor 4-4 connected to the digging drill bit 4-1 operates, driving the drill bit 4-1 to rotate and perform drilling operations. The node indicator is placed upside down in a standard magazine-type transfer box 1-5. Through the cooperation of a cylinder and a ten-bar double-control brake, the node indicator is moved from the transfer box 1-5 into the standard tooling box 1-7 of the plate chain conveyor, and then moved forward by the plate chain 1-6. After reaching the front section of the hopper, the tooling box 1-7 flips, and the node indicator falls into the upward-opening tilting and positioning mechanism 1-2, completing the material retrieval operation. Subsequently, the upward-opening tilting and positioning mechanism 1-2 flips to a downward-opening position (90° downward in the preferred embodiment), and the node indicator falls from the tilting and positioning mechanism 1-2 into the slide, and is pushed by the cylinder into the tail of the guide cylinder 4-7. Finally, the translation module 4-6 drives the right-side pressing device in the deployment mechanism to move to the designated position. The deployment servo motor 4-5 drives the device to fall down. After the node instrument falls into the hole, the pressing cylinder drives the soil compaction steel ring 4-8 to perform soil compaction on the node instrument.

[0042] The disassembly instructions for each component of the deployment vehicle are as follows:

[0043] 1. Vehicle body

[0044] The frame is welded from square tubing with a baked-on paint finish, providing some rust resistance. Compared to aluminum profile supports, this frame has a certain weight, which helps reduce vibrations caused by the movement of the deployment vehicle and cylinder motion. Compared to cast frames, this frame is lighter. The top surface of the frame is ground flat to ensure that all components are placed horizontally. Threaded holes are drilled at appropriate locations for installing other parts.

[0045] 2. Chassis

[0046] This utility model relates to a node deployment vehicle that abandons the unpowered towing structure and is equipped with its own power. It adopts a highly modified version of a common agricultural tracked vehicle on the market, with its own power source; the tracked chassis structure has the characteristics of large contact area with the ground, low pressure and small turning radius, which solves the problem of poor passability on steep slopes, ditches and soft and slippery ground, and can easily pass through the harsh terrain that most wheeled vehicles find difficult to travel on.

[0047] 3. Modular Warehouse

[0048] The modular warehouse mainly consists of a plate chain conveyor, a tilting and positioning mechanism, and a hopper. Shelves are located on both sides of the hopper to hold magazine-style transfer boxes. A plate chain conveyor is centrally located, with standard tooling boxes installed around the entire plate chain, each corresponding to a transfer box, ensuring the accurate placement of the node device within the transfer box. The tilting and positioning mechanism is located at the front of the plate chain conveyor. As the plate chain moves to this position, the tooling boxes tilt, and the node device falls into the tilting and positioning mechanism by gravity, before entering the placement equipment.

[0049] Material feeding relies on a plate chain conveyor and a ten-unit double-control gate, resulting in a simpler structure and better stability. It can simultaneously handle material from 10 nodes, leading to higher efficiency. The entire hopper is sealed, with rubber sealing strips at the loading hopper door to prevent rain, snow, and sand erosion, ensuring a clean interior. The transfer box adopts a modular design with a clip-on structure, ensuring convenient and accurate loading and positioning of the nodes. The core structure of the feeding mechanism is a standard tooling box for receiving materials, ensuring precise and controllable circulation and one-step transfer, making the feeding process simple and direct. The entire enclosure has excellent sealing and insulation, and can also be equipped with air conditioning to maintain a constant temperature inside the hopper, protecting various components from external environmental influences. Exposed parts are made of military-grade materials, ensuring more stable equipment operation. Metal rubber shock absorbers are installed at the four corners to greatly reduce the adverse effects of bumpy road conditions on equipment operation.

[0050] 4. Deployment equipment

[0051] The deployment equipment consists of three parts: drilling, deployment, and translation, all driven by motors. The translation module can move left and right. The drilling and deployment devices are both installed at the front end of the translation module and can move up and down along the slide rail during operation. The drilling module is on the left and includes the excavation drill bit; the deployment device is on the right and includes the guide cylinder and the soil-pressing steel ring below it. During operation, the drilling module is first translated to the designated position via the translation module and then lowered to drill a hole. Then, the deployment device is translated to the hole position and lowered to complete the deployment of the node instrument.

[0052] The front-mounted mechanism allows the driver to observe the material unloading process throughout the deployment operation. After RTK point location confirmation, pressing the switch enables high-precision deployment (error ≤20cm). The use of a front-mounted adjustable slide mechanism significantly improves the vehicle's adjustability and versatility, facilitating subsequent product commercialization. Thanks to the design, deployment actions are greatly simplified, deployment time is significantly reduced, and efficiency is further improved.

[0053] 5. Generator and air pump selection

[0054] It uses a DMDS7500LE diesel generator with a rated power of 6KW, suitable for 220V and 400V voltage. It is a single-cylinder, vertical, direct-injection, four-stroke engine with load sensitivity and pressure compensation. It features an axial piston pump, high-pressure oil filter, multi-way control valve, and other components. The modular design allows for most parts to be interchangeable. It uses a C-type oil sump, allowing for approximately 13.5 hours of operation with a full oil tank. It includes protection modules for low oil pressure, high cylinder temperature, starter motor protection, and charging protection, ensuring safe and efficient operation. The air pump is an oil-lubricated piston air compressor, characterized by its simple structure, long service life, strong adaptability, and high efficiency.

[0055] This utility model utilizes autonomous power, significantly improving travel efficiency. The entire vehicle adopts an integrated design, ensuring operational stability and reducing the failure rate. It achieves more efficient and lower-failure-rate deployment of node instruments, better solving the problems of low efficiency and high cost associated with current manual deployment methods.

[0056] The following screenshots of the operating system interface during actual use illustrate the operation instructions for the tracked node deployment machine:

[0057] ① Combination Figure 6 As shown, the monitoring page interface

[0058] System Status Display: This displays the current operating status of the system. The system will display the status here after completing each task. Please observe the status here to determine the current working state of the device.

[0059] Operation: After the equipment reset is complete, clicking this button will automatically deploy the node instruments. This is a self-reset button; only one click is needed.

[0060] Pause: This button is only used when the device is running. Clicking it will pause all current operations. To resume operation, click the Run button to resume the currently unfinished task. If an alarm occurs, click the Pause button first if the problem can be resolved manually to prevent the device from automatically restarting after the fault is fixed. This button is self-resetting; only one click is needed.

[0061] Stop: When the device is running or paused, clicking the Stop button will halt all current operations and prevent it from running again. To restart, you must click Device Reset to reset the device. The Stop button is generally used when the device experiences an unsolvable malfunction or when it needs to be terminated. This is a self-reset button; a single click is sufficient.

[0062] Reset: The equipment must be reset before operation. Resetting the equipment is equivalent to performing a basic initialization of all components on the equipment. It can also be performed to resolve unknown errors. If an error occurs during the reset process, the equipment will issue an alarm. The automatic reset can be terminated by clicking the stop button.

[0063] Lighting: The lighting switch on the control device; one click turns it on, and another click turns it off.

[0064] Current hopper station number: Displays the hopper station number currently in the unloading position. When the hopper fill button is clicked, the hopper in the unloading position will automatically default to 1. To manually adjust, please switch to the hopper settings page to configure the hopper station.

[0065] Placed Quantity: The total number of items placed after the display device starts running automatically. This quantity is retained even when power is off.

[0066] Reset: Clicking the reset button will manually clear the data of the placed quantity.

[0067] This hopper placement quantity displays the number of node instruments placed on the device after clicking "fill hopper".

[0068] Remaining quantity in the feeding bin: Displays the remaining quantity of the node instrument in the feeding bin at the current feeding position.

[0069] Total remaining amount in the bin: Displays the current amount of material remaining in the entire bin.

[0070] Next node QR code: Used to display the content of the QR code for the next deployment node device.

[0071] Hopper Filling: After clicking this button, all hoppers of the equipment will be filled with the node instrument according to the initial hopper filling value.

[0072] Pressure test values, current longitude, current latitude, current temperature, and current humidity; these values ​​are temporarily unavailable due to some system openness issues.

[0073] ② Combination Figure 7 As shown, the manual control page interface

[0074] Current position: Displays the current actual position of the servo. Only after the servo has been reset will the displayed position be the absolute position.

[0075] Enable / On: To facilitate debugging and fault analysis, this button enables / disables the servo when the brake is released, allowing for manual movement. Under normal circumstances, this switch does not need to be turned on when manually moving the servo up or down. The enable switch is always on by default.

[0076] Move Up: Manually move the servo upwards at the speed set by the jog speed parameter on the parameter settings page; Debug mode must be enabled for this button to be effective.

[0077] Move Down: Manually move the servo downwards at the speed set by the jog speed parameter on the parameter settings page; Debug mode must be enabled to make this button effective.

[0078] Reset: The corresponding motor drive shaft can be reset individually, facilitating equipment debugging.

[0079] Debug Mode / Off: When debug mode is enabled, some function keys will be active, and some function keys will have different working states. Please refer to the function key description for details. In normal operation, this function key must be in the off state for the device to operate automatically.

[0080] Error Clear: Used to clear the error status of the motor shaft. Servo motors may encounter various operational errors during operation. Some errors can be manually cleared using this button; for errors that cannot be cleared, this button is ineffective. Common errors that can be cleared include: overtravel alarms at upper and lower limits.

[0081] Hopper Forward / Reverse: This button controls the forward or reverse rotation of the hopper. When the debugging mode is off, clicking the forward / reverse button once will automatically rotate the hopper one station; the button will automatically pop up when the rotation is complete. When the debugging mode is on, pressing the button will cause the hopper to rotate continuously until the button is manually turned off.

[0082] Stepper Jog + / -: Used to control the rotation of the stepper motor above the hopper. When the debugging mode is off, clicking this button will cause the stepper motor to rotate automatically according to the number of rotations set in the parameter settings page. When the debugging mode is on, pressing the button will cause the stepper motor to rotate, and releasing the button will stop the stepper motor from rotating.

[0083] Manual Operation Buttons: These buttons on the interface allow you to monitor cylinder operation and manually change cylinder states. When the equipment is running automatically, these buttons will change according to the equipment's status. Clicking pause allows you to manually switch cylinder states to resolve issues. Cylinder states can also be manually controlled in non-automatic operation. Note: Non-professionals should not operate these buttons while the equipment is running, as this may affect its normal operation.

[0084] ③ Combination Figure 8 and Figure 9 As shown, the parameter setting interface

[0085] Drilling Servo - Jog Speed: Sets the speed at which the servo motor is manually moved.

[0086] Drilling Servo - Positioning: Sets the position for manual movement of the servo.

[0087] Drilling Servo - Return Position: After drilling is completed, the servo motor moves upward and returns to a safe position, and then the drill bit rotates back to the position where it will start rotating.

[0088] Drilling Servo - Drilling Position: After the equipment starts running automatically, the drilling servo first moves at a relatively fast idle speed. After reaching the drilling position, the drilling motor rotates to start the drilling operation.

[0089] Drilling Servo - Return Speed: Sets the speed at which the drill bit moves from the bottom position to the return position after drilling is complete.

[0090] Drilling Servo - Drilling Speed: After the servo reaches the drilling position, it starts the drill motor to rotate and then moves downward at the drilling speed until the drilling depth is completed.

[0091] Drilling Servo - Drilling Depth: Sets the distance the drill bit needs to continue moving downwards from the drilling position.

[0092] Idle speed: Sets the servo speed when the drill bit is not rotating.

[0093] Drilling Servo - Idle Speed: The speed at which the drilling servo moves during idle movement.

[0094] Material handling servo - jog speed: Sets the speed of the servo motor for manual movement.

[0095] Material handling servo - positioning position: Set the position for manual movement of the servo.

[0096] Material handling servo - return position: After the node device is placed, the servo motor moves upward to return to a safe position, and then presses down to rotate to the desired position.

[0097] Material Picking Servo - Material Picking Position: After the downward rotary rotation reaches the material picking state, the material picking servo moves downward to pick up the material.

[0098] Material pick-up servo - return speed: The speed at which the material pick-up servo moves to the return position after the node instrument is placed.

[0099] Material Picking Servo - Material Discharge Position: After completing the material picking operation, the material picking servo continues to move downwards at an idle speed. When it reaches the material discharge position, the motor decelerates and then inserts the node into the borehole at a slower speed.

[0100] Pickup Servo - Idle Movement Speed: The speed at which the pickup servo moves idle.

[0101] Pick-up servo - feeding speed: The speed at which the pick-up servo continues to move downwards after reaching the feeding position.

[0102] Material handling servo - material placement depth: After reaching the material placement position, continue to move downwards until the distance the node is inserted into the drill hole.

[0103] Material Picking Servo - Lifting Height: After the servo reaches the picking position, the pressing and picking cylinders will clamp the node device. After clamping, the material picking servo needs to lift the device upwards to a certain height.

[0104] Material feeding delay: Sets the delay before the material feeding cylinder closes. The initial state of the material feeding cylinder is that it is closed. The open state of the material feeding cylinder will be detected by a sensor.

[0105] Material handling cylinder delay: Set the on / off delay of the pressing and releasing cylinder.

[0106] Downward cylinder delay: Sets the time for the downward cylinder to move downwards. The upward movement of the downward cylinder will be detected by a sensor.

[0107] Hopper arrival delay: The hopper motor controls the rotation of the hopper, and sensors detect whether the motor has completed one station rotation. When it is necessary to change the rotation position, this delay time can be set to adjust the stopping position of the motor rotation.

[0108] Rotation Revolves: Sets the number of rotations the stepper motor makes during the feeding process.

[0109] Rotation speed: Sets the speed at which the stepper motor rotates.

[0110] Action delay: The equipment has multiple cylinders working in coordination. When one cylinder moves, the next cylinder's movement depends on the validity of the previous cylinder's sensor to determine if the previous cylinder has completed its movement. Due to the effective detection distance of the sensor and the speed of the cylinder's movement, there is a certain error delay. Therefore, better action coordination can be achieved by adjusting the action delay time.

[0111] Drilling delay: After the drilling servo completes drilling, it is set to delay for a certain period of time before returning to the starting position.

[0112] Parameter writing: After setting the parameters, you need to click "Parameter writing". Only after the parameters are written will the device run automatically based on these parameters.

[0113] ④ Combination Figure 10 As shown, the alarm page interface

[0114] The alarm page displays current alarm information. When the device malfunctions, it will automatically pause or stop. Users need to troubleshoot and resolve the fault based on the alarm content on this page.

[0115] The alarm content is as follows Figure 11 As shown.

[0116] Alarms triggered by the front and rear limit switches are caused by factors such as the servo motor reaching its limit position or sensor malfunction. Users need to check these themselves.

[0117] If a cylinder fails to detect a certain limit switch, it's generally due to reasons such as the cylinder not moving to its designated position or a faulty sensor. The user needs to check the specific situation based on the actual conditions.

[0118] Alarm Sound Cancellation: When an alarm occurs, the touchscreen and tri-color indicator lights will emit a corresponding beeping sound. This button can be used to cancel the alarm beeping sound. However, the alarm will still be active; this button only cancels the alarm sound.

[0119] Stepper Motor Correction: Since all 10 hopper stations are controlled by a single stepper motor, if any hopper experiences abnormal rotation, the stepper motor may miss steps or become inaccurate in its position. If this occurs, an alarm will sound indicating an abnormal hopper placement during hopper switching, meaning the stepper motor cannot accurately position itself due to incorrect positioning. Therefore, the stepper motor position needs to be readjusted. This can be done manually via the stepper jog function in the control interface or automatically by clicking this button. Before clicking this button, the equipment must be properly reset, meaning the stepper motor should be able to properly engage with the current hopper before the equipment realigns the stepper motor.

[0120] Event Query

[0121] Combination Figure 12The event query interface is used to query various problems that occurred in the device during the historical process, that is, the logs of the device's operation.

[0122] I / O monitoring

[0123] Combination Figure 13 The I / O interface will display all the input and output functions of the device, and device faults can be manually detected through this interface.

[0124] For users who generally don't need this information, and for equipment maintenance personnel who should understand how the equipment operates and the names of its various components, the interface has no security locks and all permissions are open. Therefore, there is no guarantee that the equipment will not be damaged during operation; maintenance personnel should have a thorough understanding of the equipment beforehand.

[0125] ⑤ Combination Figure 14 and Figure 15 As shown, the hopper settings interface

[0126] This interface is for setting and manually adjusting some parameters of the hopper.

[0127] Hopper Quantity Setting: This setting displays the quantity in each hopper in real time. After clicking "Hopper Fill," the hopper currently in the unloading position is designated as hopper number 1 by default. Hopper numbers increase clockwise from the front of the equipment. When the actual hopper quantity does not match the displayed quantity, the hopper quantity needs to be adjusted promptly. If the equipment malfunctions during operation and the node is manually removed, but the equipment is not counting, the actual hopper quantity will differ from the displayed quantity. To ensure normal equipment operation, manual adjustment of the hopper quantity is necessary in this case.

[0128] Initial value setting for hoppers: When you click "fill hopper", the device will automatically assign this value to the display value of the total number of hoppers.

[0129] Current hopper station number: This setting determines the hopper station number, starting from 0, where 0 represents hopper number 1, and so on. Since the device automatically assigns a default value of 1 to the hopper at the unloading position after clicking "Hopper Fill," this value may not correspond to the actual hopper number. This value can be modified to align with the actual hopper number. Of course, a mismatch between the actual hopper number and the working hopper number does not affect normal operation. Note that changes to this value must ensure that the quantity in each hopper is the actual quantity.

[0130] Node QR code length: Sets the length of the QR code data.

[0131] QR code data list: Used to store the data content of the QR codes on the instrument. The data can be exported and queried via USB flash drive. The data can also be cleared.

[0132] 3. Network settings and connection

[0133] Combination Figure 16 The device features VNC, VPN, Ethernet connectivity, Wi-Fi, and Alibaba Cloud integration, which users can configure and connect to as needed. The principles and settings of each network connection will not be explained here. Users should consult relevant documentation regarding the functions and parameters of each network connection themselves.

[0134] WIFI connection

[0135] Combination Figure 17 Currently, the touchscreen communicates with the PLC via WiFi bridging, and users generally do not need to modify these interface parameters. When replacing the wireless router, please reconnect to the new router.

[0136] Those skilled in the art will understand the various methods of the above embodiments. Given the disclosed process, some / detailed steps can be implemented through programming or existing software functionalities, and are therefore considered prior art. The innovation of this utility model lies in providing a tracked node deployment machine, employing an autonomous power modular design, which improves travel speed and throughput, ensures drilling and deployment efficiency, and achieves high overall node deployment efficiency. The design and selection of each component fully considers equipment operational stability, reducing the failure rate. Therefore, the innovation of this utility model lies in the overall layout and planning of the solution. The implementation of local functions / tools can be achieved through existing programming or existing software functionalities, which will not be elaborated upon in this specification.

[0137] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A tracked node deployment machine, characterized in that... It includes a modular container (1), an RTK positioning system (2), a driver's cab (3), a deployment device (4), an engine room (5), and a tracked chassis (6). The tracked chassis (6) serves as the base, and the modular container (1), RTK positioning system (2), driver's cab (3), deployment device (4), and engine room (5) are all located on the tracked chassis (6). The driver's cab (3) and engine room (5) are located side by side at the top front of the tracked chassis (6). The modular container (1) is located at the middle rear of the top of the tracked chassis (6) and is used to store and transport the node instrument. The deployment device (4) is located at the front end of the tracked node instrument deployment machine and is installed on the front side of the driver's cab (3) and engine room (5).

2. The tracked node deployment machine according to claim 1, characterized in that... The RTK positioning system (2) is installed directly above the drilling module for positioning.

3. The tracked node deployment machine according to claim 1, characterized in that... The driver's cab (3) is located to the left of the engine compartment (5).

4. A tracked node deployment machine according to claim 1, characterized in that... The engine compartment (5) uses a Changchai ZN490B diesel engine with a rated power of 34KW and a rated speed of 2400r / min.

5. A tracked node deployment machine according to claim 1, characterized in that... The modular container (1) includes a plate chain conveyor (1-1), a tilting and lowering mechanism (1-2), and a hopper (1-3). The hopper (1-3) has shelves (1-4) on both sides for storing magazine-type transfer boxes (1-5) for later use. Each transfer box (1-5) includes a cylinder for storing node instruments. The bottom of the cylinder has a limiting structure to prevent the node instruments from falling. The top of the cylinder has a cover, which serves as a manual switch to compress the spring inside the transfer box so that the node instruments can pop out. A slotted structure is provided on one side of the upper part of the cylinder near the opening. This slotted structure corresponds to the bottom of the first node instrument stored in the transfer box (1-5). The slotted structure is for... A fork is inserted to push the first node instrument off the cylinder; a plate chain conveyor (1-1) is centrally located in the hopper (1-3), the plate chain conveyor (1-1) includes a plate chain (1-6) and a power mechanism for driving the plate chain (1-6) to rotate; a transfer box pushing mechanism is set on the top of the plate chain (1-6), the transfer box pushing mechanism includes a crossbeam for placing the transfer box (1-5) and a fork mechanism for pushing off the node instrument; standard tooling boxes (1-7) are installed all around the plate chain (1-6) and correspond one-to-one with the positions of the transfer box (1-5), so that the node instrument in the transfer box (1-5) can accurately fall into the tooling box (1-7) under the action of the fork; The front end of the plate chain conveyor (1-1) is a flipping and dropping mechanism (1-2). The tooling box (1-7) that moves here with the plate chain (1-6) is reversed due to the flipping of the plate chain (1-6). The node instrument falls into the flipping and dropping mechanism (1-2) by gravity and then enters the placement equipment (4) with the help of the guide cylinder (4-7).

6. A tracked node deployment machine according to claim 5, characterized in that... The shift fork mechanism includes a vertical shift fork and a horizontal crossbar. The top of the shift fork has an inclined surface facing the outlet direction of the transfer box (1-5). The shift fork and the crossbar move as a unit. In the standby state, the crossbar is positioned at the opening of the transfer box (1-5) to prevent the node from falling. The shift fork is located below the slotted structure of the transfer box (1-5). In the working state, the crossbar and the shift fork are lifted vertically together. The crossbar moves away from the opening of the transfer box (1-5), and the shift fork is inserted into the slotted structure of the transfer box (1-5). Under the force exerted by its inclined surface and the node, the node is pushed off the transfer box (1-5) and falls into the tooling box (1-7).

7. A tracked node deployment machine according to claim 1, characterized in that... The deployment equipment (4) consists of three parts: a drilling module, a pressing device, and a translation module, all of which are driven by a motor. The drilling module and the pressing device are installed at the front end of the translation module. Under the operation of the translation module, the drilling module and the pressing device can move left and right.

8. A tracked node deployment machine according to claim 7, characterized in that... The drilling module includes a digging drill bit (4-1), a drilling slide rail (4-2), a drilling stabilization module (4-3), and a digging servo motor (4-4). The head of the digging servo motor (4-4) fixes the digging drill bit (4-1). When the digging servo motor (4-4) is working, the digging drill bit (4-1) moves up and down along the drilling slide rail (4-2) through the drilling stabilization module (4-3).

9. A tracked node deployment machine according to claim 7, characterized in that... The pressing device includes a placement servo motor (4-5), a placement stabilizing module (4-6), a soil-pressing steel ring (4-8), and a placement slide rail (4-9). The placement servo motor (4-5) controls the lifting and lowering of the soil-pressing steel ring (4-8). When the placement servo motor (4-5) is working, the soil-pressing steel ring (4-8) moves up and down along the placement slide rail (4-9) through the placement stabilizing module (4-6).

10. A tracked node deployment machine according to claim 7, characterized in that... The translation module relies on a four-speed mechanical gear motor (4-3) to achieve left and right translation of the drilling module and the pressing device.

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