CN114687392A - Crawler type drilling, digging and grabbing multifunctional integrated device and upright rod operation method - Google Patents

Crawler type drilling, digging and grabbing multifunctional integrated device and upright rod operation method Download PDF

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Publication number
CN114687392A
CN114687392A CN202210208465.0A CN202210208465A CN114687392A CN 114687392 A CN114687392 A CN 114687392A CN 202210208465 A CN202210208465 A CN 202210208465A CN 114687392 A CN114687392 A CN 114687392A
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China
Prior art keywords
arm
frame
pole
oil cylinder
drill
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CN202210208465.0A
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Chinese (zh)
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CN114687392B (en
Inventor
潘建兵
邓志祥
郝钰
范瑞祥
周求宽
孙旻
徐在德
胡柳
安义
蔡木良
童军心
郑蜀江
吴英
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Nanchang Kechen Electric Power Test And Research Co ltd
State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Jiangxi Electric Power Co Ltd
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Nanchang Kechen Electric Power Test And Research Co ltd
State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Jiangxi Electric Power Co Ltd
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Application filed by Nanchang Kechen Electric Power Test And Research Co ltd, State Grid Corp of China SGCC, Electric Power Research Institute of State Grid Jiangxi Electric Power Co Ltd filed Critical Nanchang Kechen Electric Power Test And Research Co ltd
Priority to CN202210208465.0A priority Critical patent/CN114687392B/en
Publication of CN114687392A publication Critical patent/CN114687392A/en
Application granted granted Critical
Publication of CN114687392B publication Critical patent/CN114687392B/en
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/10—Bogies; Frames
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/3604—Devices to connect tools to arms, booms or the like
    • E02F3/3609—Devices to connect tools to arms, booms or the like of the quick acting type, e.g. controlled from the operator seat
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/369—Devices to connect parts of a boom or an arm
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H12/00—Towers; Masts or poles; Chimney stacks; Water-towers; Methods of erecting such structures
    • E04H12/34—Arrangements for erecting or lowering towers, masts, poles, chimney stacks, or the like
    • E04H12/347—Arrangements for setting poles in the ground

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Architecture (AREA)
  • Earth Drilling (AREA)

Abstract

The invention discloses a crawler-type drilling, digging and grabbing multifunctional integrated device and a pole erecting operation method, wherein the device comprises a crawler chassis, a grab, a rotating device, a vehicle body, a drilling arm, a digging arm and a cab, wherein the vehicle body is arranged on the crawler chassis through the rotating device; the drill boom comprises a telescopic frame, a turnover boom frame and a drill frame; the telescopic frame is arranged on the vehicle body and can extend and contract along the length direction of the vehicle body; the turning arm support is connected with the drill frame and used for driving the drill frame to turn from a transverse state to a state vertical to the ground; the turning device drives the vehicle body to rotate so as to drive the drill arm and the digging arm to rotate by different angles; conveying lever arms are arranged on two sides of the vehicle body, and gun carriage suspension points are reserved at the tail of the vehicle body; the positioning module is arranged in the cab, and the direction of the positioning module is parallel to the digging arm and the drilling arm; the digging arm is rotatably connected to the vehicle body, a quick-change connector is arranged at the end part of the digging arm, and the digging arm is detachably connected with the gripping apparatus. The invention realizes the quick switching of the claw tool, the bucket and the bucket through the quick-change connector, improves the claw tool and is convenient for grabbing a rod and erecting the rod.

Description

Crawler type drilling, digging and grabbing multifunctional integrated device and upright rod operation method
Technical Field
The invention belongs to the field of power distribution engineering construction, and particularly relates to a crawler-type drilling, digging and grabbing multifunctional integrated device and a pole erecting operation method.
Background
Traditional distribution network engineering construction pot hole excavation, equipment hoist and mount, wire pole assemblage, wire pole transportation, operation ability such as machine account management and control all are independent, like wire pole assemblage process, need mechanical equipment operation such as drilling machine, excavator, crane, and these function of equipment is single, adaptability is relatively poor, needs multiple equipment cross use, and the field operation personnel are more, will increase the management and control degree of difficulty and safe operation risk. Simultaneously, to paddy field or hilly area, the loop wheel machine often can't reach, there is the car turning, injures people's incident in the excavator pole setting, leads to the efficiency of construction lower.
With the increasing demand of the market, different engineering vehicles are gradually improved. For example, the existing hoisting type engineering truck is improved on the basis of a truck-mounted crane, and functions of an excavating arm, drilling and the like are added; the loading type engineering truck is added with functions of digging arms, hoisting arms, drilling and the like on the basis of the original loader; the excavation type engineering truck is provided with a drilling machine or a grab bar device and the like on the basis of excavation. The engineering vehicle meets the diversified requirements of engineering operation to a certain extent, but still has functional defects.
The inventor has previously applied for a multi-functional machineshop car, including wheel-track chassis, slewer, automobile body, drill boom and arm of digging, the automobile body passes through slewer install in on the wheel-track chassis, the drill boom includes telescopic bracket, upset cantilever crane and drill boom, the telescopic bracket install in the automobile body just can follow its length direction extension and shorten, the upset cantilever crane with the drill boom is connected and is used for driving the drill boom overturns to the state perpendicular to ground from horizontal state, slewer drives the automobile body is rotatory and drives the drill boom with the arm of digging rotates different angles, the arm of digging rotate connect in the automobile body. But this multifunctional engineering vehicle changes gripping apparatus and the inconvenient problem of bucket at the working process, and it is inconvenient to operate at the pole setting in-process moreover, very easily causes the risk of grabbing the pole process and turning on one's side, and the pole setting is transferred in-process because of the wire pole touches the pole hole inner wall and the unable perception of operator leads to the wire pole to bump the incident such as the wire pole causes engineering delay and equipment damage.
Disclosure of Invention
The invention aims to provide a wheel-track drilling, excavating and grabbing multifunctional integrated device and a pole setting operation method, which can realize quick switching of a claw, an excavator bucket and a bucket, improve the claw, facilitate grabbing of a pole and the pole setting, ensure stability in the pole setting process and effectively prevent the problem of possible side turning in the pole grabbing process.
In order to achieve the purpose, the invention adopts the technical scheme that: a wheel-track type drilling, digging and grabbing multifunctional integrated device comprises a wheel-track chassis, a grab, a slewing device, a vehicle body, a drill boom, a digging arm and a cab, wherein the vehicle body is arranged on the wheel-track chassis through the slewing device; the drill boom comprises a telescopic frame, a turnover boom frame and a drill frame; the telescopic frame is mounted on the vehicle body and can extend and shorten along the length direction of the vehicle body; the turning arm support is connected with the drilling rig and used for driving the drilling rig to turn from a transverse state to a state vertical to the ground; the turning device drives the vehicle body to rotate so as to drive the drill arm and the digging arm to rotate by different angles; the two sides of the vehicle body are provided with transport lever arms, the tail part of the vehicle body is provided with gun carriage suspension points, the transport lever arms are used for short-distance telegraph pole transportation, and the suspension points are used for running cooperation with a gun carriage and a tire chassis and are suitable for long-distance telegraph pole transportation; the positioning module is arranged in the cab, is parallel to the digging arm and the drilling arm in direction, runs to the vicinity according to the design coordinates of the telegraph pole, carries out drilling and digging operation, or re-positions the burying position of the telegraph pole according to the field condition; the digging arm is rotatably connected to the vehicle body, a quick-change connector is arranged at the end part of the digging arm, and the digging arm is detachably connected with the gripping apparatus.
Further, quick change coupler includes hydraulic cylinder, mechanical buckle and quick change jack, when needs are changed, operates the quick change button in the driver's cabin, promotes the hydro-cylinder and expandes circular head to tighten up mechanical buckle, expandes mechanical buckle after the hydro-cylinder pushes away to set for the stroke, makes the hydro-cylinder part can not drop, through hydraulic pressure sensing and mechanical latch design, realizes grab and excavator bucket quick replacement.
Furthermore, the gripping apparatus comprises a gripping palm and gripping fingers hinged to two sides of the gripping palm, a quick-change connecting piece is arranged on the gripping apparatus and comprises an auxiliary front shaft and a locking rear shaft, two mounting plates are arranged on the top of the gripping palm in parallel, two ends of the auxiliary front shaft and the locking rear shaft are respectively connected with the two fixing mounting plates, the auxiliary front shaft and the locking rear shaft are parallel, an angle sensor is arranged on the side face of the gripping palm and is perpendicular to the plane of the gripping fingers, an anti-skid rubber block and a pressure sensor are arranged on the gripping fingers, and a hook is further arranged on the gripping palm. The gripping apparatus is provided with an independent hydraulic control loop, and the electric control valve flexibly controls the control palm and the gripping fingers through the travel switch; the pressure sensor measures the pressure value on the grabbing finger, if the pressure of the telegraph pole is too high in the pole grabbing and erecting processes, the pressure value can be fed back to the liquid crystal display screen, an operator is warned that the gap between the pole and the hole needs to be adjusted, and the telegraph pole damage caused by blind operation is avoided; the couple cooperates wire rope to accomplish the secondary protection to the wire pole and reduces the opposition pole degree of difficulty, promptly under the equal circumstances of losing efficacy of grabbing the finger, through with wire rope and couple common atress, the wire pole can not drop suddenly or slowly go into the hole, simultaneously, can articulate other heavy objects, realizes the hoist and mount function.
Further, the pole transporting arm comprises a pole transporting oil cylinder, an anchor ear, anti-skid rubber and a pressure sensing unit, wherein the anchor ear is made of HQ70 materials, the pole transporting oil cylinder is horizontally arranged on the vehicle body, the arc of the anchor ear is designed according to the taper of the pole and is arranged at the movable end of the pole transporting oil cylinder, the anti-skid rubber is made of a nylon interlayer rubber plate and is arranged at the inner side of the arc of the anchor ear, the pressure sensing unit is arranged on the anchor ear, the pressure sensing unit mainly senses objects, and when the objects are fed back to be in place after the high force is applied, the anchor ear tightly holds the pole to ensure that the poles cannot fall off; two conveying lever arms are respectively arranged on one side of the vehicle body and are matched with each other, so that the fixing and protecting functions of the telegraph pole are realized.
Furthermore, the wheel-track chassis comprises a frame, crawler wheels, swing guide frames and driving wheels, wherein the crawler wheels are arranged on two sides of the frame, the swing guide frames are arranged at the front end and the rear end of the frame, and the driving wheels are arranged on the swing guide frames. The swing guide frame can rotate by different angles to drive the driving wheels to be spaced from the ground, so that the crawler wheels are switched to drive to walk or the driving wheels are switched to drive to walk, and the switching walking of the wheels and the crawler is realized. Specifically, the swing guide frame is driven in a full hydraulic mode, the driving wheel is supported to the ground through the driving oil cylinder, so that the crawler walking is converted into tire walking, and the driving wheel is retracted to realize crawler walking; thereby realizing high-speed driving transition operation and low-speed off-road driving on the road surfaces such as muddy land, ditch ridge, climbing large slope and the like. The whole road surface driving is realized, and the driving adaptability of the whole vehicle is better.
Furthermore, the drill boom is used for power drilling operation, the drill boom comprises a telescopic frame, a turnover boom frame and a drill frame, the telescopic frame is installed on the vehicle body and can be extended and shortened along the length direction of the telescopic frame, the turnover boom frame is connected with the drill frame and used for driving the drill frame to be turned over from a transverse state to a state perpendicular to the ground, so that the drill frame can be drilled into the ground, the state of the drill frame is switched, the drill boom is horizontally laid on the top of the vehicle body in the transverse state, and the turnover boom drives the drill frame to rotate by an angle to a vertical state in the drilling process.
Furthermore, the drill frame comprises a support frame, a drill rod, a drill bit, a motor and a driving chain, the drill rod is arranged on the support frame, the motor drives the drill rod to rotate, the driving chain is connected with the drill rod and used for driving the drill rod to move towards the ground in a reciprocating mode, and the driving chain and the motor drive the drill rod to rotate and move towards the ground at the same time to achieve the purpose of drilling.
Furthermore, the overturning arm support comprises an overturning frame, an overturning oil cylinder and a left-right swinging oil cylinder, wherein two ends of the overturning frame are respectively rotatably connected with the telescopic frame and the drill frame, one end of the overturning oil cylinder is rotatably connected with the drill frame, the other end of the overturning oil cylinder is rotatably connected with the overturning frame and used for driving the overturning frame to rotate by different angles, one end of the left-right swinging oil cylinder is rotatably connected with the drill frame, and the other end of the left-right swinging oil cylinder is rotatably connected with the telescopic frame and used for driving the drill frame to swing left and right. The overturning frame is driven to rotate up and down and rotate left and right through the overturning oil cylinder and the left and right swinging oil cylinder to form space motion, the structure is more flexible, and the operation range is wide.
Furthermore, the telescopic frame comprises a bottom frame fixedly connected to the vehicle body and a telescopic oil cylinder arranged on the bottom frame and used for driving the turnover arm frame to move in a reciprocating mode.
Further, the drill boom is still including locating the sensor on the rig, and is specific, and the sensor is four, is first angle sensor, and first sensor is used for detecting the gesture of drill boom. Through the detection of different postures, the drill boom can be adjusted to be in a vertical state. The roll-over stand and the angle sensors in four directions are key components for ensuring the drill boom to be vertical, and the angle sensors in four directions are arranged on the side surface of the support frame through screws to detect the posture of the roll-over stand. When the drill boom is not perpendicular to the ground plane, the angle sensor feeds back signals to respectively adjust the stretching amount of the turnover oil cylinder and the stretching amount of the left-right swinging oil cylinder, and the perpendicularity of the formed holes is ensured to meet the requirements by adjusting the angle of the turnover frame.
Furthermore, the digging arm comprises a small arm, a small arm oil cylinder, a large arm oil cylinder, a swing rod, an arm head connecting rod and an arm head connecting oil cylinder, the swing rod is rotatably connected to the arm head connecting rod and the small arm, two ends of the arm head connecting oil cylinder are respectively rotatably connected to the arm head connecting rod and the small arm, two ends of the small arm oil cylinder are respectively rotatably connected to the small arm and the large arm to drive the large arm to rotate, two ends of the large arm oil cylinder are respectively rotatably connected to the large arm and an automobile body to realize digging actions, various standby auxiliary tools can be connected to the digging arm, such as a gripping apparatus, a digging bucket or a scraper bucket, so as to realize different functions.
Furthermore, a plurality of distance sensors are also installed on the digging arm, and are mainly installed at the hinge points of the big arm oil cylinder, the small arm oil cylinder and the digging arm, and the distances between each position and the ground are respectively measured at the hinge points of the arm head connecting rod and the small arm.
The utility model provides a pole setting operation method based on multi-functional integrated device of type is grabbed in wheel-tracked drilling, including the automobile body, rotate the gripping apparatus who connects in the automobile body and install on digging the arm, it includes the forearm to dig the arm, the forearm hydro-cylinder, big arm hydro-cylinder, the pendulum rod, arm head connecting rod and arm head connect the hydro-cylinder, the pendulum rod rotates to be connected in arm head connecting rod and forearm, the both ends of arm head connecting hydro-cylinder rotate respectively to be connected in arm head connecting rod and forearm, the both ends of forearm hydro-cylinder rotate respectively to be connected in forearm and big arm and rotate in order to drive big arm, the both ends of big arm hydro-cylinder rotate respectively to be connected in big arm and automobile body, the step is as follows:
determining the distance between a telegraph pole and a vehicle body, determining the lifting height of a big arm and determining the lifting height of a small arm, grabbing the telegraph pole through a grabbing tool, and grabbing the telegraph pole to a certain range away from a telegraph pole pot hole through an excavating arm;
step two, the large arm oil cylinder stretches, pushes the large arm to rotate along the hinged point of the vehicle body to lift the telegraph pole and rotate to the position above the rotary hole, the small arm oil cylinder stretches, pushes the small arm to rotate along the hinged point of the small arm and the large arm to rotate the telegraph pole to incline inwards for a certain angle, the large arm oil cylinder contracts to drive the large arm to press downwards, and the telegraph pole starts to enter the hole;
step three, dynamically adjusting the large arm oil cylinder, the small arm oil cylinder and the arm head connecting oil cylinder to stretch and descend so as to ensure that the wire pole can vertically fall into the pit hole, rotating the large arm to continue pressing down, moving the wire pole into the hole downwards after the lower end of the wire pole contacts the outer wall of the hole, lifting the wire pole upwards again until the lower end of the wire pole contacts the inner wall of the hole, and adjusting the inclination angle of the wire pole;
and step four, repeating the three steps until the telegraph pole contacts the bottom and the root of the telegraph pole does not contact the inner wall and the outer wall of the hole in the front-back direction, returning soil in the hole, and loosening the gripping apparatus after the soil is returned and compacted to finish the pole erecting operation.
Further, when the rotating telegraph pole enters the hole, the internal inclination angle of the rotating telegraph pole is alpha, and the alpha ranges from 3 degrees to 10 degrees.
Further, the range of the telegraph pole from the telegraph pole pot hole is L0, wherein the hinge point of the big arm oil cylinder and the car body is A, the intersection point of the hinge point O and the big arm oil cylinder in the horizontal direction is B, the hinge point of the big arm oil cylinder and the big arm is C, the hinge point between the big arm and the small arm is E, the hinge point of the big arm and the car body is O, the hinge point of the small arm oil cylinder and the big arm is D, the hinge point of the small arm oil cylinder and the small arm is F, the hinge point of the arm head connecting oil cylinder and the small arm is G, the hinge point of the arm head connecting oil cylinder and the oscillating bar is H, the hinge point of the arm head connecting rod and the oscillating bar is I, the hinge point of the small arm and the gripping tool is J, and the hinge point of the hinge point E and the hinge point is GHeight h1 of vertical intersection of O and height h of hinge point O from groundGroundThe hinge point I is away from the ground height h2, and the hinge point J is away from the ground height h 3; the AO length is LAO, and a fixed value is designed; the length AC of the oil cylinder is LAC, when the full extension length of the oil cylinder is LACMAX, the full contraction length is LACMIN, and the CO length is LC 0; swing angle of large arm
Figure BDA0003532056010000051
Maximum angle of oscillation of
Figure BDA0003532056010000052
Figure BDA0003532056010000053
Minimum angle of oscillation of
Figure BDA0003532056010000054
The digging arm has an angle
Figure BDA0003532056010000055
∠COB＝α2＝α1-α0；
Figure BDA0003532056010000056
The included angle between the hinge point E between the large arm and the small arm and the 0 point horizontal plane is EOB
Figure BDA0003532056010000057
Furthermore, in the process of lifting the telegraph pole, the height from the ground at the hinge point E of the large arm and the small arm is larger than the gravity center height of the telegraph pole, wherein the height from the ground at the hinge point E is HE-h 1+ h-hGround+LEOsin alpha 3, the height of which is greater than the height H of the center of gravity of the utility poleGA/cos alpha, wherein the height of the center of gravity of the pole is HGI.e. HG/cosα＝hGround (floor)+ LEOsin α 3, when α 3 does not satisfy this value, no pole planting work in the pole setting is allowed.
Compared with the prior art, the invention has the following beneficial effects: 1. realize claw utensil, grab bucket and scraper bowl fast switch over through quick change coupler to improve claw utensil, grab bar and pole setting can be convenient for. 2. The gripping apparatus is improved, so that the gripping rod and the vertical rod can be conveniently gripped, the stability of the vertical rod in the process is ensured, and the problem of side turning possibly occurring in the gripping rod process is effectively prevented.
Drawings
FIG. 1 is a flow chart of a pole erecting process of the present invention;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a schematic structural view of a wheel-track chassis of the present invention;
FIG. 4 is a schematic diagram of the construction of the drill boom of the present invention;
FIG. 5 is a schematic view of a portion of the excavator arm of the present invention.
FIG. 6 is a schematic illustration of a rocker arm of the present invention;
FIG. 7 is a schematic view of a gripper of the present invention;
figure 8 is a schematic view of a pole of the present invention;
FIG. 9 is a schematic view of three-point positioning during the erecting process of the present invention;
figure 10 is a schematic view of a pole entering a hole during pole erecting according to the present invention;
FIG. 11 is a schematic diagram illustrating adjustment of the verticality of a pole after entering a hole during pole erecting according to the present invention;
FIG. 12 is a flow chart of perpendicularity adjustment of the rod hole according to the present invention
In the figure: 1. wheel-track chassis, 11 vehicle frame, 13 crawler wheels, 15 swing guide frame, 17 driving wheel, 2 slewing gear, 3 vehicle body, 4 drill boom, 41 telescopic frame, 411 underframe, 413 telescopic oil cylinder, 43 overturning boom frame, 431 overturning frame, 433 overturning oil cylinder, 435 left and right swing oil cylinder, 45 drill frame, 451 support frame, 453 drill rod, 455 motor, 457 drive chain, 5 excavating arm, 51 small arm, 52 small arm oil cylinder, 53 big arm, 54 big arm oil cylinder, 55 swing rod, 56 arm head connecting rod, 57 arm head connecting oil cylinder, 6 first angle sensor, 7 conveying lever arm, 71 conveying lever oil cylinder, 72 hoop, 73 antiskid rubber, 74 pressure sensing unit, 8 gripper, 81 gripper, gripper palm, 82 gripper finger, 83 second angle sensor, 84 pressure sensor, 85. Hook, 86, electric control valve, 87, quick-change connector.
Detailed Description
Referring to fig. 2-7, a crawler-type drilling, digging and grabbing multifunctional integrated device comprises a crawler chassis 1, a grab 8, a rotating device 2, a vehicle body 3, a drilling arm 4, a digging arm 5 and a cab, wherein the vehicle body 3 is arranged on the crawler chassis 1 through the rotating device 2; the drill boom 4 comprises a telescopic frame 41, a turnover arm frame 43 and a drill frame 45; the telescopic bracket 41 is attached to the vehicle body 3 and can be extended and shortened in the longitudinal direction thereof; the overturning arm support 43 is connected with the drilling frame 45 and is used for driving the drilling frame 45 to overturn from a transverse state to a state vertical to the ground; the turning device 2 drives the vehicle body 3 to rotate so as to drive the drill boom 4 and the digging boom 5 to rotate by different angles; conveying lever arms 7 are arranged on two sides of the vehicle body 3, and a gun carriage suspension point is reserved at the tail part; the transport arm 7 is used for transporting the telegraph pole in short distance, and the suspension point is used for cooperating with a gun carriage and a tire chassis in running, so that the telegraph pole is suitable for transporting the telegraph pole in long distance; the positioning module is arranged in the cab, is parallel to the digging arm and the drilling arm in direction, and runs to the nearby place according to the design coordinates of the telegraph pole to carry out drilling and digging operation or position the burying position of the telegraph pole again according to the field situation; the digging arm 5 is rotatably connected to the vehicle body 3, a quick-change connector is arranged at the end part of the digging arm 5, and the digging arm 5 is detachably connected with the gripping apparatus 8.
Further, quick change coupler includes hydraulic cylinder, mechanical buckle, quick change jack, when needs are changed, operates the quick change button in the driver's cabin, promotes the hydro-cylinder and expandes circular head to tighten up mechanical buckle, expandes mechanical buckle after the hydro-cylinder pushes away to set for the stroke, makes the hydro-cylinder part can not drop, through hydraulic pressure sensing and mechanical latch design, realizes gripping apparatus 8 and excavator bucket quick replacement.
Further, the gripping apparatus 8 comprises a gripping palm 81 and gripping fingers 82 hinged to two sides of the gripping palm 81, a quick-change connector 87 is arranged on the gripping apparatus 8, the quick-change connector 87 comprises an auxiliary front shaft and a locking rear shaft, two mounting plates are arranged on the top of the gripping palm 81 in parallel, two ends of the auxiliary front shaft and the locking rear shaft are respectively connected with the two fixing mounting plates, the auxiliary front shaft and the locking rear shaft are parallel, a second angle sensor 83 is arranged on the side surface of the gripping palm 81 and is perpendicular to the plane of the gripping fingers 82, anti-skid rubber 73 and a pressure sensor 84 are arranged on the gripping fingers 82, and hooks 85 are further arranged on the gripping palm 81. The gripping apparatus 8 is provided with an independent hydraulic control loop, and the electric control valve 86 flexibly controls the control gripper 81 and the gripper fingers 82 through travel switches; the pressure sensor 84 measures the pressure value on the grabbing finger 82, if the pressure of the telegraph pole is too high in the pole grabbing and erecting processes, the pressure is fed back to the liquid crystal display screen, an operator is warned that the gap between the pole and the hole needs to be adjusted, and the telegraph pole is prevented from being damaged due to blind operation; the hook 85 is matched with a steel wire rope to complete secondary protection of the telegraph pole and reduce the difficulty of opposite poles, namely under the condition that the grabbing fingers 82 are all invalid, the telegraph pole cannot drop suddenly or slowly enter a hole through the steel wire rope and the hook 85 under the common stress, and meanwhile, other heavy objects can be hooked to achieve the hoisting function.
Further, the pole transporting arm 7 comprises a pole transporting oil cylinder 71, an anchor ear 72, anti-skid rubber 73 and a pressure sensing unit 74, wherein the anchor ear 72 is made of HQ70 material, the pole transporting oil cylinder 71 is horizontally installed on the vehicle body, the arc shape of the anchor ear 72 is designed according to the taper of the telegraph pole and is installed at the movable end of the pole transporting oil cylinder 71, the anti-skid rubber 73 is made of nylon sandwich rubber plates and is installed at the inner side of the arc shape of the anchor ear 72, the pressure sensing unit 74 is installed on the anchor ear 72, the pressure sensing unit 74 mainly senses objects, and when the objects are fed back to be in place after force is applied, the anchor ear 72 tightly holds the telegraph pole to ensure that the telegraph pole cannot fall off; two conveying lever arms 7 are respectively arranged on one side of the vehicle body 3, and the two conveying lever arms 7 are mutually matched to realize the fixing and protecting functions of the telegraph pole.
Further, the wheel-track chassis 1 comprises a frame 11, crawler wheels 13, swing guide frames 15 and driving wheels 17, wherein the crawler wheels 13 are arranged on two sides of the frame 11, the swing guide frames 15 are arranged on the front end and the rear end of the frame 11, and the driving wheels 17 are arranged on the swing guide frames 15. The swing guide frame 15 can rotate at different angles to drive the driving wheel 17 to be spaced from the ground, so that the track wheel 13 is switched to drive the track to run, or the driving wheel 17 is switched to drive the track to run, and the switching running of the wheels and the track is realized. Specifically, the swing guide frame 15 is driven in a full hydraulic mode, the driving wheel 17 is supported to the ground through the driving oil cylinder, so that the crawler walking is converted into tire walking, and the driving wheel 17 is retracted to realize crawler walking; thereby realizing high-speed driving transition operation and low-speed off-road driving on the road surfaces such as muddy land, ditch ridge passing, climbing large slope and the like. The whole road surface driving is realized, and the driving adaptability of the whole vehicle is better.
Further, the drill boom 4 is used for power drilling operation, the drill boom 4 comprises a telescopic frame 41, a turning arm frame 43 and a drill frame 45, the telescopic frame 41 is mounted on the vehicle body 3 and can be extended and shortened along the length direction of the telescopic frame, the turning arm frame 43 is connected with the drill frame 45 and used for driving the drill frame 45 to be turned from a transverse state to a state perpendicular to the ground, so that the drill frame 45 can be drilled into the ground, the state of the drill frame 45 is switched, the drill boom 4 lies on the top of the vehicle body 3 in the transverse state, and the turning arm drives the drill frame 45 to rotate by an angle to a vertical state during hole drilling.
Further, the drill stand 45 includes a support frame 451, a drill rod 453, a motor 455, a drill bit, and a driving chain 457, wherein the drill rod 453 is disposed on the support frame 451, the motor 455 drives the drill rod 453 to rotate, the driving chain 457 is connected to the drill rod 453 for driving the drill rod 453 to reciprocate in the ground direction, and the driving chain 457 and the motor 455 drive the drill rod 453 to rotate and move forward in the ground direction to achieve the purpose of drilling.
Further, the turning arm support 43 comprises a turning frame 431, a turning oil cylinder 433 and a left-right swinging oil cylinder 435, two ends of the turning frame 431 are respectively rotatably connected with the telescopic frame 41 and the drill frame 45, one end of the turning oil cylinder 433 is rotatably connected with the drill frame 45, the other end of the turning oil cylinder 433 is rotatably connected with the turning frame 431 and used for driving the turning frame 431 to rotate at different angles, one end of the left-right swinging oil cylinder 435 is rotatably connected with the drill frame 45, and the other end of the left-right swinging oil cylinder 435 is rotatably connected with the telescopic frame 41 and used for driving the drill frame 45 to swing left and right. The overturning frame 431 is driven to rotate up and down and rotate left and right through the overturning oil cylinder 433 and the left and right swinging oil cylinder 435 to form space motion, so that the structure is more flexible, and the operation range is large.
Further, the telescopic frame 41 includes a bottom frame 411 fixedly connected to the vehicle body 3, and a telescopic cylinder 413 disposed on the bottom frame 411 for driving the turning arm 43 to reciprocate.
Further, the drill boom 4 further comprises four sensors arranged on the drill frame 45, and the four sensors are all the first angle sensors 6, and the sensors 6 are used for detecting the posture of the drill boom 4. The vertical state of the drill boom 4 can be adjusted by detecting different postures. The roll-over stand 431 and the four-orientation second angle sensor 83 are key components for ensuring the verticality of the drilling boom 4, and the four-orientation first angle sensor 6 is installed on the side surface of the support frame 451 through screws and used for detecting the posture of the roll-over stand 431. When the posture of the drill boom 4 is not vertical to the ground plane, the feedback signals of the first angle sensor 6 respectively adjust the extension and retraction amounts of the overturning oil cylinder 433 and the left-right swinging oil cylinder 435, and the perpendicularity of the formed hole is ensured to meet the requirement by adjusting the angle of the overturning frame 431. Refer to FIG. 10 for a flow chart of verticality adjustment of a pole hole
Further, the excavator arm 5 comprises a small arm 51, a small arm oil cylinder 52, a large arm 53, a large arm oil cylinder 54, a swing rod 55, an arm head connecting rod 56 and an arm head connecting oil cylinder 57, the swing rod 55 is rotatably connected to the arm head connecting rod 56 and the small arm 51, two ends of the arm head connecting oil cylinder 57 are respectively rotatably connected to the arm head connecting rod 56 and the small arm 51, two ends of the small arm oil cylinder 52 are respectively rotatably connected to the small arm 51 and the large arm 53 to drive the large arm 53 to rotate, two ends of the large arm oil cylinder 54 are respectively rotatably connected to the large arm 53 and the vehicle body 3 to realize the excavating action, and various spare accessories such as a gripping apparatus 8, an excavator bucket or a bucket can be connected to the excavator arm 5 to realize different functions.
Furthermore, a plurality of distance sensors are also installed on the digging arm, and are mainly installed at the hinge points of the big arm oil cylinder, the small arm oil cylinder and the digging arm, and the distances between each position and the ground are respectively measured at the hinge points of the arm head connecting rod and the small arm.
The drill bit is composed of hard rock cutting teeth, half rock teeth and the like, and the drill bit is replaced according to different rotating soil layers in the drilling operation process.
A left handle, a safety rod, a left foot valve, a steering wheel, a right foot valve, a control panel, a display screen, a wheel type walking brake valve, a right handle, a single handle, an air conditioner and a level meter are also arranged in the cab;
the control panel is provided with buttons for main wheel-track switching, high-low speed switching, drilling/pole setting/excavating operation, gripping of the gripping device 8, rotation of the gripping device 8, quick change of auxiliary devices, emergency stop, accelerator rotation, standby and the like; different working states are realized by operating different buttons.
The display screen adopts the touch-sensitive screen, convenient direct operation, has work interface, complete machine state, warning message and sets up 4 switching pages on its display screen, and work interface includes wheeled, track, switches in, parking, high speed (rabbit), low speed (tortoise), scram state icon, engine speed display, engine pressure, cooling water temperature, 3 angles of automobile body and the 6 state display of obliquity sensor.
The working interface comprises a drilling mode display screen, an excavating mode display screen and a vertical rod mode display screen, a drilling picture is switched to be in a drilling state, angle bubble display of the drilling inclination angle sensor 6 is displayed in the middle of the picture, and the specific angle value of the drilling angle is displayed at the lower left corner.
The alarm display mainly comprises real-time alarm of fault information such as unbalance of the vehicle body 3, unbalance of the upright rod vehicle body 3, overlarge pressure of a telegraph pole, overhigh water temperature, pressure leakage and the like
The whole machine state defaults to display the output state, the input state, the brightness adjustment, the time statistics, the engine state and the manual detection of the tilt angle sensor 6
And clicking the input state, displaying the condition of the input signal, and turning on the indicator light. And counting the click time, and displaying the positive price, the working time of the controller, the serial number of a display screen of the controller, the program version number and the like.
The multifunctional engineering truck provided by the embodiment of the invention drives the truck body 3 to rotate continuously for three hundred sixty degrees through the rotating device 2 so as to drive the drill boom 4 and the digging arm 5 to rotate for different angles, so that no dead angle is formed in operation; the drilling is realized through the drill boom 4, the telescopic frame 41 of the drill boom 4 is mounted on the vehicle body 3 and can be extended and shortened along the length direction of the drill boom, the overturning arm support 43 is connected with the drill frame 45 and is used for driving the drill frame 45 to overturn from a transverse state to a state vertical to the ground so as to realize that the drill frame 45 drills into the ground, the switching of the state of the drill frame 45 is realized, the drill boom 4 lies on the top of the vehicle body 3 in the transverse state, and the overturning arm drives the drill frame 45 to rotate by an angle to a vertical state during the drilling; the digging arm 5 is used for realizing digging, so that the switching of multiple functions is realized, the use is more convenient, and the working efficiency is improved.
Referring to fig. 1, a pole erecting operation method based on a wheel-track type drilling, digging and grabbing multifunctional integrated device comprises a vehicle body 3 and a grabbing tool 8 rotatably connected to the vehicle body 3 and mounted on an excavating arm 5, wherein the excavating arm 5 comprises a small arm 51, a small arm oil cylinder 52, a large arm 53, a large arm oil cylinder 54, a swing rod 55, an arm head connecting rod 56 and an arm head connecting oil cylinder 57, the swing rod 55 is rotatably connected to the arm head connecting rod 56 and the small arm 51, two ends of the arm head connecting oil cylinder 57 are respectively rotatably connected to the arm head connecting rod 56 and the small arm 51, two ends of the small arm oil cylinder 52 are respectively rotatably connected to the small arm 51 and the large arm 53 to drive the large arm 53 to rotate, two ends of the large arm oil cylinder 54 are respectively rotatably connected to the large arm 53 and the vehicle body 3, and the steps are as follows:
firstly, determining the distance between a telegraph pole and a vehicle body 3, determining the lifting height of a big arm 53 and determining the lifting height of a small arm 51, grabbing the telegraph pole through a grabbing tool 8, and grabbing the telegraph pole to a certain range away from a telegraph pole pot hole through an excavating arm 5;
step two, the large arm oil cylinder 54 is stretched to push the large arm 53 to rotate along the hinged point of the vehicle body 3 to lift the wire pole and rotate to the position above the rotary hole, the small arm oil cylinder 52 is stretched to push the small arm 51 to rotate the wire pole to tilt inwards for a certain angle along the hinged point of the small arm 51 and the large arm 53, the large arm oil cylinder 54 is contracted to drive the large arm 53 to press downwards, and the wire pole starts to enter the hole;
step three, dynamically adjusting the large arm oil cylinder 54, the small arm oil cylinder 52 and the arm head connecting oil cylinder 57 to stretch and descend so as to ensure that the telegraph pole can vertically fall into a pit hole, rotating the large arm 53 to continue pressing down, moving the telegraph pole into the hole downwards after the lower end of the telegraph pole contacts the outer wall of the hole, lifting the telegraph pole upwards again until the lower end of the telegraph pole contacts the inner wall of the hole, and adjusting the inclination angle of the telegraph pole;
and step four, repeating the three steps until the telegraph pole contacts the bottom and the root of the telegraph pole does not contact the inner wall and the outer wall of the hole in the front-back direction, returning soil in the hole, and loosening the gripping apparatus 8 after the returned soil is tamped to finish the pole erecting operation.
Further, when the rotating telegraph pole enters the hole, the internal inclination angle of the rotating telegraph pole is alpha, and the alpha ranges from 3 degrees to 10 degrees.
Further, the range of the utility pole from the utility pole pot hole is L0, wherein the hinge point of the arm cylinder 54 and the car body 3 is a, the intersection point of the hinge point O and the arm cylinder 54 in the horizontal direction is B, the hinge point of the arm cylinder 54 and the arm 53 is C, and the arm 53 are CThe hinge point between the arms 51 is E, the hinge point between the large arm 53 and the vehicle body 3 is O, the hinge point between the small arm oil cylinder 52 and the large arm 53 is D, the hinge point between the small arm oil cylinder 52 and the small arm 51 is F, the hinge point between the arm head connecting oil cylinder 57 and the small arm 51 is G, the hinge point between the arm head connecting oil cylinder and the swing rod is H, the hinge point between the arm head connecting rod and the swing rod is I, the hinge point between the small arm and the gripping tool is J, the height position H1 of the vertical intersection of the hinge point E and the hinge point O, and the height position H of the hinge point O from the groundGroundThe hinge point I is at a height h2 away from the ground, and the hinge point J is at a height h3 away from the ground; the AO length is LAO, and a fixed value is designed; the length AC of the oil cylinder is LAC, when the full extension length of the oil cylinder is LACMAX, the full contraction length is LACMIN, and the CO length is LC 0; swing angle of large arm 53
Figure BDA0003532056010000111
Maximum angle of oscillation of
Figure BDA0003532056010000112
Minimum angle of oscillation of
Figure BDA0003532056010000113
Angle of the arm 5
Figure BDA0003532056010000114
∠COB＝α2＝α1-α0；
Figure BDA0003532056010000115
The included angle between the hinge point E between the big arm 53 and the small arm 51 and the 0 point horizontal plane
Figure BDA0003532056010000116
Furthermore, during the process of lifting the utility pole, the height from the ground at the hinge point E of the large arm 53 and the small arm 51 is greater than the gravity center height of the utility pole, wherein the height from the ground at the hinge point E is HE-h 1+ h-hGround+LEOsin alpha 3, the height of which is greater than the height H of the center of gravity of the utility poleGA/cos alpha, wherein the height of the center of gravity of the pole is HGI.e. HG/cosα＝hGround+LEOsin α 3, when α 3 does not satisfy this value, no pole planting work in the pole setting is allowed.
Three-step operation method for vertical rod
Referring to fig. 8 to 12, a first step: the purpose of three-point positioning is as follows: the distance between the telegraph pole and the car body 3 (about 5.95m from the rotation center) is determined, the lifting height of the big arm 53 (about 5.02 m) is determined, and the lifting height of the small arm 51 (about 5.06 m) is determined. The determination of the above dimensions allows the vehicle to move slightly forwards and backwards by observing the comparison of the up-down position in the operating room and the viewpoint position (see the dimension of the three-point positioning vertical rod in the figure below).
And secondly, lifting the telegraph pole, turning the telegraph pole to the position above the hole, inwards inclining the telegraph pole (with the red color upwards) by about 10 degrees (data can be seen on a display screen), directly pressing the big arm 53, and enabling the telegraph pole to enter the hole.
The third step: an adjusting large arm oil cylinder 54, a small arm oil cylinder 52 and an arm head connecting rod,
the left handle is pushed forwards until the lower end of the telegraph pole contacts the outer wall of the hole (the telegraph pole moves downwards into the hole);
pushing the right handle backwards until the lower end of the telegraph pole contacts the inner wall of the opening (the telegraph pole slightly moves upwards);
and observing the position of a dot point of the display screen, slightly adjusting the inclination angle of the telegraph pole, mainly paying attention to the operating direction of the dipper, pushing the left handle inwards to reduce the inclination angle of the telegraph pole, and pushing the left handle outwards to increase the inclination angle of the telegraph pole. Particularly, after the utility pole is put into a hole, the utility pole is easy to damage without reverse operation. The operation of the step is light, and the wire pole is not damaged by violent operation.
The above three steps are repeated until the pole contacts the base. Through gently pushing the oil pressure in the front and back of the left handle (big arm 53) and the front and back of the right handle (small arm 51), the front and back directions of the root of the telegraph pole are sensed to have no contact with the inner and outer arms of the hole, then the left handle is gently pushed by the inner and outer sides, the right handle is gently pushed by the inner and outer sides to adjust the verticality of the telegraph pole, a green dot on a display screen is arranged in the central position, after the picture is returned and tamped, the single handle is pushed forward in one step, and the gripping tool 8 is loosened. Note that releasing the gripper 8 should not allow the pole to be stressed, which could cause the pole to tilt or damage the pole surface if the gripper 8 were to exit.
Referring to fig. 11, in the invention, when the pole erecting operation is carried out, the telegraph pole is firstly grabbed to be separated from the electricityThe wire pole pot hole has a certain range of L0, secondly, the wire pole is lifted to a position above the gravity center and enters the hole at a certain angle alpha (the range is 3-10 degrees), and the wire pole is ensured to vertically fall into the bottom of the pot hole and the depth reaches H by dynamically adjusting the extension and the descent of the big arm oil cylinder 54, the small arm oil cylinder 52 and the arm head connecting oil cylinder1. Said L is0Can be obtained by calculation. The hinge point of the big arm oil cylinder 54 and the car body 3 is A, the intersection point of the hinge point O and the big arm oil cylinder 54 in the horizontal direction is B, the hinge point of the big arm oil cylinder 54 and the big arm 53 is C, the hinge point between the big arm 53 and the small arm 51 is E, the hinge point of the big arm 53 and the car body 3 is O, the hinge point of the small arm oil cylinder 52 and the big arm 53 is D, the hinge point of the small arm oil cylinder 52 and the small arm 51 is F, the hinge point of the arm head connecting oil cylinder and the small arm 51 is G, the hinge point of the arm head connecting oil cylinder and the swing rod is H, the hinge point of the arm head connecting rod and the swing rod is I, the hinge point of the small arm 51 and the gripping tool 8 is J, the height H1 of the vertical intersection of the hinge point E and the hinge point O, and the height H of the hinge point O from the groundGround (floor)The hinge point I is at a height h2 from the ground, and the hinge point J is at a height h3 from the ground. AO length of LAODesigning a fixed value; AC length of LAC(oil cylinder length, when the oil cylinder extends out L completelyACMAXAnd full shrinkage LACMINIn relation to design value) CO length of LC0。
Swing angle of large arm 53
Figure BDA0003532056010000121
Maximum angle of oscillation of
Figure BDA0003532056010000122
Minimum angle of oscillation of
Figure BDA0003532056010000123
Angle of the arm 5
Figure BDA0003532056010000124
∠COB＝α2＝α1-α0；
Figure BDA0003532056010000125
The included angle between the hinge point E between the large arm 53 and the small arm 51 and the 0 point horizontal plane
Figure BDA0003532056010000126
The height from the ground at the hinge point E is HE＝h1+hGround＝hGround+LEOsin alpha 3, the height of which should be greater than the height H of the center of gravity of the utility poleGA/cos alpha, wherein the height of the center of gravity of the pole is HGI.e. HG/cosα＝hGround+LEOsin α 3, which does not allow the pole planting work in the pole setting when α 3 does not satisfy the value.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that various changes, modifications and substitutions can be made without departing from the spirit and scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A crawler-type drilling, digging and grabbing multifunctional integrated device is characterized in that: the crawler type crawler crane comprises a crawler chassis, a gripping apparatus, a slewing device, a vehicle body, a drill boom, an excavating arm and a cab, wherein the vehicle body is arranged on the crawler chassis through the slewing device; the drill boom comprises a telescopic frame, a turnover boom frame and a drill frame; the telescopic frame is arranged on the vehicle body and can extend and contract along the length direction of the vehicle body; the turning arm frame is connected with the drill frame; the turning device drives the vehicle body to rotate so as to drive the drill arm and the digging arm to rotate at different angles; two sides of the vehicle body are provided with a conveying lever arm; the digging arm is rotatably connected to the vehicle body, a quick-change connector is arranged at the end part of the digging arm, and the digging arm is detachably connected with the gripping apparatus through the quick-change connector.
2. The multifunctional integrated wheeled crawler drilling, grabbing and grabbing device of claim 1, wherein: the gripping apparatus comprises a gripping palm and gripping fingers hinged to two sides of the gripping palm, a quick-change connecting piece is arranged on the gripping apparatus and comprises an auxiliary front shaft and a locking rear shaft, two mounting plates are arranged on the top of the gripping palm in parallel, two ends of the auxiliary front shaft and the locking rear shaft are respectively connected with the two fixing mounting plates, the auxiliary front shaft and the locking rear shaft are parallel, an angle sensor is arranged on the side surface of the gripping palm and is perpendicular to the plane of the gripping fingers, an anti-skid rubber block and a pressure sensor are arranged on the gripping fingers, and a hook is further arranged on the gripping palm.
3. The multifunctional integrated wheeled crawler drilling, grabbing and grabbing device of claim 1, wherein: the fortune pole arm includes fortune pole hydro-cylinder, staple bolt, non-slip rubber and pressure sensing unit, and the staple bolt adopts HQ70 material to make, fortune pole hydro-cylinder horizontal installation on the automobile body, and the arc of staple bolt designs according to the tapering of wire pole to install at fortune pole hydro-cylinder expansion end, non-slip rubber adopts nylon intermediate layer rubber slab to make, and install at the staple bolt arc inboard, and pressure sensing unit installs on the staple bolt.
4. The multifunctional integrated wheeled crawler drilling, digging and grabbing device as recited in claim 1, wherein: the wheel-track chassis comprises a frame, crawler wheels, swing guide frames and driving wheels, wherein the crawler wheels are arranged on two sides of the frame, the swing guide frames are arranged at the front end and the rear end of the frame, and the driving wheels are arranged on the swing guide frames.
5. The multifunctional integrated wheeled crawler drilling, grabbing and grabbing device of claim 1, wherein: the drill boom is used for power drilling operation, and the drill boom comprises a telescopic frame, a turnover arm frame and a drill frame, wherein the telescopic frame is installed on a vehicle body and can be extended and shortened along the length direction of the telescopic frame, the turnover arm frame is connected with the drill frame and used for driving the drill frame to be turned over from a transverse state to a state vertical to the ground, the drill frame comprises a support frame, a drill rod, a motor, a drill bit and a driving chain, the drill rod is arranged on the support frame, the motor drives the drill rod to rotate, and the driving chain is connected with the drill rod and used for driving the drill rod to move back and forth towards the ground.
6. The multifunctional integrated wheeled crawler drilling, grabbing and grabbing device of claim 1, wherein: the turnover arm frame comprises a turnover frame, a turnover oil cylinder and a left-right swinging oil cylinder, wherein two ends of the turnover frame are respectively rotatably connected with the telescopic frame and the drill frame, one end of the turnover oil cylinder is rotatably connected with the drill frame, the other end of the turnover oil cylinder is rotatably connected with the turnover frame and used for driving the turnover frame to rotate by different angles, one end of the left-right swinging oil cylinder is rotatably connected with the drill frame, and the other end of the left-right swinging oil cylinder is rotatably connected with the telescopic frame and used for driving the drill frame to swing left and right.
7. The multifunctional integrated wheeled crawler drilling, grabbing and grabbing device of claim 1, wherein: the arm digging device comprises an arm digging device, a lifting device and a lifting device.
8. The utility model provides a pole setting operation method based on multi-functional integrated device of type is grabbed in wheel-tracked drilling, which comprises a vehicle body, rotate the gripping apparatus who connects in the automobile body and install on digging the arm, it includes the forearm to dig the arm, the forearm hydro-cylinder, big arm hydro-cylinder, the pendulum rod, arm head connecting rod and arm head connect the hydro-cylinder, the pendulum rod rotates to be connected in arm head connecting rod and forearm, the both ends of arm head connect the hydro-cylinder rotate respectively to be connected in arm head connecting rod and forearm, the both ends of forearm hydro-cylinder rotate respectively to be connected in forearm and big arm in order to drive big arm rotation, the both ends of big arm hydro-cylinder rotate respectively to be connected in big arm and automobile body, the characteristic is that, the step is as follows:
determining the distance between a telegraph pole and a vehicle body, determining the lifting height of a big arm and determining the lifting height of a small arm, grabbing the telegraph pole through a grabbing tool, and grabbing the telegraph pole to a certain range away from a telegraph pole pot hole through an excavating arm;
step two, the large arm oil cylinder stretches, pushes the large arm to rotate along the hinged point of the vehicle body to lift the telegraph pole and rotate to the position above the rotary hole, the small arm oil cylinder stretches, pushes the small arm to rotate along the hinged point of the small arm and the large arm to rotate the telegraph pole to incline inwards for a certain angle, the large arm oil cylinder contracts to drive the large arm to press downwards, and the telegraph pole starts to enter the hole;
step three, dynamically adjusting the large arm oil cylinder, the small arm oil cylinder and the arm head connecting oil cylinder to stretch and descend so as to ensure that the telegraph pole can vertically fall into the pit hole, rotating the large arm to continue pressing down, moving the telegraph pole into the hole downwards after the lower end of the telegraph pole contacts the outer wall of the hole, lifting the telegraph pole upwards again until the lower end of the telegraph pole contacts the inner wall of the hole, and adjusting the inclination angle of the telegraph pole;
and step four, repeating the three steps until the telegraph pole contacts the bottom and the root of the telegraph pole does not contact the inner wall and the outer wall of the hole in the front-back direction, returning soil in the hole, and loosening the gripping apparatus after the returned soil is tamped to finish the pole erecting operation.
9. The pole erecting operation method based on the wheel-track type drilling, digging and grabbing multifunctional integrated device as claimed in claim 8, is characterized in that: the dip angle of the rotating telegraph pole is alpha, the alpha range is 3-10 degrees, the range of the telegraph pole from a telegraph pole pot hole is L0, the hinge point of a big arm oil cylinder and a car body is A, the intersection point of a hinge point O and the big arm oil cylinder in the horizontal direction is B, the hinge point of the big arm oil cylinder and the big arm is C, the hinge point between the big arm and the small arm is E, the hinge point of the big arm and the car body is O, the hinge point of the small arm oil cylinder and the big arm is D, the hinge point of the small arm oil cylinder and the small arm is F, the hinge point of an arm head connecting oil cylinder and the small arm is G, the hinge point of an arm head connecting cylinder and a swing rod is H, the hinge point of an arm head connecting rod and the swing rod is I, the hinge point of the small arm and a gripping tool is J, the height H1 of the vertical intersection of the hinge point E and the hinge point O, and the height H of the hinge point O from the hinge point to the ground is HGroundThe distance between the hinge point I and the ground is h2, and the distance between the hinge point J and the ground is h 3; AO length of LAODesigning a fixed value; the length AC of the oil cylinder is LACWhen the full extension length of the oil cylinder is LACMAXFull shrinkage length of LACMINCO length LC0(ii) a Swing angle of large arm
Figure FDA0003532056000000031
Maximum angle of oscillation of
Figure FDA0003532056000000032
Minimum angle of oscillation of
Figure FDA0003532056000000033
Natural angle of digging arm
Figure FDA0003532056000000034
∠COB＝α2＝α1-α0；
Figure FDA0003532056000000035
The included angle between the hinge point E between the large arm and the small arm and the 0 point horizontal plane is EOB
Figure FDA0003532056000000036
10. The pole erecting operation method based on the wheel-track type drilling, digging and grabbing multifunctional integrated device as claimed in claim 9, is characterized in that: in the process of lifting the telegraph pole, the height from the ground at the hinge point E of the large arm and the small arm is larger than the gravity center height of the telegraph pole, wherein the height from the ground at the hinge point E is HE-h 1+ h-hGround+LEOsin alpha 3, the height of which is greater than the height H of the center of gravity of the utility poleGA/cos alpha, wherein the height of the center of gravity of the pole is HGI.e. HG/cosα＝hGround+LEOsin α 3, when α 3 does not satisfy this value, no pole planting work in the pole setting is allowed.
CN202210208465.0A 2022-03-04 2022-03-04 Wheel track type drilling and grabbing multifunctional integrated device and pole setting operation method Active CN114687392B (en)

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