CN110847818B

CN110847818B - Walking Drilling Rig

Info

Publication number: CN110847818B
Application number: CN201911376759.9A
Authority: CN
Inventors: 刘锐军
Original assignee: Jiangxi Dongrui Intelligent Equipment Technology Co ltd
Current assignee: Jiangxi Dongrui Intelligent Equipment Technology Co ltd
Priority date: 2019-12-27
Filing date: 2019-12-27
Publication date: 2024-12-20
Anticipated expiration: 2039-12-27
Also published as: CN110847818A

Abstract

The present invention discloses a walking drilling rig, including a chassis assembly, wherein the rectangular array on the circumference of the chassis assembly has four groups of leg assemblies and a crawler walking assembly that can move independently of each other, the leg assembly is composed of an upper joint that can swing left and right, a middle joint that can be lifted up and down, and a lower joint that can be fixedly supported, the crawler walking assembly is fixedly installed at the lower joint of the leg assembly, and the crawler walking assembly is an independently driven crawler wheel. The present invention arranges four groups of leg assemblies and crawler walking assemblies on the side of the chassis assembly, and changes the traditional crawler-type strip wheels into walking-type walking wheels, which can effectively lift the chassis assembly from a higher ground height, can adapt to the uneven ground in multiple working conditions existing in mountain operations, can directly open and pass through higher obstacles, and each group of leg assemblies and crawler walking assemblies can realize independent movement, can cross and pass through higher fault terrain, and can have a larger climbing angle.

Description

Walking type drilling machine

Technical Field

The invention relates to the technical field of pile hole drilling machines, in particular to a walking type drilling machine.

Background

The construction of a cableway is also a manual foundation pit and pile hole digging process, wherein the foundation of the power transmission line engineering mountain is complex in topography, complex in geological condition, poor in traffic condition (no existing road and a fault cliff with a height of a few meters is used for blocking and repairing the road in many cases). The traditional undisturbed soil is used for digging a foundation (digging piles), rock embedding the foundation and the like, the pile diameter is larger, the pile diameter is generally more than 1m, the burial depth is deeper (6 m-30 m), the torsion requirement on a drilling machine is large, large torque force equipment is needed for mechanical hole forming of foundation pit digging, the large torque force equipment is large in size and weight, the foundation pit is difficult to climb a mountain, and mechanical construction cannot be realized.

Because the road conditions of mountain region are difficult to walk, construction foundation is uneven (slope) and has unfavorable conditions such as float soil layer, outstanding rock, traditional caterpillar driller is difficult to walk, and the condition requirement on construction site is comparatively harsh, seriously influences the construction progress, for this reason, proposes a walking driller, aims at solving above-mentioned problem.

Disclosure of Invention

Aiming at the defects of the prior mountain micro-pile multifunctional drilling machine in the construction operation process, the invention provides a walking drilling machine, which has the advantages of strong obstacle crossing capability and strong mountain multi-terrain adaptability, and solves the problems in the prior art.

The invention provides a walking type drilling machine, which comprises a chassis assembly, wherein four groups of supporting leg assemblies and a crawler walking assembly, wherein the four groups of supporting leg assemblies and the crawler walking assembly can move independently, the supporting leg assemblies consist of upper joints capable of swinging left and right, middle joints capable of lifting up and down and lower joints capable of being fixedly supported, the crawler walking assembly is fixedly arranged at the lower joints of the supporting leg assemblies, and the crawler walking assembly is an independently driven crawler wheel.

Preferably, the landing leg assembly comprises mounting, horizontal articulated piece, hydraulic stem, connecting piece, hydraulic stem, support piece, support hydraulic stem, switching-over piece and hydraulic stem of transferring, the one end fixed mounting of mounting is in the top of chassis assembly, the other end of mounting articulates through the round pin axle has horizontal articulated piece the dorsal part of mounting and horizontal articulated piece is equipped with hydraulic stem of transferring, the stiff end of hydraulic stem of transferring articulates in the dorsal part of mounting, the flexible end of hydraulic stem of transferring articulates in horizontal articulated piece dorsal part, the other end bottom of horizontal articulated piece articulates through the round pin axle has the connecting piece the top of horizontal articulated piece articulates through the round pin axle has the hydraulic stem of transferring, the other end of connecting piece articulates through the round pin axle has the support piece, the top of support piece articulates there is the support hydraulic stem, the free flexible end of support hydraulic stem articulates in the top of connecting piece, the other end of support piece articulates through the round pin axle has the switching-over piece, the one end of transfer piece is fixed connection in the dorsal part of support hydraulic stem one side, the other end of transfer assembly is located the inside the support hydraulic stem of transferring, the other end of transferring is located the inside the articulated piece of transferring.

Preferably, the crawler traveling assembly comprises a power box, a front guide wheel, a rear guide wheel, a driving disc, a supporting wheel, a driving wheel and a walking belt, one side of the power box is hinged to one end of a reversing piece, the left end and the right end of the power box are respectively provided with the front guide wheel and the rear guide wheel, the upper end and the lower end of the power box are respectively provided with the driving disc and the supporting wheel, the driving wheel is fixedly arranged outside the driving disc, the walking belt is arranged outside the power box, the front guide wheel, the rear guide wheel, the supporting wheel and the driving wheel are in transmission connection through a walking belt, and the end part of the driving disc is in transmission connection with a motor output shaft arranged in the power box.

Preferably, the front guide wheel is arranged elevated with respect to the support wheel and the rear guide wheel.

The invention has the following beneficial effects:

1. According to the invention, four groups of support leg assemblies and crawler traveling assemblies are arranged on the side of the chassis assembly, the traditional crawler type strip wheels are changed into walking type traveling wheels, the chassis assembly can be effectively lifted off the higher ground height, the ground with uneven multiplexing Kuang Aotu existing in mountain operation can be adapted, higher obstacles can be directly leveled, each group of support leg assemblies and the crawler traveling assemblies can realize independent movement, the ground can be spanned through higher fault terrains, and the climbing angle can be larger.

2. According to the invention, the support leg assembly is arranged in a three-joint mode, so that when the vehicle body encounters the ground of a local concave-convex pit in the walking process, the vehicle body can be adjusted to keep horizontal by independently adjusting the joint expansion of the support leg assembly at the corresponding position, and meanwhile, when the vehicle works on a gentle slope or climbs a slope, the vehicle body can be kept horizontal by adjusting the joint expansion of the front support leg assembly and the rear support leg assembly, so that the comfort and the safety of operators can be effectively ensured.

3. The walking type drill can easily move across obstacles below 1.4m and is safe across height below 3.7m, the limit across height can reach 4.2m, the walking type drill is convenient to walk on various complicated mountainous areas, and the operation is convenient to be carried out on the mountainous areas.

Drawings

FIG. 1 is a self-contained view of the various structural assemblies of the present invention;

FIG. 2 is a top view of FIG. 1 in accordance with the present invention;

FIG. 3 is a schematic diagram of the distributed installation of the leg assembly, crawler travel assembly and chassis assembly of the present invention;

FIG. 4 is a schematic view of the leg assembly and crawler belt running assembly mounting structure of the present invention;

FIG. 5 is an exploded view of the leg assembly of the present invention;

FIG. 6 is an exploded view of the crawler belt running assembly of the present invention;

FIG. 7 is a schematic diagram of a drilling rig turning top view of the present invention;

FIG. 8 is a schematic view of the large-angle climbing state of the drilling machine;

FIG. 9 is a schematic view of the small angle climbing state of the drilling machine of the present invention;

FIG. 10 is a schematic view of the obstacle surmounting operation of the drilling rig of the present invention;

FIG. 11 is a schematic view of the rig of the present invention in an initial state across faults;

FIG. 12 is a schematic diagram of the successful crossing fault condition of the drilling rig of the present invention.

In the figure, 1, a chassis assembly, 2, a cab and intelligent control system assembly, 3, a main pump and power station assembly, 4, a hydraulic oil tank assembly, 5, a diesel oil tank assembly, 6, a telescopic arm assembly, 7, a manipulator assembly, 8, a supporting leg assembly, 81, a fixing part, 82, a horizontal hinging part, 83, a span adjusting hydraulic rod, 84, a connecting part, 85, a high-pressure adjusting hydraulic rod, 86, a supporting part, 87, a supporting hydraulic rod, 88, a reversing part, 89, a direction adjusting hydraulic rod, 9, a crawler belt walking assembly, 91, a power tank, 92, a front guide wheel, 93, a rear guide wheel, 94, a driving disc, 95, a supporting wheel, 96, a driving wheel, 97, a walking belt, 10 and a barrier body.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1-12, a walking drilling machine comprises a chassis assembly 1, a cab and intelligent control system assembly 2, a main pump and power station assembly 3, a hydraulic oil tank assembly 4, a diesel tank assembly 5, a telescopic arm assembly 6, a manipulator assembly 7, a supporting leg assembly 8 and a crawler travel assembly 9, wherein the chassis assembly 1 adopts an excavator type chassis, and can realize 360-degree rotation, the supporting leg assembly 8 and the crawler travel assembly 9 are in a group, four groups are respectively arranged on the periphery of the chassis assembly 1 in a rectangular array, each group of supporting leg assembly 8 and the crawler travel assembly 9 can independently and synchronously adjust, the supporting leg assembly 8 consists of a fixing piece 81, a horizontal hinging piece 82, a span adjusting hydraulic rod 83, a connecting piece 84, a high-pressure adjusting hydraulic rod 85, a supporting piece 86, a supporting hydraulic rod 87, a reversing piece 88 and a direction adjusting hydraulic rod 89, one end of the fixing piece 81 is fixedly arranged at the top end of the chassis assembly 1, the other end of the fixing piece 81 is hinged with a horizontal hinging piece 82 through a pin shaft, referring to fig. 3, the back sides of the fixing piece 81 and the horizontal hinging piece 82 are provided with a span-adjusting hydraulic rod 83, the fixed end of the span-adjusting hydraulic rod 83 is hinged at the back side of the fixing piece 81, the telescopic end of the span-adjusting hydraulic rod 83 is hinged at the back side of the horizontal hinging piece 82, the telescopic end of the span-adjusting hydraulic rod 83 is used for driving the horizontal hinging piece 82 to horizontally rotate relative to the fixing piece 81, the bottom of the other end of the horizontal hinging piece 82 is hinged with a connecting piece 84 through a pin shaft, the top end of the horizontal hinging piece 82 is hinged with a high-adjusting hydraulic rod 85 through a pin shaft, the other end of the high-adjusting hydraulic rod 85 is hinged at the top end of the connecting piece 84 through a pin shaft, the telescopic end of the high-adjusting hydraulic rod 85 is used for adjusting the vertical height of the fixing piece 81, the other end of the connecting piece 84 is hinged with a supporting piece 86 through a pin shaft, the top of support piece 86 articulates there is support hydraulic stem 87, the free flexible end of support hydraulic stem 87 articulates in the top of connecting piece 84, support hydraulic stem 87 is used for assisting the jacking and supports connecting piece 84, the other end of support piece 86 articulates through the round pin axle has reversing piece 88, reversing piece 88's one end fixed connection is in one side of crawler belt walking assembly 9, reversing piece 88's the other end is located support piece 86 inside and articulates there is steering hydraulic stem 89, steering hydraulic stem 89's the other end articulates in support piece 86's inside, steering hydraulic stem 89's flexible is used for realizing crawler belt walking assembly 9 and rotates a certain amount of angles for reversing piece 88's articulated shaft.

In the mechanism, the fixing piece 81, the connecting piece 84 and the supporting piece 86 divide the supporting leg assembly 8 into three joint parts, the fixing piece 81 is a fixed part, the connecting piece 84 is a movable adjusting part, the supporting piece 86 is a supporting part, and the two connected joints provide driving force for the joint parts at the corresponding positions through the arranged span adjusting hydraulic rod 83 or the high adjusting hydraulic rod 85 or the supporting hydraulic rod 87 or the direction adjusting hydraulic rod 89, so that the fixing piece 81 can complete the lifting action and the height adjustment of the chassis assembly 1, and simultaneously can complete the span adjustment between the two crawler traveling assemblies 9.

The crawler traveling assembly 9 is composed of a power box 91, a front guide wheel 92, a rear guide wheel 93, a driving disc 94, a supporting wheel 95, a driving wheel 96 and a step crawler 97, one side of the power box 91 is hinged to one end of the reversing piece 88, the front guide wheel 92 and the rear guide wheel 93 are respectively arranged at the left end and the right end of the power box 91, the driving disc 94 and the supporting wheel 95 are respectively arranged at the upper end and the lower end of the power box 91, the driving wheel 96 is fixedly arranged outside the driving disc 94, the step crawler 97 is arranged outside the power box 91, the front guide wheel 92, the rear guide wheel 93, the supporting wheel 95 and the driving wheel 96 are in transmission connection through the step crawler 97, and the end of the driving disc 94 is in transmission connection with a motor output shaft arranged in the power box 91. Wherein, the number of the supporting wheels 95 is provided with three groups, and the three groups of the supporting wheels 95 are distributed horizontally and equidistantly. The front guide wheel 92 is arranged in a lifting manner relative to the supporting wheel 95 and the rear guide wheel 93, so that the section from the supporting wheel 95 to the front guide wheel 92 of the walking belt 97 is an inclined section, the walking of the concave-convex terrain in the mountain area is facilitated, meanwhile, due to the arrangement of the inclined belt wheels, when the chassis assembly 1 is lifted, the supporting leg assembly 8 is used for obliquely supporting and transferring force to the crawler belt, and most of tensile stress rather than shear stress is borne by the inclined belt section of the crawler belt, so that the structural arrangement of the supporting leg assembly 8 can be well adapted to the bearing characteristics of the crawler belt.

Through set up four sets of landing leg assemblies 8 and crawler-type walking assembly 9 in chassis assembly 1 side, become walking wheel by traditional crawler-type strip wheel, can effectively lift chassis assembly 1 off higher ground height, can adapt to the uneven ground of multiplexing Kuang Aotu that mountain region operation exists, can directly flat open higher barrier, refer to fig. 1, in the figure barrier body 10 be the flat-open state through higher barrier, and every landing leg assembly 8 and crawler-type walking assembly 9 all can realize individual motion, can stride across through higher fault topography, climbing angle can be bigger.

Through setting up landing leg assembly 8 into the three joint forms, can make the automobile body meet the ground in local unsmooth hole in the walking in-process, through the flexible of landing leg assembly 8 department joint of individual adjustment relevant position, can adjust the automobile body and keep the level, simultaneously, when operation or climbing on the gentle slope, also can be through flexible of joint of landing leg assembly 8 department around adjusting to make the automobile body keep the level, can effectively ensure operating personnel's travelling comfort and security.

One specification and use state of the invention after actual production implementation are as follows:

The front-back steering angle of the crawler belt is 15 degrees, when the horizontal road surface walks, the gap between the chassis and the ground is 1000mm, and the maximum gap between the chassis and the ground can reach 1400mm. When any one of the four tracks meets uneven ground, the track can be automatically adjusted to swing downwards according to the unevenness plus or minus 400mm, namely, the track is adjusted through the track traveling assembly 9, so that the vehicle body can smoothly pass through the pits, the vehicle body can be ensured to be in a horizontal state, and meanwhile, the track is always ensured to be parallel to the vehicle body.

When encountering obstacles with the height of +/-1000 mm, the machine body has an automatic leveling function. The chassis and ground clearance is adjusted to 1400mm, namely, the supporting leg assembly 8 and the crawler belt walking assembly 9 are automatically adjusted, so that any crawler belt walking assembly 9 can be easily lifted to span an obstacle. And the vehicle body can be ensured to be in a horizontal state, and meanwhile, the crawler belt is always ensured to be parallel to the vehicle body.

When encountering obstacles with the height exceeding + -1000 mm and within + -1400 mm, the operator can perform manual operation, and the machine body no longer has an automatic leveling function. The clearance between the chassis and the ground is adjusted to 1400mm, namely, the clearance is adjusted through the supporting leg assembly 8 and the crawler belt walking assembly 9, so that any crawler belt walking assembly 9 can be easily lifted to span an obstacle. And the vehicle body can be ensured to be in a horizontal state, and meanwhile, the crawler belt is always ensured to be parallel to the vehicle body.

The four supporting legs of the walking type drilling machine can be simultaneously extended and retracted, and also can be independently extended and retracted, and the four supporting legs are always kept in parallel with the underframe in the extending and retracting process.

When steering, the front, left and right tracks are required to be simultaneously steered, steering angles are consistent, the rear, left and right tracks are required to be simultaneously steered, steering angles are consistent, and steering of the front, left and right tracks is controlled separately.

The machine can keep the horizontal of the machine body all the time when the machine walks on a slope of no more than 19 degrees, the crawler belt can automatically adapt to the road surface condition and automatically adjust the angle, the machine can climb on a slope of larger angle on the basis of keeping the previous walking state all the time when the machine walks on a slope of no more than 19 degrees, the actual gradient and the forward and backward inclination angle of the vehicle body (for example, the actual gradient is 30 degrees, the forward and backward inclination angle of the vehicle body is 11 degrees) are displayed on a display in real time, when the actual gradient is more than 35 degrees, the voice alarm prompts that the machine is in danger of sliding, the machine is forcible to advance at the moment, the left and right inclination angle of the vehicle body can be displayed in real time, and when the left and right automatic leveling reaches the limit position, the voice broadcast is in danger of rollover and the forward is forcibly stopped.

When crossing obstacles, the crossing height is not more than 3.7m, the front and rear tracks can be adjusted to be in a horizontal state, and when the crossing height is more than 3.7m, an alarm lamp is arranged to prompt operators to stop climbing. But can also be set manually, the limit height can be up to 4.2m.

By adopting a double-speed walking motor, the fast walking speed can reach 3-5Km/h, the climbing slow walking speed is 1.5-2Km/h, the climbing capacity is strong, the climbing angle of 25 degrees can be achieved, and if a winch is added, the climbing angle of 35 degrees can be achieved.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A walking drilling rig, comprising a chassis assembly (1), characterized in that: the chassis assembly (1) has four sets of leg assemblies (8) and a crawler walking assembly (9) that move independently of each other in a rectangular array on the circumference side, the leg assembly (8) is composed of an upper joint that swings left and right, a middle joint that lifts up and down, and a lower joint that is fixed and supported, the crawler walking assembly (9) is fixedly installed at the lower joint of the leg assembly (8), and the crawler walking assembly (9) is an independently driven crawler wheel;

The outrigger assembly (8) is composed of a fixing member (81), a horizontal hinge member (82), a span adjustment hydraulic rod (83), a connecting member (84), a height adjustment hydraulic rod (85), a supporting member (86), a supporting hydraulic rod (87), a reversing member (88) and a direction adjustment hydraulic rod (89), one end of the fixing member (81) is fixedly mounted on the top of the chassis assembly (1), the other end of the fixing member (81) is hingedly connected to the horizontal hinge member (82) via a pin, a span adjustment hydraulic rod (83) is provided on the back side of the fixing member (81) and the horizontal hinge member (82), the fixed end of the span adjustment hydraulic rod (83) is hingedly connected to the back side of the fixing member (81), the telescopic end of the span adjustment hydraulic rod (83) is hingedly connected to the back side of the horizontal hinge member (82), and the bottom of the other end of the horizontal hinge member (82) is hingedly connected to the connecting member (84) via a pin. ), a height adjustment hydraulic rod (85) is hingedly connected to the top of the horizontal hinge (82) through a pin shaft, the other end of the height adjustment hydraulic rod (85) is hingedly connected to the top of a connecting member (84) through a pin shaft, a support member (86) is hingedly connected to the other end of the connecting member (84) through a pin shaft, a support hydraulic rod (87) is hingedly connected to the top of the supporting member (86), the free telescopic end of the support hydraulic rod (87) is hingedly connected to the top of the connecting member (84), the other end of the supporting member (86) is hingedly connected to a reversing member (88) through a pin shaft, one end of the reversing member (88) is fixedly connected to one side of the crawler walking assembly (9), the other end of the reversing member (88) is located inside the supporting member (86) and is hingedly connected to a direction adjustment hydraulic rod (89), the other end of the direction adjustment hydraulic rod (89) is hingedly connected to the inside of the supporting member (86);

The crawler walking assembly (9) is composed of a power box (91), a front guide wheel (92), a rear guide wheel (93), a driving disc (94), a support wheel (95), a driving wheel (96) and a crawler belt (97). One side of the power box (91) is hinged to one end of the reversing member (88). The left and right ends of the power box (91) are respectively provided with a front guide wheel (92) and a rear guide wheel (93). The upper and lower ends of the power box (91) are respectively provided with a driving disc (94) and a support wheel (95). The outside of the driving disc (94) is fixedly mounted with a driving wheel (96). The outside of the power box (91) is provided with a crawler belt (97). The front guide wheel (92), the rear guide wheel (93), the support wheel (95) and the driving wheel (96) are connected in driving connection via the crawler belt (97). The end of the driving disc (94) is connected in driving connection with a motor output shaft arranged in the power box (91).

When encountering an obstacle within a height of ±1000 mm, the machine body has an automatic leveling function; the clearance between the chassis and the ground is adjusted to 1400 mm, that is, the outrigger assembly (8) and the crawler walking assembly (9) are automatically adjusted, so that any one of the crawler walking assemblies (9) can be lifted to cross the obstacle; and the body can also be kept in a horizontal state, while always ensuring that the crawler and the body are parallel;

When the height of the obstacle exceeds ±1000mm but is within ±1400mm, the operator performs manual operation and the machine body no longer has the automatic leveling function;

The four legs of the crawler drilling rig can be extended and retracted simultaneously or individually, and they always remain parallel to the base frame during the extension and retraction process.

When turning, the front left and right tracks must turn at the same time, and the steering angles must be consistent. The rear left and right tracks must turn at the same time, and the steering angles must be consistent. The steering of the front and rear tracks is controlled separately.

When the machine is traveling on a slope of no more than 19°, the machine body can always remain horizontal, and the crawler tracks can automatically adapt to the road conditions and adjust the angle automatically; when the machine is traveling on a slope greater than 19°, the body will climb a larger angle while maintaining the previous walking state, and the display should show the actual slope and the front and rear inclination angle of the body in real time; when the actual slope is greater than 35°, a voice alarm will be issued to prompt that there is a risk of sliding down the slope, and the machine will be forced to stop moving forward; the left and right inclination angles of the body can be displayed in real time, and when the left and right automatic leveling reaches the limit position, a voice broadcast will be issued that there is a risk of rollover, and the machine will be forced to stop moving forward;

When crossing obstacles, the obstacle height shall not exceed 3.7m, and the front and rear tracks can be adjusted to a horizontal state. When the height is greater than 3.7m, an alarm light is set to prompt the operator to stop climbing.

2. A walking drill according to claim 1, characterized in that the front guide wheel (92) is arranged to be elevated relative to the support wheel (95) and the rear guide wheel (93).