CN106481275B - A kind of the large arm automatic positioning equipment and method of umbrella brill - Google Patents
A kind of the large arm automatic positioning equipment and method of umbrella brill Download PDFInfo
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- CN106481275B CN106481275B CN201611028828.3A CN201611028828A CN106481275B CN 106481275 B CN106481275 B CN 106481275B CN 201611028828 A CN201611028828 A CN 201611028828A CN 106481275 B CN106481275 B CN 106481275B
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
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Abstract
The invention discloses the large arm automatic positioning equipments that a kind of umbrella bores, and include the pivoted arm being connected with column, support cylinder, large arm, vertical adjustment oil cylinder, sliding rack, drill boom, gear wheel；Pivoted arm is equipped with hydraulic motor, the output end of hydraulic motor is matched with gear wheel, one end of large arm is connected with pivoted arm, the other end is connected with sliding rack, the tail end of support cylinder is connected with pivoted arm, the telescopic end of support cylinder is connected with large arm, and the tail end of vertical adjustment oil cylinder is connected with large arm, and the telescopic end of vertical adjustment oil cylinder is connected with sliding rack, drill boom is connected with sliding rack, and support cylinder is connected with vertical adjustment oil cylinder.The present invention is easy to operate, reduces work difficulty, improves work efficiency；This method precision is higher, and borehole dimensional orientation is made to be overlapped with Theoretical Design, reaches ideal demolition effect, it is ensured that worker safety reduces construction cost.
Description
Technical field
The present invention relates to vertical shaft umbrella shape drilling rig technique fields, and in particular to the large arm automatic positioning equipment and side that a kind of umbrella bores
Method.
Background technology
With the development of China's mining engineering and the underground space, shaft excavation gradually increases.In field of mining, vertical shaft substitutes
Access way of the inclined gallery as staff and ore, can save floor occupying area, and shorten construction duration and cost, while vertical shaft
It is also the necessary construction of underground engineering ventilation.Underground mining work surface and underground engineering are required for building vertical shaft as channel and lead to
Ventilating shaft.
Vertical shaft drill bursting construction is the most important method that current vertical shaft is built, and umbrella, which bores, is used for Drilling borehole, is that vertical shaft bores
Important equipment in quick-fried method construction equipment.However umbrella bores drill boom when replacing operating position, needs multiple steps that could complete, every time
After replacing the radius of clean-up, manipulation and control bar is needed to carry out positioning and vertical adjustment, and the precision of manual operation vertical adjustment is difficult control, is bored
The borehole dimensional orientation and Theoretical Design difference of chisel are larger, it is difficult to reach the demolition effect of ideal explosion.
Invention content
For the deficiency of above-mentioned background technology, the large arm automatic positioning equipment bored the present invention provides a kind of umbrella and method,
Difficult big to solve manual operation in the prior art, precision is low, borehole dimensional orientation and the larger technology of Theoretical Design difference
Problem.
The technical scheme is that：A kind of large arm automatic positioning equipment that umbrella bores includes turn being connected with column
Arm, support cylinder, large arm, vertical adjustment oil cylinder, sliding rack, drill boom, gear wheel；Pivoted arm be equipped with hydraulic motor, hydraulic motor it is defeated
Outlet is matched with gear wheel, and one end of large arm is connected with pivoted arm, the other end is connected with sliding rack, the tail end of support cylinder
It is connected with pivoted arm, the telescopic end of support cylinder is connected with large arm, and the tail end of vertical adjustment oil cylinder is connected with large arm, vertical adjustment oil
The telescopic end of cylinder is connected with sliding rack, and drill boom is connected with sliding rack, and support cylinder is connected with vertical adjustment oil cylinder.
The pivoted arm there are three and be distributed on the outer circumference surface of column and be flexibly connected with column, support cylinder, large arm,
There are three vertical adjustment oil cylinder, sliding rack, drill boom, hydraulic motor are each.
The tail end of the support cylinder and the lower removable of pivoted arm connect, the telescopic end of vertical adjustment oil cylinder and the top of sliding rack
Flexible connection.
One end of the large arm is equipped with upper connecting hole, the other end is equipped with lower connecting hole, and the centre of large arm is equipped among first
Hole and the second interstitial hole, upper connecting hole, lower connecting hole, the first interstitial hole and the second interstitial hole are on same straight line；Upper connection
Hole is flexibly connected with the top of pivoted arm, and lower connecting hole is flexibly connected with the middle part of sliding rack, the first interstitial hole and support cylinder
Telescopic end is connected, and the second interstitial hole is connected with the tail end of vertical adjustment oil cylinder.
Triangle and large arm, the triangle of vertical adjustment oil cylinder, sliding rack composition of the pivoted arm, support cylinder, large arm composition
It is similar.
The drill boom is equipped with rock body.
The hydraulic motor is fixedly connected with pivoted arm, and the output end of hydraulic motor is equipped with pinion gear, pinion gear and gear wheel
It is meshed, hydraulic motor is equipped with the multi-turn absolute value encoder for measuring rotational angle.
A kind of large arm automatic positioning method that umbrella bores：According to target hole location information calculate the flexible length of each oil cylinder and
The angle of motor rotation；The position polar coordinates each to drill（R, θ）Or（R, θ, φ）It indicates, wherein φ indicates rod boring angle
Degree；
Positioning on circumferencial direction：After umbrella brill fixes, three large arm return to respective initial position, keep between each other
120 ° of angles, into the calibration of line home position；According to the angular coordinate theta of each hole position when drilling, hydraulic motor rotation is calculated
Angle：
θ=β+α,
α is the practical angle turned over of large arm, β=0 °, 120 °, 240 °, and the practical angle=large arm turned over of hydraulic motor turns over
Angle × reduction ratio, known to reduction ratio；
Positioning on radial direction：Positioning on radial direction is divided into as two kinds of situations, dilling angle φ=0 and φ ≠ 0；
As φ=0：Drilling rod is vertically crept into, and need to calculate the collapsing length of support cylinder and vertical adjustment oil cylinder；Drilling rod vertically bores
Into when, can remain vertical, support cylinder and vertical adjustment oil cylinder unicom, large arm position when only need to control one of oil cylinder i.e.
It can；
Step 1：Using large arm as bevel edge, the above connecting hole, the starting point that lower connecting hole is two right-angle sides, make one respectively
Right angled triangle, the length of the hypotenuse is known and is the distance between upper connecting hole and lower connecting hole, the length of two right-angle sides it is known that
The angle of two acute angles is acquired according to antitrigonometric function；
Step 2：In the triangle that pivoted arm, support cylinder, large arm form, most short side a is known and is upper connecting hole to branch
The distance between oil cylinder and pivoted arm hinge joint are supportted, longest edge c is known and is upper connecting hole to the distance of the first interstitial hole, most short side
Angle B between a and longest edge c is the angle between pivoted arm and large arm and it is known that the total length of support cylinder is b, according to remaining
String theorem：b2=a2+c2- 2accosB, acquires support cylinder total length, and the total length of support cylinder subtracts support cylinder itself
Length, you can acquire the collapsing length of support cylinder；
Step 3：In the triangle that large arm, vertical adjustment oil cylinder, sliding rack form, most short side a1 is known and is arrived for lower connecting hole
The distance between vertical adjustment oil cylinder and sliding rack hinge joint, longest edge c1 is known and is the distance of lower connecting hole to the second interstitial hole,
Angle B 1 between most short side a1 and longest edge c1 is it is known that the total length of support cylinder is b1, according to the cosine law：b12=a12+
c12- 2a1c1cosB1, acquires vertical adjustment oil cylinder total length, and the total length of vertical adjustment oil cylinder subtracts the length of vertical adjustment oil cylinder itself, you can
Acquire the collapsing length of vertical adjustment oil cylinder；
As φ ≠ 0：The oblique drilling of drilling rod,
Step 1：The parallel lines that drilling rod is made at connecting hole center are crossed down, using large arm as bevel edge, the above connecting hole, lower connection respectively
Hole is the starting point of two right-angle sides, makes a right angled triangle, the length of the hypotenuse it is known and for upper connecting hole and lower connecting hole it
Between distance, the length of two right-angle sides it is known that straight line where acquiring connecting hole, lower connecting hole linear equation；
Step 2：The above connecting hole is the center of circle, and the distance between upper connecting hole and lower connecting hole are that radius does circle, and the center of circle is sat
It is designated as it is known that radius is it is known that acquire done round equation；
Step 3：The equation of simultaneous linear equation and circle, acquires the coordinate of intersection point, and intersection point is the seat at lower connecting hole center
Mark；
Step 4：The collapsing length of the collapsing length and vertical adjustment oil cylinder of support cylinder is found out according to the step of when φ=0.
When the present invention realizes that umbrella bores the drill boom transformation radius of clean-up, realizes the adjust automatically of drill boom verticality, enable drill boom
It is always ensured that vertically, and when needing to dig the borehole with interior limb or outer limb boring beam can individually adjust to required angle
Degree；The present invention is easy to operate, reduces work difficulty, improves work efficiency；This method precision is higher, make borehole dimensional orientation with
Theoretical Design overlaps, and reaches ideal demolition effect, it is ensured that worker safety reduces construction cost.
Description of the drawings
Fig. 1 is schematic structural view of the invention.
Fig. 2 is large arm structural schematic diagram of the present invention.
Fig. 3 is rough schematic view of this method as φ=0.
Fig. 4 is rough schematic view of this method as φ ≠ 0.
Specific implementation mode
Embodiment 1：As shown in Figure 1, the large arm automatic positioning equipment that a kind of umbrella bores, includes the pivoted arm being connected with column 20
1, support cylinder 2, large arm 3, vertical adjustment oil cylinder 4, sliding rack 5, drill boom 6, gear wheel 7；Pivoted arm 1 is equipped with hydraulic motor 8, hydraulic pressure horse
Output end up to 8 is matched with gear wheel 7, and one end of large arm 3 is connected with pivoted arm 1, the other end is connected with sliding rack 5, branch
Support oil cylinder 2 tail end be connected with pivoted arm 1, the telescopic end of support cylinder 2 is connected with large arm 3, the tail end of vertical adjustment oil cylinder 4 and
Large arm 3 is connected, and the telescopic end of vertical adjustment oil cylinder 4 is connected with sliding rack 5, and drill boom 6 is connected with sliding rack 5, support cylinder 2 with
Vertical adjustment oil cylinder 4 is connected.
Embodiment 2：As shown in Figs 1-4, the large arm automatic positioning equipment that a kind of umbrella bores includes turn being connected with column 20
Arm 1, support cylinder 2, large arm 3, vertical adjustment oil cylinder 4, sliding rack 5, drill boom 6, gear wheel 7；Pivoted arm 1 is equipped with hydraulic motor 8, hydraulic pressure
Motor 8 is fixedly connected with pivoted arm 1, and the output end of hydraulic motor 8 is equipped with pinion gear, and pinion gear is meshed with gear wheel 7, hydraulic pressure horse
Up to that gear wheel can be driven to rotate, hydraulic motor 8 is equipped with the multi-turn absolute value encoder for measuring rotational angle.One end of large arm 3
Be hinged with pivoted arm 1, the other end and sliding rack 5 are hinged, the tail end of support cylinder 2 is connect with the lower removable of pivoted arm 1, support
The telescopic end of oil cylinder 2 is connected with large arm 3, and the tail end of vertical adjustment oil cylinder 4 is connected with large arm 3, the telescopic end of vertical adjustment oil cylinder 4 with
The top of sliding rack 5 is flexibly connected, and drill boom 6 is connected with sliding rack 5, and support cylinder 2 is connected with vertical adjustment oil cylinder 4.The pivoted arm 1
There are three and be distributed on the outer circumference surface of column 20 and be flexibly connected with column, support cylinder 2, large arm 3, vertical adjustment oil cylinder 4, cunning
There are three shifting frame 5, drill boom 6, hydraulic motor 8 are each, it is distributed on the outside of column, keeps 120 ° of angle between each other；On drill boom 6
Equipped with rock body 9, rock drill is equipped with drilling rod 10, and the lower section of sliding rack being equipped with stretch oil cylinder 11, holding out against ground when for punching
Face.One end of the large arm 3 is equipped with upper connecting hole 31, the other end is equipped with lower connecting hole 32, and the centre of large arm 3 is equipped among first
Hole 33 and the second interstitial hole 34, upper connecting hole 31, lower connecting hole 32, the first interstitial hole 33 and the second interstitial hole 34 are straight in same
On line；Upper connecting hole 31 is flexibly connected with the top of pivoted arm 1, and lower connecting hole 32 is flexibly connected with the middle part of sliding rack 5, in first
Between hole 33 be connected with the telescopic end of support cylinder 2, the second interstitial hole 34 is connected with the tail end of vertical adjustment oil cylinder 4.The pivoted arm
1, the triangle that support cylinder 2, large arm 3 form is similar to the triangle that large arm 3, vertical adjustment oil cylinder 4, sliding rack 5 form.Similar three
Angular length of side ratio is identical as the area ratio of oil cylinder, and here, the area ratio of oil cylinder refers to the rod chamber and tune of support cylinder
The area ratio of the rodless cavity of vertical oil cylinder.While support cylinder is stretched out and moved, vertical adjustment oil cylinder moves in proportion, ensures rock drilling
Mechanism is in translation state, synchronous vertical adjustment always；When needing to dig the borehole with interior limb or outer limb, vertical adjustment oil cylinder list
Solely driving bores beam to required angle.
A kind of large arm automatic positioning computational methods that umbrella bores are as follows：Under the automatic mode that full-computerized umbrella bores, system is according to mesh
Mark hole site information calculates the angle of the flexible length of each oil cylinder and motor rotation；The position polar coordinates each to drill（R,
θ）Or（R, θ, φ）It indicates, wherein φ indicates rod boring angle；
Positioning on circumferencial direction：After umbrella brill fixes, three large arm return to respective initial position, keep between each other
120 ° of angles, into the calibration of line home position；According to the angular coordinate theta of each hole position when drilling, hydraulic motor rotation is calculated
Angle：
θ=β+α,
α is the practical angle turned over of large arm, β=0 °, 120 °, 240 °, and the practical angle=large arm turned over of hydraulic motor turns over
Angle × reduction ratio, known to reduction ratio；
Positioning on radial direction：Positioning on radial direction is divided into as two kinds of situations, dilling angle φ=0 and φ ≠ 0；
As φ=0：Drilling rod is vertically crept into, and need to calculate the collapsing length of support cylinder and vertical adjustment oil cylinder；Drilling rod vertically bores
Into when, can remain vertical, support cylinder and vertical adjustment oil cylinder unicom, large arm position when only need to control one of oil cylinder i.e.
It can；Simplify boom structure, O points are column central point, and M points are blasthole position, and B, C, D, E, F, H are that structure fixation is hinged
Point, MO are the r in borehole coordinate, and final goal is to find out the length of oil cylinder ED and HC.BK, BJ, KF, FN, EG be do hang down
Straight and horizontal auxiliary line.
Step 1：Using large arm as bevel edge, the above connecting hole, the starting point that lower connecting hole is two right-angle sides, make one respectively
Right angled triangle △ BKF, bevel edge BF length are known and are the distance between upper connecting hole and lower connecting hole, two right-angle side BK,
The length of BF is it is known that ∠ BFK=arccos（FK/BF）, KBF=90 ° ∠-∠ BFK；
Step 2：In the triangle that pivoted arm, support cylinder, large arm form in △ BHC, most short side BH is known and is upper company
Hole is connect to the distance between support cylinder and pivoted arm hinge joint, longest edge BC it is known and for upper connecting hole to the first interstitial hole away from
From since angle will not change BH and EF during the motion, so ∠ HBK and ∠ EFG are it is known that ∠ HBC=∠ HBK+ ∠
KBF, according to the cosine law：HC2=BH2+HC2- 2BH × HC × cos ∠ HBC, acquires support cylinder total length, support cylinder it is total
Length subtracts the length of support cylinder itself, you can acquires the collapsing length of support cylinder；
Step 3：In the triangle △ DEF that large arm, vertical adjustment oil cylinder, sliding rack form, most short side EF is known and is lower company
Hole is connect to the distance between vertical adjustment oil cylinder and sliding rack hinge joint, longest edge FD is known and is lower connecting hole to the second interstitial hole
EFD=180 ° angle ∠-∠ EFG- ∠ BFK between distance, most short side EF and longest edge FD, according to the cosine law：ED2=FD2+
EF2- 2 × FD × EF × cos ∠ EFD, acquires vertical adjustment oil cylinder total length, and the total length of vertical adjustment oil cylinder subtracts vertical adjustment oil cylinder itself
Length, you can acquire the collapsing length of vertical adjustment oil cylinder；
As φ ≠ 0：The oblique drilling of drilling rod, M points are still blasthole position in figure, and auxiliary line FN is by hinge joint F
It is parallel to drilling rod, N points are intersected at ground, vertical line NP is done perpendicular to drilling rod by N points, wherein OM is the r, ∠ in borehole coordinate
PMN is the dilling angle φ in borehole coordinate.By geometrical relationship it is found that NP is fixed value and it is known that MN=NP/sin ∠ PMN,
So ON=OM-MN.If O points are（0,0）, OM is x-axis, and OJ is y-axis, then N point coordinates is（ON, 0）, straight line FN slopes are it is known that institute
With known to straight line FN equations；The F locus of points are with B points simultaneously（BJ, OJ）For the center of circle, BF is the circle of radius, center of circle radius it is known that
So the equation of circle is it is known that the equation of simultaneous straight line and circle can solve the coordinate of intersection point F.
After finding out F point coordinates, according to the calculation method of φ=0 and then the length of ED and HC can be found out, and then find out support
The collapsing length of the collapsing length and vertical adjustment oil cylinder of oil cylinder.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, the change or replacement that can be readily occurred in,
It should be covered by the protection scope of the present invention.
Claims (8)
1. the large arm automatic positioning equipment that a kind of umbrella bores, it is characterised in that：Including with column（20）The pivoted arm being connected（1）, branch
Support oil cylinder（2）, large arm（3）, vertical adjustment oil cylinder（4）, sliding rack（5）, drill boom（6）, the gear wheel that is connected with column（7）；Pivoted arm
（1）It is equipped with hydraulic motor（8）, hydraulic motor（8）Output end and gear wheel（7）It matches, large arm（3）One end and pivoted arm
（1）It is connected, the other end and sliding rack（5）It is connected, support cylinder（2）Tail end and pivoted arm（1）It is connected, support cylinder
（2）Telescopic end and large arm（3）It is connected, vertical adjustment oil cylinder（4）Tail end and large arm（3）It is connected, vertical adjustment oil cylinder（4）It is flexible
End and sliding rack（5）It is connected, drill boom（6）With sliding rack（5）It is connected, support cylinder（2）With vertical adjustment oil cylinder（4）Series connection；Institute
Stating the large arm automatic positioning process that umbrella bores is：The flexible length and motor rotation of each oil cylinder is calculated according to target hole location information
Angle；The position polar coordinates each to drill（R, θ）Or（R, θ, φ）It indicates, wherein φ indicates rod boring angle；
Positioning on circumferencial direction：After umbrella brill fixes, three large arm return to respective initial position, keep 120 ° of folders between each other
Angle, into the calibration of line home position；According to the angular coordinate theta of each hole position when drilling, hydraulic motor rotational angle is calculated：
θ=β+α,
α is the practical angle turned over of large arm, β=0 °, 120 °, 240 °, the angle that the practical angle=large arm turned over of hydraulic motor turns over
Degree × reduction ratio, known to reduction ratio；
Positioning on radial direction：Positioning on radial direction is divided into as two kinds of situations, dilling angle φ=0 and φ ≠ 0；
As φ=0：Drilling rod is vertically crept into, and need to calculate the collapsing length of support cylinder and vertical adjustment oil cylinder；When drilling rod is vertically crept into,
It can remain vertical, support cylinder and vertical adjustment oil cylinder unicom, large arm need to only control one of oil cylinder when positioning；
Step 1：Using large arm as bevel edge, the above connecting hole, the starting point that lower connecting hole is two right-angle sides, make a right angle respectively
Triangle, the length of the hypotenuse is known and is the distance between upper connecting hole and lower connecting hole, the length of two right-angle sides it is known that according to
Antitrigonometric function acquires the angle of two acute angles；
Step 2：In the triangle that pivoted arm, support cylinder, large arm form, most short side a is known and is upper connecting hole to support oil
The distance between cylinder and pivoted arm hinge joint, longest edge c is known and is upper connecting hole to the distance of the first interstitial hole, most short side a with
Angle B between longest edge c is the angle between pivoted arm and large arm and it is known that the total length of support cylinder is b, fixed according to cosine
Reason：b2=a2+c2- 2accosB acquires support cylinder total length, and the total length of support cylinder subtracts the length of support cylinder itself,
The collapsing length of support cylinder can be acquired；
Step 3：In the triangle that large arm, vertical adjustment oil cylinder, sliding rack form, most short side a1 is known and is lower connecting hole to vertical adjustment
The distance between oil cylinder and sliding rack hinge joint, longest edge c1 is known and is the distance of lower connecting hole to the second interstitial hole, most short
Angle B 1 between side a1 and longest edge c1 is it is known that the total length of support cylinder is b1, according to the cosine law：b12=a12+c12-
2a1c1cosB1, acquires vertical adjustment oil cylinder total length, and the total length of vertical adjustment oil cylinder subtracts the length of vertical adjustment oil cylinder itself, you can acquires
The collapsing length of vertical adjustment oil cylinder；
As φ ≠ 0：The oblique drilling of drilling rod,
Step 1：The parallel lines that drilling rod is made at connecting hole center are crossed down, using large arm as bevel edge, the above connecting hole, lower connecting hole are respectively
The starting point of two right-angle sides, makes a right angled triangle, and the length of the hypotenuse is known and between upper connecting hole and lower connecting hole
Distance, the length of two right-angle sides is it is known that acquire the linear equation of connecting hole, lower connecting hole place straight line；
Step 2：The above connecting hole is the center of circle, and the distance between upper connecting hole and lower connecting hole are that radius does circle, and central coordinate of circle is
It is known that radius is it is known that acquire done round equation；
Step 3：The equation of simultaneous linear equation and circle, acquires the coordinate of intersection point, and intersection point is the coordinate at lower connecting hole center；
Step 4：The collapsing length of the collapsing length and vertical adjustment oil cylinder of support cylinder is found out according to the step of when φ=0.
2. the large arm automatic positioning equipment that umbrella according to claim 1 bores, it is characterised in that：The pivoted arm（1）There are three
And it is distributed on column（20）Outer circumference surface on and be flexibly connected with column, support cylinder（2）, large arm（3）, vertical adjustment oil cylinder（4）、
Sliding rack（5）, drill boom（6）, hydraulic motor（8）There are three each.
3. the large arm automatic positioning equipment that umbrella according to claim 1 bores, it is characterised in that：The support cylinder（2）'s
Tail end and pivoted arm（1）Lower removable connection, vertical adjustment oil cylinder（4）Telescopic end and sliding rack（5）Top flexible connection.
4. the large arm automatic positioning equipment that umbrella according to claim 1 bores, it is characterised in that：The large arm（3）One end
Equipped with upper connecting hole（31）, the other end be equipped with lower connecting hole（32）, large arm（3）Centre be equipped with the first interstitial hole（33）With second
Interstitial hole（34）, upper connecting hole（31）, lower connecting hole（32）, the first interstitial hole（33）With the second interstitial hole（34）It is straight in same
On line；Upper connecting hole（31）With pivoted arm（1）Top flexible connection, lower connecting hole（32）With sliding rack（5）Middle part activity connect
It connects, the first interstitial hole（33）With support cylinder（2）Telescopic end be connected, the second interstitial hole（34）With vertical adjustment oil cylinder（4）Tail
End is connected.
5. the large arm automatic positioning equipment that umbrella according to claim 1 bores, it is characterised in that：The pivoted arm（1）, support oil
Cylinder（2）, large arm（3）The triangle and large arm of composition（3）, vertical adjustment oil cylinder（4）, sliding rack（5）The triangle of composition is similar.
6. the large arm automatic positioning equipment that umbrella according to claim 1 bores, it is characterised in that：The drill boom（6）It is equipped with
Rock body（9）.
7. the large arm automatic positioning equipment that umbrella according to claim 1 bores, it is characterised in that：The hydraulic motor（8）With
Pivoted arm（1）It is fixedly connected, hydraulic motor（8）Output end be equipped with pinion gear, pinion gear and gear wheel（7）It is meshed, hydraulic pressure horse
It reaches（8）It is equipped with the multi-turn absolute value encoder for measuring rotational angle.
8. the large arm automatic positioning method that a kind of umbrella bores, it is characterised in that：Each oil cylinder is calculated according to target hole location information to stretch
The length of contracting and the angle of motor rotation；The position polar coordinates each to drill（R, θ）Or（R, θ, φ）It indicates, wherein φ is indicated
Rod boring angle；
Positioning on circumferencial direction：After umbrella brill fixes, three large arm return to respective initial position, keep 120 ° of folders between each other
Angle, into the calibration of line home position；According to the angular coordinate theta of each hole position when drilling, hydraulic motor rotational angle is calculated：
θ=β+α,
α is the practical angle turned over of large arm, β=0 °, 120 °, 240 °, the angle that the practical angle=large arm turned over of hydraulic motor turns over
Degree × reduction ratio, known to reduction ratio；
Positioning on radial direction：Positioning on radial direction is divided into as two kinds of situations, dilling angle φ=0 and φ ≠ 0；
As φ=0：Drilling rod is vertically crept into, and need to calculate the collapsing length of support cylinder and vertical adjustment oil cylinder；When drilling rod is vertically crept into,
It can remain vertical, support cylinder and vertical adjustment oil cylinder unicom, large arm need to only control one of oil cylinder when positioning；
Step 1：Using large arm as bevel edge, the above connecting hole, the starting point that lower connecting hole is two right-angle sides, make a right angle respectively
Triangle, the length of the hypotenuse is known and is the distance between upper connecting hole and lower connecting hole, the length of two right-angle sides it is known that according to
Antitrigonometric function acquires the angle of two acute angles；
Step 2：In the triangle that pivoted arm, support cylinder, large arm form, most short side a is known and is upper connecting hole to support oil
The distance between cylinder and pivoted arm hinge joint, longest edge c is known and is upper connecting hole to the distance of the first interstitial hole, most short side a with
Angle B between longest edge c is the angle between pivoted arm and large arm and it is known that the total length of support cylinder is b, fixed according to cosine
Reason：b2=a2+c2- 2accosB acquires support cylinder total length, and the total length of support cylinder subtracts the length of support cylinder itself,
The collapsing length of support cylinder can be acquired；
Step 3：In the triangle that large arm, vertical adjustment oil cylinder, sliding rack form, most short side a1 is known and is lower connecting hole to vertical adjustment
The distance between oil cylinder and sliding rack hinge joint, longest edge c1 is known and is the distance of lower connecting hole to the second interstitial hole, most short
Angle B 1 between side a1 and longest edge c1 is it is known that the total length of support cylinder is b1, according to the cosine law：b12=a12+c12-
2a1c1cosB1, acquires vertical adjustment oil cylinder total length, and the total length of vertical adjustment oil cylinder subtracts the length of vertical adjustment oil cylinder itself, you can acquires
The collapsing length of vertical adjustment oil cylinder；
As φ ≠ 0：The oblique drilling of drilling rod,
Step 1：The parallel lines that drilling rod is made at connecting hole center are crossed down, using large arm as bevel edge, the above connecting hole, lower connecting hole are respectively
The starting point of two right-angle sides, makes a right angled triangle, and the length of the hypotenuse is known and between upper connecting hole and lower connecting hole
Distance, the length of two right-angle sides is it is known that acquire the linear equation of connecting hole, lower connecting hole place straight line；
Step 2：The above connecting hole is the center of circle, and the distance between upper connecting hole and lower connecting hole are that radius does circle, and central coordinate of circle is
It is known that radius is it is known that acquire done round equation；
Step 3：The equation of simultaneous linear equation and circle, acquires the coordinate of intersection point, and intersection point is the coordinate at lower connecting hole center；
Step 4：The collapsing length of the collapsing length and vertical adjustment oil cylinder of support cylinder is found out according to the step of when φ=0.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611028828.3A CN106481275B (en) | 2016-11-22 | 2016-11-22 | A kind of the large arm automatic positioning equipment and method of umbrella brill |
| PCT/CN2017/112247 WO2018095321A1 (en) | 2016-11-22 | 2017-11-22 | Automatic positioning device and method for big arm of umbrella driller |
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| CN201611028828.3A CN106481275B (en) | 2016-11-22 | 2016-11-22 | A kind of the large arm automatic positioning equipment and method of umbrella brill |
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| CN106481275B (en) * | 2016-11-22 | 2018-07-27 | 中铁工程装备集团有限公司 | A kind of the large arm automatic positioning equipment and method of umbrella brill |
| CN110541675A (en) * | 2019-09-27 | 2019-12-06 | 中煤矿山建设集团有限责任公司 | full-hydraulic intelligent umbrella drill drilling arm translation system |
| CN110529050A (en) * | 2019-09-27 | 2019-12-03 | 中煤矿山建设集团有限责任公司 | A kind of all-hydraulic intelligent vertical shaft umbrella brill |
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| CN101603410A (en) * | 2009-05-22 | 2009-12-16 | 中煤第五建设公司第三工程处 | Full hydraulic umbrella drill for shaft construction |
| CN105156028A (en) * | 2015-10-27 | 2015-12-16 | 中国矿业大学 | Load-sensitive control type fully-hydraulic multi-arm umbrella driller and working method thereof |
| CN206205782U (en) * | 2016-11-22 | 2017-05-31 | 中铁工程装备集团有限公司 | The large arm automatic positioning equipment that a kind of umbrella is bored |
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| JP2638723B2 (en) * | 1992-11-04 | 1997-08-06 | 株式会社大林組 | Vertical excavator |
| CN101298830A (en) * | 2008-06-27 | 2008-11-05 | 中煤第一建设公司第四十九工程处 | Vertical shaft soft rock special drill construction technique |
| DE102010027544A1 (en) * | 2010-07-16 | 2012-01-19 | Minova International Ltd. | Method for producing the drilling devices, especially for the pipe screen technology and drilling device |
| CN106481275B (en) * | 2016-11-22 | 2018-07-27 | 中铁工程装备集团有限公司 | A kind of the large arm automatic positioning equipment and method of umbrella brill |
| CN106499337B (en) * | 2016-11-22 | 2018-09-04 | 中铁工程装备集团有限公司 | A kind of numerical control umbrella bores and its column vertical adjustment method |
| CN206205783U (en) * | 2016-11-22 | 2017-05-31 | 中铁工程装备集团有限公司 | A kind of numerical control umbrella is bored |
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| CN101603410A (en) * | 2009-05-22 | 2009-12-16 | 中煤第五建设公司第三工程处 | Full hydraulic umbrella drill for shaft construction |
| CN105156028A (en) * | 2015-10-27 | 2015-12-16 | 中国矿业大学 | Load-sensitive control type fully-hydraulic multi-arm umbrella driller and working method thereof |
| CN206205782U (en) * | 2016-11-22 | 2017-05-31 | 中铁工程装备集团有限公司 | The large arm automatic positioning equipment that a kind of umbrella is bored |
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| WO2018095321A1 (en) | 2018-05-31 |
| CN106481275A (en) | 2017-03-08 |
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