CN113958261A - Self-adaptive centering device and method for crawler of engineering drilling machine - Google Patents
Self-adaptive centering device and method for crawler of engineering drilling machine Download PDFInfo
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- CN113958261A CN113958261A CN202111134427.7A CN202111134427A CN113958261A CN 113958261 A CN113958261 A CN 113958261A CN 202111134427 A CN202111134427 A CN 202111134427A CN 113958261 A CN113958261 A CN 113958261A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000005553 drilling Methods 0.000 title claims description 16
- 238000003825 pressing Methods 0.000 claims abstract description 5
- 239000003921 oil Substances 0.000 claims description 26
- 239000010687 lubricating oil Substances 0.000 claims description 19
- 239000002689 soil Substances 0.000 claims description 9
- 239000004519 grease Substances 0.000 claims description 7
- 235000014121 butter Nutrition 0.000 claims description 3
- 208000004350 Strabismus Diseases 0.000 claims 2
- 230000003044 adaptive effect Effects 0.000 claims 2
- 230000008878 coupling Effects 0.000 claims 2
- 238000010168 coupling process Methods 0.000 claims 2
- 238000005859 coupling reaction Methods 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 8
- 238000010276 construction Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 238000005461 lubrication Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
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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
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
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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
- E21B12/00—Accessories for drilling tools
-
- 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
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/003—Supports for the drilling machine, e.g. derricks or masts adapted to be moved on their substructure, e.g. with skidding means; adapted to drill a plurality of wells
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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
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/04—Supports for the drilling machine, e.g. derricks or masts specially adapted for directional drilling, e.g. slant hole rigs
-
- 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
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/24—Guiding or centralising devices for drilling rods or pipes
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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
- E21B47/00—Survey of boreholes or wells
-
- 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
- E21B7/04—Directional drilling
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
- Geophysics (AREA)
- Earth Drilling (AREA)
Abstract
The invention relates to a self-adaptive centering device and a self-adaptive centering method for an engineering driller crawler belt.A guide wheel reflects the offset of the engineering driller crawler belt to the left and right offset degree of the guide wheel under the pressing force of a heavy gas spring, the left and right offsets of a transverse sliding shaft are measured by two-side laser range finders, the result is fed back to a central controller, and then the oil inlet amount of crawler belt motors on two sides is adjusted by analysis, so that the advancing speed of the crawler belts on two sides is controlled, and the self-adaptive centering method for the engineering driller crawler belt is realized; the invention solves the offset phenomenon of the crawler engineering machinery in the walking process and ensures the centering of the crawler walking in a narrow tunnel.
Description
Technical Field
The invention relates to a self-adaptive centering device and a self-adaptive centering method for an engineering driller crawler belt, and belongs to the field of engineering driller crawler belt walking.
Background
The crawler traveling mechanism is widely applied to field operation vehicles such as engineering machinery, tractors and the like. The walking condition is severe, and the walking mechanism is required to have enough strength and rigidity and good traveling and steering capacity. The crawler belt is in contact with the ground, and the driving wheel is not in contact with the ground. When the motor drives the driving wheel to rotate, the driving wheel continuously rolls up the crawler belt from the rear part through the meshing between the gear teeth on the driving wheel and the crawler belt chain under the action of the driving torque of the speed reducer. The ground engaging portion of the track imparts a rearward force to the ground which in turn imparts a forward reaction force to the track, which reaction force is the driving force that propels the machine forward. When the driving force is sufficient to overcome the walking resistance, the bogie wheels roll forward on the upper surface of the track, thereby causing the machine to travel forward.
At present, in the construction process of a narrow tunnel, due to the fact that working conditions are poor, the phenomenon of running deviation of a drilling machine is generally caused by the operation level of a machine length and the problems of a hydraulic system and a structure of the machine. Because the down-the-hole drill is small in structure, the walking direction can be manually adjusted at any time to carry out walking deviation correction flexibly in the tunnel construction process during punching, but the real-time performance, the accuracy and the sensitivity cannot be realized through the complexity of the tunnel environment, the narrowing of the space, the intellectualization of the drill and manual intervention.
Disclosure of Invention
The invention provides a crawler self-adaptive centering device and a crawler self-adaptive centering method for an engineering drilling machine, which solve the problem of offset of crawler engineering machinery in the walking process and ensure the centering of crawler walking in a narrow tunnel.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a crawler self-adaptive centering device of an engineering drilling machine comprises a fixed rack assembly, a connecting assembly and a guide assembly;
the guide assembly comprises a transverse sliding shaft, a sleeve, a guide wheel and a laser range finder, the guide wheel is sleeved at the central position of the transverse sliding shaft, the sleeve is sleeved at each of two ends of the transverse sliding shaft, and when the end part of the transverse sliding shaft is embedded in the sleeve, a spring is embedded between the end part and the closed end of the inner cavity of the sleeve;
the closed end of each sleeve is provided with a laser range finder, and the transmitting end of the laser range finder extends into the sleeve;
the position, close to the end part, of each sleeve is connected with a fixed rack assembly through a connecting assembly, the connecting assembly comprises a movable arm and a heavy gas spring, the fixed rack assembly comprises a support and a corresponding crawler rack, the support is fixedly welded on the side surface of the crawler rack, one end of the movable arm is connected with the sleeve through a fastening bolt, the other end of the movable arm is in pin joint with the bottom end of the support through a movable arm pin shaft, one end of the heavy gas spring is connected with the side edge of the movable arm, and the other end of the heavy gas spring is in pin joint with the position, close to the bottom end, of the support, namely the heavy gas spring, the movable arm and the support form a triangular shape;
as a further preferred aspect of the present invention, the guide wheel is a circular blank, a guide wheel bearing section is disposed at the middle part in the central hole of the guide wheel, and a guide wheel bearing step surface is disposed at a position adjacent to the guide wheel bearing section;
a transverse sliding shaft locking nut section, a transverse sliding shaft bearing section and a transverse sliding shaft bearing shoulder are sequentially arranged on the circumferential wall of the middle part of the transverse sliding shaft, when a guide wheel is sleeved on the transverse sliding shaft, the guide wheel bearing section is matched with the transverse sliding shaft bearing section, a bearing is arranged in the transverse sliding shaft bearing section, a locking nut is arranged in the transverse sliding shaft locking nut section, and the step surface of the bearing is flatly attached to the transverse sliding shaft bearing shoulder;
three sections of transverse sliding shaft lubricating oil grooves which are distributed at equal intervals are respectively formed in the positions, close to the two ends, of the transverse sliding shafts;
as a further preferred aspect of the present invention, three annular structures are formed along the outer circle of the circular blank of the guide wheel, a plurality of lightening holes are formed in the side surface of the annular structure, the plurality of lightening holes are located on the circumference with the center of the annular structure as the center of circle, and a plurality of teeth are formed on the annular surface of the annular structure; and a plurality of teeth are arranged in an equidistant circumferential array;
as a further preference of the present invention, the teeth include a tooth rake angle and a tooth flank angle;
the wedge surface of the denture fixing teeth relative to the adjacent teeth of the same annular structure is a tooth front wedge surface, the wedge surface of the teeth relative to the adjacent teeth of the annular structure is defined as a tooth side wedge surface, and the tooth front rake angle is an included angle between the tooth front wedge surface and the normal direction of the circular surface of the guide wheel; the tooth flank inclination angle is an included angle between a tooth flank wedge surface and a side end surface of the guide wheel;
the range of the tooth anteversion angle is 15-30 degrees; the inclination angle range of the tooth flanks is 5-15 degrees;
as a further preferred aspect of the present invention, a through laser range finder mounting hole is formed at the closed end of the sleeve, and the emitting end of the laser range finder extends into the inner hole of the sleeve through the laser range finder mounting hole;
an oil seal section is arranged at the opening end of the sleeve, when the sleeve is sleeved on the transverse sliding shaft, an oil seal is embedded in the oil seal section, a through oil cup hole is formed in the circumferential wall of the sleeve and is perpendicular to the axis of the sleeve, and an oil cup is installed in the oil cup hole;
four sleeve movable arm mounting holes are formed in the positions, where the movable arms are mounted, on the circumferential wall of the sleeve, and the four sleeve movable arm mounting holes are arranged in a square structure;
as a further preferable mode of the invention, the movable arm comprises a movable arm body, an upper lug seat, a bottom mounting plate and a pin shaft lug plate, wherein the bottom mounting plate is mounted at one end of the movable arm body, the pin shaft lug plate is mounted at the other end of the movable arm body, the upper lug seats are symmetrically mounted on one side, close to the bottom mounting plate, of the movable arm body, and the width of the pin shaft lug plate is the same as the distance between the opposite upper lug seats;
four movable arm bottom mounting holes which are arranged in a square shape are formed in the bottom mounting plate, and the positions of the movable arm bottom mounting holes are matched with the sleeve movable arm mounting holes;
as a further preferred aspect of the present invention, the support includes a holder, a connecting seat, a side lug seat and a lower lug seat, one end of the holder is fixedly connected to a side wall of the connecting seat, and the other end of the holder is welded and fixed to the crawler frame;
the side lug seats are symmetrically fixed on the retainer, when the retainer is installed, the side lug seats and the upper lug seat are distributed on the same side, and the other end of the heavy gas spring is in pin joint with the side lug seats;
the bottom of the connecting seat is symmetrically provided with lower lug seats, and pin shaft lug plates of the movable arms are connected with the lower lug seats in a pin mode through movable arm pin shafts;
as a further preferred option of the invention, the movable arm pin shaft comprises a pin shaft body, a grease flow channel is arranged in the pin shaft body, a plurality of movable arm pin shaft lubrication grooves are arranged on the outer circumferential wall of the pin shaft body, and the lubrication grooves are communicated with the grease flow channel;
the butter flow channel comprises a horizontal flow channel positioned on a central shaft of the pin shaft body and three vertical flow channels distributed along the radial direction of the pin shaft body, and the distance between every two adjacent vertical flow channels is the same; the movable arm pin shaft lubricating oil grooves comprise three parts which are all formed in the outer circumferential wall of the pin shaft body, the distance between every two adjacent movable arm pin shaft lubricating oil grooves is the same, and an inlet of each vertical flow passage is located in the matched movable arm pin shaft lubricating oil groove;
a convex pin shaft cover plate is fixedly arranged on the pin shaft body, a fixed screw hole is formed in the pin shaft cover plate, and when the movable arm pin shaft is in pin joint with the lower lug seat, the fixed screw hole is matched with a threaded hole in the lower lug seat;
a centering method based on any one of the engineering driller crawler belt self-adaptive centering devices,
before the drilling machine is started, observing data corresponding to the laser range finder, wherein the guide wheel is positioned in the center of the transverse sliding shaft;
after the drilling machine is started, heavy gas springs positioned on two sides of the guide wheel provide pressing force towards the ground for the guide wheel, and teeth of the guide wheel are embedded into soil;
the drilling machine is in the process of going forward, and the track takes place the skew, and the guide pulley takes place the skew on sideslip slide-shaft, and the real-time data that the laser range finder that corresponds obtained this moment appear the difference, and the laser range finder feeds back data to well accuse ware, and well accuse ware adjustment appears the oil feed rate of the corresponding track motor of deviation, regulates and control the speed of marcing of track for the guide pulley gets back to central point again.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
1. according to the self-adaptive centering device for the crawler belt, the offset of the crawler belt is reflected through the offset of the guide assembly, so that the offset of the crawler belt can be obviously found;
2. the self-adaptive centering device for the crawler can adjust the offset problem of crawler engineering machinery in the walking process in real time;
3. the self-adaptive centering device for the crawler belt can be used as an optional part to be installed or detached according to the requirements of users, is economical and reliable, has a simple structure, and is convenient to disassemble, assemble and maintain.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a general block diagram of the structure of a preferred embodiment provided by the present invention;
FIG. 2 is a cross-sectional view taken along line A-A of FIG. 1 in accordance with the present invention;
FIG. 3 is a block diagram of a connection assembly of the preferred embodiment provided by the present invention;
FIG. 4 is a cross-sectional view taken along line B-B of FIG. 3 in accordance with the present invention;
FIG. 5 is a block diagram of a preferred embodiment of the idler provided by the present invention;
FIG. 6 is a cross-sectional view taken along line C-C of FIG. 5 in accordance with the present invention;
FIG. 7 is a cross slide configuration view of a preferred embodiment of the present invention;
FIG. 8 is a block diagram of a sleeve according to a preferred embodiment of the present invention;
FIG. 9 is a boom structure diagram of a preferred embodiment provided by the present invention;
FIG. 10 is a cross-sectional view of a boom pin of a preferred embodiment provided by the present invention;
FIG. 11 is a three-dimensional block diagram of a boom pin according to a preferred embodiment of the present invention;
fig. 12 is a control flow diagram of a preferred embodiment provided by the present invention.
In the figure: 1 is a guide assembly, 11 is a guide wheel, 111 is a tooth, 112 is a lightening hole, 113 is a guide wheel bearing section, 114 is a guide wheel bearing step surface, 115 is a tooth rake angle, 116 is a tooth flank angle, 12 is a traverse slide shaft, 121 is a traverse slide shaft bearing shoulder, 122 is a traverse slide shaft bearing section, 123 is a traverse slide shaft locking nut section, 124 is a traverse slide shaft lubricating oil groove, 13 is a sleeve, 131 is a laser range finder mounting hole, 133 is a sleeve inner hole, 134 is an oil seal section, 135 is an oil cup hole, 136 is a sleeve movable arm mounting hole, 14 is a laser range finder, 15 is a spring, 16 is an oil seal, 17 is a lock nut, 18 is a bearing, 19 is an oil cup, 2 is a traverse slide arm connecting assembly, 21 is a slide arm, 211 is an upper lug seat, 212 is a pin lug plate, 213 is a bottom mounting plate, 214 is a movable arm bottom mounting hole, 22 is a heavy type movable arm, 23 is a movable arm, 231 is a grease flow passage, 232 is a pin shaft pin lubricating oil groove, 233 is a fixing screw hole, 234 is a pin shaft cover plate, 24 is a fastening bolt, 3 is a fixing frame component, 7 is a support, 71 is a retainer, 72 is a connecting seat, and 8 is a crawler frame.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. In the description of the present application, it is to be understood that the terms "left side", "right side", "upper part", "lower part", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and that "first", "second", etc., do not represent an important degree of the component parts, and thus are not to be construed as limiting the present invention. The specific dimensions used in the present example are only for illustrating the technical solution and do not limit the scope of protection of the present invention.
Aiming at the existing crawler type engineering machinery, a crawler is easy to deviate in the traveling process, especially aiming at the construction problem of narrow tunnels, the deviation of the crawler can directly cause the deviation of the advancing direction of a down-the-hole drill, and the construction error is caused; in order to solve the problem of deviation, after a plurality of experiments, in consideration of economy and practicability, the application provides an engineering driller track self-adaptive centering device, the structural diagram of the whole scheme is shown in fig. 1-2, and the whole device comprises a fixed rack assembly 3, a connecting assembly 2 and a guide assembly 1; it is important to note here that the primary reason for the design of the guide assembly in this application is that it is desirable to transmit the track offset through the attachment assembly to the guide assembly, with the degree of offset being exhibited by the guide assembly, and with adjustment of the guide assembly, adjustment of the track offset being achieved.
The specific structural explanation is carried out on each part, firstly, a guide assembly comprises a transverse sliding shaft 12, a sleeve 13, a guide wheel 11 and a laser range finder 14, wherein the guide wheel is sleeved at the central position of the transverse sliding shaft, the sleeves are respectively sleeved at the two ends of the transverse sliding shaft, and when the end part of the transverse sliding shaft is embedded in the sleeve, a spring 15 is embedded between the end part and the closed end of the inner cavity of the sleeve; the closed end of each sleeve is provided with a laser range finder, and the transmitting end of the laser range finder extends into the sleeve; the position of each sleeve close to the end is connected with a fixed frame assembly through a connecting assembly, wherein the connecting assembly is shown in fig. 3 and comprises a movable arm 21 and a heavy gas spring 22, the fixed frame assembly comprises a support 7 and a corresponding crawler frame 8, the support is welded and fixed on the side surface of the crawler frame, one end of the movable arm is connected with the sleeve through a fastening bolt 24, the other end of the movable arm is in pin joint with the bottom end of the support through a movable arm pin shaft 23, one end of the heavy gas spring is connected with the side edge of the movable arm, and the other end of the heavy gas spring is in pin joint with the position, close to the bottom end, of the support, namely the heavy gas spring, the movable arm and the support form a triangular shape.
The heavy gas spring provides decurrent packing force for the guide pulley, just can imbed in the earth by the guide pulley, then when the track walking takes place the skew, just can convert the unilateral offset of guide pulley on the sideslip smooth axle to the offset.
In order to enable the guide wheel to slide on the traverse slide shaft only in a single side, as can be seen from fig. 5, the guide wheel is a circular blank, as shown in fig. 6, a guide wheel bearing section 113 is arranged in the middle part of the central hole of the guide wheel, and a guide wheel bearing step surface 114 is arranged at a position adjacent to the guide wheel bearing section;
as shown in fig. 7, a traverse sliding shaft locking nut section 123, a traverse sliding shaft bearing section 122 and a traverse sliding shaft bearing shoulder 121 are sequentially arranged on the circumferential wall of the middle part of the traverse sliding shaft, when the guide wheel is sleeved on the traverse sliding shaft, the guide wheel bearing section is matched with the traverse sliding shaft bearing section, a bearing 18 is arranged in the traverse sliding shaft bearing section, a locking nut 17 is arranged in the traverse sliding shaft locking nut section, the bearing step surface is flatly attached to the traverse sliding shaft bearing shoulder, and the guide wheel is fixed by the bearing and the locking nut; three sections of lubricating oil grooves 124 of the transverse moving sliding shaft are respectively arranged at the positions of the transverse moving sliding shaft close to the two ends and are distributed at equal intervals.
As can be seen in fig. 1, three annular structures are formed along the outer circle of the circular blank of the guide wheel, the guide wheel is more stably embedded into soil due to the arrangement of the three annular structures, a plurality of lightening holes 112 are formed in the side surface of the annular structure, the lightening holes are located on the circumference with the center of the annular structure as the center of a circle, and a plurality of teeth 111 are formed on the annular surface of the annular structure; and a plurality of teeth are arranged in an equidistant circumferential array, one preferred embodiment given in this application is that, as shown in fig. 5 in detail, each row of teeth comprises 27 teeth arranged in an equidistant circumferential array.
The reason for processing the teeth is also that when the crawler belt deviates, the guide wheel can only perform unilateral deviation on the transverse sliding shaft, because the teeth are arranged, the guide wheel can be subjected to lateral soil resistance and cannot follow the deviation of the crawler belt, and what influences the lateral soil resistance is that the teeth are clamped into the earth surface soil under a small spring pressing force, so that a large lateral area is provided, and therefore the lateral resistance needs to be improved, so that the deviation degree of the guide wheel along the transverse sliding shaft direction is obvious;
the teeth comprise a tooth rake angle 115 and a tooth flank angle 116; for convenience of description, the wedge surfaces of the teeth relative to the adjacent teeth of the same annular structure are defined as tooth front wedge surfaces, the wedge surfaces of the teeth relative to the adjacent teeth of the annular structure are defined as tooth side wedge surfaces, and the tooth front rake angle is an included angle between the tooth front wedge surfaces and the normal direction of the circular surface of the guide wheel; the tooth flank inclination angle is an included angle between a tooth flank wedge surface and a side end surface of the guide wheel; when the crawler belt runs, the guide wheel is required to be pressed into soil so as to monitor the deviation problem of the crawler belt in real time, and in order to ensure the stress uniformity of the guide wheel when the guide wheel is pressed into the soil, the front inclination angle range of the teeth is set to be 15-30 degrees, and the side inclination angle range of the teeth is set to be 5-15 degrees in order to obtain larger lateral resistance for the teeth.
The deviation of the crawler belt needs to be reflected through the guide assembly, real-time monitoring on the crawler belt needs to be carried out through monitoring equipment, the monitoring equipment in the application selects a laser range finder, a through laser range finder mounting hole 131 is formed in the closed end of the sleeve, and the transmitting end of the laser range finder extends into the sleeve inner hole 133 through the laser range finder mounting hole; the transmitting end of the laser range finder is over against the end part of the transverse moving sliding shaft, so that the real-time offset can be accurately obtained.
Meanwhile, an oil seal section 134 is arranged at the opening end of the sleeve, when the sleeve is sleeved on the transverse sliding shaft, an oil seal 16 is embedded in the oil seal section, a through oil cup hole 135 is formed in the circumferential wall of the sleeve and is perpendicular to the axis of the sleeve, and an oil cup 19 is installed in the oil cup hole.
Next, it is described in detail how the track portion displays the offset through the guide assembly by the connecting assembly, and four sleeve boom mounting holes 136 are formed at positions where the boom is mounted on the circumferential wall of the sleeve, and the four sleeve boom mounting holes are arranged in a square structure.
As shown in fig. 9, the movable arm includes a movable arm body, an upper ear seat 211, a bottom mounting plate 213, and a pin ear plate 212, the bottom mounting plate is mounted at one end of the movable arm body, the pin ear plate is mounted at the other end of the movable arm body, the upper ear seats are symmetrically mounted at one side of the movable arm body close to the bottom mounting plate, and the width of the pin ear plate is the same as the distance between the upper ear seats;
four movable arm bottom mounting holes 214 which are arranged in a square shape are formed in the bottom mounting plate, and the positions of the movable arm bottom mounting holes are matched with the sleeve movable arm mounting holes.
As shown in fig. 4, the support comprises a retainer 71, a connecting seat 72, a side lug seat and a lower lug seat, one end of the retainer is fixedly connected with the side wall of the connecting seat, and the other end of the retainer is welded and fixed on the crawler frame; the side lug seats are symmetrically fixed on the retainer, when the retainer is installed, the side lug seats and the upper lug seat are distributed on the same side, and the other end of the heavy gas spring is in pin joint with the side lug seats; the bottom of the connecting seat is symmetrically provided with lower lug seats, and pin shaft lug plates of the movable arms are in pin joint with the lower lug seats through movable arm pin shafts.
The movable arm pin shaft needs to be elaborated in an important way, because the movable arm pin shaft relates to the power of a corresponding motor track, and the movement of the position of the guide wheel on the transverse sliding shaft is adjusted through controlling the oil filling amount of the motor; the movable arm pin shaft comprises a pin shaft body, a grease flow channel 231 is formed in the pin shaft body, a plurality of movable arm pin shaft lubricating oil grooves 232 are formed in the outer circumferential wall of the pin shaft body, and the lubricating oil grooves are communicated with the grease flow channel;
as shown in fig. 10, the butter flow channel includes a horizontal flow channel located at the central axis of the pin shaft body, and three vertical flow channels radially distributed along the pin shaft body, and the intervals between adjacent vertical flow channels are the same; as shown in fig. 11, the movable arm pin roll lubricating oil grooves include three lubricating oil grooves, which are all formed in the outer circumferential wall of the pin roll body, the intervals between the adjacent lubricating oil grooves of the movable arm pin roll are the same, and an inlet of each vertical flow passage is located in the matching lubricating oil groove of the movable arm pin roll;
the pin shaft body is also fixedly provided with a convex pin shaft cover plate 234, the pin shaft cover plate is provided with a fixed screw hole 233, and when the movable arm pin shaft is in pin joint with the lower lug seat, the fixed screw hole is matched with a threaded hole on the lower lug seat.
Finally, the application also provides a centering method based on the engineering driller crawler belt self-adaptive centering device, as shown in fig. 12, the specific implementation mode is as follows: before the drilling machine is started, observing data corresponding to the laser range finder, wherein the guide wheel is positioned in the center of the transverse sliding shaft;
after the drilling machine is started, heavy gas springs positioned on two sides of the guide wheel provide pressing force towards the ground for the guide wheel, and teeth of the guide wheel are embedded into soil;
in the process of advancing of the drilling machine, the crawler belt deviates, the guide wheel deviates on the transverse sliding shaft, the real-time data acquired by the corresponding laser range finders at the moment are different, the laser range finders feed the data back to the central controller, the central controller adjusts the oil inlet amount of the crawler motor to regulate and control the advancing speed of the crawler belt, and the guide wheel returns to the central position of the transverse sliding shaft again, so that the engineering drilling machine crawler belt self-adaptive centering method is realized. For convenience of understanding, a specific statement case is given in the application, if the laser range finder detects that a certain side of the crawler deviates 1mm, the central controller controls the flow of the crawler motor on the corresponding side to be reduced by 2L/min in real time according to the feedback information of the laser range finder, and the flow of the crawler motor on the other side is increased by 2L/min, so that the bilateral flow of the crawler motor is ensured to be 80L/min.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" as used herein is intended to include both the individual components or both.
The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (9)
1. The utility model provides an engineering driller track self-adaptation centering device which characterized in that: comprises a fixed frame component (3), a connecting component (2) and a guide component (1);
the guide assembly (1) comprises a transverse sliding shaft (12), a sleeve (13), a guide wheel (11) and a laser range finder (14), the guide wheel (11) is sleeved at the central position of the transverse sliding shaft (12), the sleeve (13) is respectively sleeved at two ends of the transverse sliding shaft (12), and when the end part of the transverse sliding shaft (12) is embedded in the sleeve (13), a spring (15) is embedded between the end part and the closed end of the inner cavity of the sleeve (13);
the closed end of each sleeve (13) is provided with a laser range finder (14), and the emitting end of the laser range finder extends into the sleeve (13);
every sleeve (13) are close to the position of tip and are passed through coupling assembling and fixed frame subassembly and be connected, wherein coupling assembling include swing arm (21) and heavy air spring (22), fixed frame subassembly includes support (7) and track frame (8) that correspond, support (7) welded fastening in track frame (8) side, the one end of swing arm is passed through fastening bolt (24) and is connected with sleeve (13), and its other end passes through the bottom of swing arm round pin axle (23) pin joint support (7), the one end and the swing arm side of heavy air spring (22) are connected, and its other end pin joint is in support (7) the position that is close to the bottom, and heavy air spring (22), swing arm and support (7) constitute the triangle-shaped promptly.
2. The engineering driller track self-adaptive centering device of claim 1, wherein: the guide wheel (11) is a circular blank, a guide wheel bearing section (113) is arranged at the middle part in a central hole of the guide wheel (11), and a guide wheel bearing step surface (114) is arranged at the position adjacent to the guide wheel bearing section (113);
a transverse sliding shaft locking nut section (123), a transverse sliding shaft bearing section (122) and a transverse sliding shaft bearing shoulder (121) of a locking nut (17) are sequentially arranged on the circumferential wall of the middle part of the transverse sliding shaft (12), when a guide wheel (11) is sleeved on the transverse sliding shaft (12), the guide wheel bearing section (113) is matched with the transverse sliding shaft bearing section (122), a bearing is installed in the transverse sliding shaft bearing section, the locking nut (17) is installed in the transverse sliding shaft locking nut section (123) of the locking nut (17), and the bearing step surface is flatly attached to the transverse sliding shaft bearing shoulder (121);
three sections of lubricating oil grooves (124) of the transverse moving sliding shaft are respectively arranged at the positions of the transverse moving sliding shaft (12) close to the two ends and are distributed at equal intervals.
3. The engineering driller track self-adaptive centering device of claim 2, wherein: three annular structures are arranged along the excircle of the circular blank of the guide wheel (11), a plurality of lightening holes (112) are arranged on the side surface of the circular ring of each annular structure, the lightening holes (112) are positioned on the circumference which takes the center of each annular structure as the center of a circle, and a plurality of teeth (111) are processed on the ring surface of each annular structure; and a plurality of teeth (111) are arranged in an equidistant circumferential array.
4. The adaptive centering device for the crawler of the engineering drilling machine as claimed in claim 3, wherein: the teeth (111) comprise a tooth rake angle (115) and a tooth flank angle (116);
the wedge surface of the denture fixing teeth (111) relative to the adjacent teeth (111) of the same annular structure is a tooth front wedge surface, the wedge surface of the teeth (111) relative to the adjacent teeth (111) of the annular structure is defined as a tooth side wedge surface, and the tooth front rake angle (115) is an included angle between the tooth front wedge surface and the normal direction of the circular surface of the guide wheel (11); the tooth flank inclination angle (116) is an included angle between a tooth flank wedge surface and a side end surface of the guide wheel (11);
the tooth anteversion angle (115) is in the range of 15-30 degrees; the tooth flank angle (116) is in the range of 5-15 degrees.
5. The engineering driller track self-adaptive centering device of claim 1, wherein: a through laser range finder mounting hole (131) is formed in the closed end of the sleeve (13), and the transmitting end of the laser range finder extends into the inner hole (133) of the sleeve through the laser range finder mounting hole (131);
an oil seal section (134) is arranged at the opening end of the sleeve (13), when the sleeve (13) is sleeved on the transverse sliding shaft (12), an oil seal (16) is embedded in the oil seal section (134), a through oil cup hole (135) is formed in the circumferential wall of the sleeve (13) and is perpendicular to the axis of the sleeve (13), and an oil cup is installed in the oil cup hole (135);
four sleeve movable arm mounting holes (136) are formed in the positions, where the movable arms are mounted, of the circumferential wall of the sleeve (13), and the four sleeve movable arm mounting holes (136) are arranged in a square structure.
6. The engineering driller track self-adaptive centering device of claim 5, wherein: the movable arm comprises a movable arm body, an upper lug seat (211), a bottom mounting plate (213) and a pin shaft lug plate (212), wherein the bottom mounting plate (213) is mounted at one end of the movable arm body, the pin shaft lug plate (212) is mounted at the other end of the movable arm body, the upper lug seats (211) are symmetrically mounted on one side, close to the bottom mounting plate (213), of the movable arm body, and the width of the pin shaft lug plate (212) is equal to the distance between the opposite upper lug seats (211);
four movable arm bottom mounting holes (214) which are arranged in a square shape are formed in the bottom mounting plate (213), and the positions of the movable arm bottom mounting holes (214) are matched with the sleeve movable arm mounting holes (136).
7. The engineering driller track self-adaptive centering device of claim 1, wherein: the support (7) comprises a retainer (71), a connecting seat (72), a side lug seat and a lower lug seat, one end of the retainer (71) is fixedly connected with the side wall of the connecting seat (72), and the other end of the retainer (71) is welded and fixed on the crawler frame (8);
the side lug seats are symmetrically fixed on the retainer (71), when the heavy-duty gas spring is installed, the side lug seats and the upper lug seat (211) are distributed on the same side, and the other end of the heavy-duty gas spring (22) is in pin joint with the side lug seats;
lower lug seats are symmetrically arranged at the bottom of the connecting seat (72), and a pin shaft lug plate (212) of the movable arm is in pin joint with the lower lug seats through a movable arm pin shaft (23).
8. The adaptive crawler centering device of an engineering driller according to claim 7, characterized in that: the movable arm pin shaft (23) comprises a pin shaft body, a grease flow channel (231) is formed in the pin shaft body, a plurality of movable arm pin shaft lubricating oil grooves (232) are formed in the outer circumferential wall of the pin shaft body, and the lubricating oil grooves are communicated with the grease flow channel (231);
the butter flow channel (231) comprises a horizontal flow channel positioned at the central shaft of the pin shaft body and three vertical flow channels distributed along the radial direction of the pin shaft body, and the distance between every two adjacent vertical flow channels is the same; the movable arm pin shaft lubricating oil grooves (232) comprise three parts, the three parts are all formed in the outer circumferential wall of the pin shaft body, the distance between every two adjacent movable arm pin shaft lubricating oil grooves (232) is the same, and an inlet of each vertical flow channel is located in the matched movable arm pin shaft lubricating oil groove (232);
the pin shaft body is also fixedly provided with a convex pin shaft cover plate (234), the pin shaft cover plate (234) is provided with a fixed screw hole (233), and when the movable arm pin shaft (23) is in pin joint with the lower lug seat, the fixed screw hole (233) is matched with a threaded hole on the lower lug seat.
9. A centering method based on the engineering driller crawler belt self-adaptive centering device of any one of claims 1 to 8 is characterized in that:
before the drilling machine is started, observing data corresponding to the laser range finder, wherein the guide wheel (11) is positioned at the center of the transverse sliding shaft (12);
after the drilling machine is started, heavy gas springs (22) positioned on two sides of the guide wheel (11) provide pressing force towards the ground for the guide wheel (11), and teeth (111) of the guide wheel (11) are embedded into soil;
the drilling machine is in the process of going ahead, and the track takes place to squint, and guide pulley (11) take place to squint on sideslip slide-shaft (12), and the real-time data that the laser range finder that corresponds obtained this moment appears the difference, and the laser range finder feeds back data to well accuse ware, and well accuse ware adjustment appears the oil feed rate of the corresponding track motor of deviation, regulates and control the speed of marcing of track for guide pulley (11) central point puts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111134427.7A CN113958261A (en) | 2021-09-27 | 2021-09-27 | Self-adaptive centering device and method for crawler of engineering drilling machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111134427.7A CN113958261A (en) | 2021-09-27 | 2021-09-27 | Self-adaptive centering device and method for crawler of engineering drilling machine |
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| CN113958261A true CN113958261A (en) | 2022-01-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111134427.7A Pending CN113958261A (en) | 2021-09-27 | 2021-09-27 | Self-adaptive centering device and method for crawler of engineering drilling machine |
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| CA2356126A1 (en) * | 2000-11-27 | 2002-05-27 | Alvin Edward Moss | Track conversion kit for dirt bikes |
| CN104773576A (en) * | 2015-03-30 | 2015-07-15 | 江苏鹰游纺机有限公司 | Crawler-type distribution centering device |
| CN110145297A (en) * | 2019-05-24 | 2019-08-20 | 南通大学 | A kind of method and device thereof of submersible drilling machine adaptive equalization |
| CN110775173A (en) * | 2019-11-29 | 2020-02-11 | 徐州徐工基础工程机械有限公司 | High-precision straight-line walking deviation correcting system based on double-side distance detection and engineering vehicle |
| CN210258605U (en) * | 2019-08-06 | 2020-04-07 | 山东国兴智能科技股份有限公司 | High-performance self-adaptive crawler chassis device |
| CN211167158U (en) * | 2019-12-24 | 2020-08-04 | 济宁兴发弹簧有限公司 | Engineering machine tool track tensioning spring |
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2021
- 2021-09-27 CN CN202111134427.7A patent/CN113958261A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2356126A1 (en) * | 2000-11-27 | 2002-05-27 | Alvin Edward Moss | Track conversion kit for dirt bikes |
| CN104773576A (en) * | 2015-03-30 | 2015-07-15 | 江苏鹰游纺机有限公司 | Crawler-type distribution centering device |
| CN110145297A (en) * | 2019-05-24 | 2019-08-20 | 南通大学 | A kind of method and device thereof of submersible drilling machine adaptive equalization |
| CN210258605U (en) * | 2019-08-06 | 2020-04-07 | 山东国兴智能科技股份有限公司 | High-performance self-adaptive crawler chassis device |
| CN110775173A (en) * | 2019-11-29 | 2020-02-11 | 徐州徐工基础工程机械有限公司 | High-precision straight-line walking deviation correcting system based on double-side distance detection and engineering vehicle |
| CN211167158U (en) * | 2019-12-24 | 2020-08-04 | 济宁兴发弹簧有限公司 | Engineering machine tool track tensioning spring |
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