CN113187382B - Multi-stroke drilling and digging device based on bionics principle - Google Patents

Multi-stroke drilling and digging device based on bionics principle Download PDF

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Publication number
CN113187382B
CN113187382B CN202110484631.5A CN202110484631A CN113187382B CN 113187382 B CN113187382 B CN 113187382B CN 202110484631 A CN202110484631 A CN 202110484631A CN 113187382 B CN113187382 B CN 113187382B
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vibrator
compressor
fixedly connected
air
connecting rod
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CN113187382A (en
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莫品强
吕锐杰
李瑞林
陈雅欣
崔敏睿
文诗雨
李如磊
李国耀
陈拓
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China University of Mining and Technology CUMT
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China University of Mining and Technology CUMT
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B3/00—Rotary drilling
    • E21B3/02—Surface drives for rotary drilling
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/24—Drilling using vibrating or oscillating means, e.g. out-of-balance masses
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B35/00—Piston pumps specially adapted for elastic fluids and characterised by the driving means to their working members, or by combination with, or adaptation to, specific driving engines or motors, not otherwise provided for
    • F04B35/04—Piston pumps specially adapted for elastic fluids and characterised by the driving means to their working members, or by combination with, or adaptation to, specific driving engines or motors, not otherwise provided for the means being electric
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/22—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by means of valves
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
    • H02N2/04—Constructional details
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
    • H02N2/04—Constructional details
    • H02N2/043—Mechanical transmission means, e.g. for stroke amplification
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
    • H02N2/06—Drive circuits; Control arrangements or methods
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
    • H02N2/06—Drive circuits; Control arrangements or methods
    • H02N2/062—Small signal circuits; Means for controlling position or derived quantities, e.g. for removing hysteresis

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  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Geophysics (AREA)
  • Earth Drilling (AREA)

Abstract

The invention relates to a multi-stroke drilling and digging device based on a bionics principle, which comprises a mechanical control hand, a connecting rod, a telescopic film, a compressor, a vibrator, a vertical control part and a drill bit which are sequentially connected, wherein the mechanical control hand comprises a central control part and an external working part, the connecting rod is used for connecting the mechanical control hand with drilling equipment below the mechanical control hand, the connecting vibrator and the compressor are connected, the compressor is used for controlling the volume of gas in the telescopic film, the vibrator is used for loosening soil around the drill bit, and the vertical control part is used for controlling the drill bit to keep vertical drilling in the drilling and digging process. The tunneling step of the device is simple, is suitable for tunneling in loose soil and is not suitable for hard rocks. The main components of the device are a mechanical control hand, a connecting rod, a telescopic film, a compressor, a vibrator, a vertical control part and a drill bit. The method mainly comprises the following steps: tunneling, vibrating, inflating and extruding, mechanically controlling hand opening, exhausting and continuing tunneling.

Description

Multi-stroke drilling and digging device based on bionics principle
Technical Field
The invention relates to the technical field of drilling devices, in particular to a multi-stroke drilling device based on a bionics principle, which is suitable for drilling and digging with small disturbance in soil with low strength and low water content.
Background
In large geotechnical engineering, a drill bit is often used for excavation. However, in the tunneling process, the soil is compacted, so that the energy consumption is higher, the cost is higher, the difficulty is higher when the soil is tunneled to the rear, and the continuity of the equipment is affected. In conventional drilling, the soil is forcibly squeezed out in a "brute force" manner by increasing the strength and power of the drill bit, thereby completing the drilling. However, the drilling mode has higher cost, higher energy consumption and longer service life of the drill bit. More importantly, the drilling method is easy to cause great disturbance, and damage to the surrounding underground infrastructure can be caused. Therefore, there is a strong need in the market for a drilling rig that has low energy consumption, low disturbance, and high sustainability, and the device is designed based on the above.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming part of defects in the existing drilling technology and provide a multi-stroke drilling device based on the bionics principle, and aims to continuously drill in a conventional soil body.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: a multi-stroke drilling and digging device based on the bionics principle comprises a mechanical control hand, a connecting rod, a telescopic membrane, a compressor, a vibrator, a vertical control part and a drill bit which are sequentially connected, wherein the mechanical control hand comprises a central control part and an external working part, the central control part is responsible for controlling the movement of the whole mechanical control hand, a built-in control system is used for receiving commands of an overground commanding part, when the mechanical control hand enters a recovery device, the drill bit stops working, the central control part is responsible for sending corresponding commands to enable the external working part to generate boosting force so as to complete the recovery of the whole device, the external working part is responsible for an anchoring device and plays a control role when the device turns, a lateral boosting force is provided behind the device so as to enable the device to turn according to the direction of the commands, the connecting rod is responsible for connecting the mechanical control hand and following drilling and digging equipment, connect vibrator and compressor, the upper and lower part of flexible membrane comprises steel strand wires, be used for closely linking to each other with the connecting rod, the middle part comprises muscle and membrane two parts, the muscle is by the glass fiber muscle, carbon fiber muscle and aramid fiber muscle are constituteed, the membrane comprises high density polyethylene, polyvinyl chloride and the material that has better elasticity, whole shrink membrane is divided into four air chambers, when needs change direction, certain air chamber can not swell, the soil body in this direction can not receive the extrusion and produce the deformation, thereby make the drill bit take place to squint and accomplish and rotate, the compressor is responsible for controlling the gaseous volume in the flexible membrane, the vibrator is responsible for loosening the soil around the drill bit, vertical control part is responsible for controlling the drill bit and keeps boring perpendicularly in the process of digging, the drill bit is PDC drill bit or roller bit.
Furthermore, the central control part comprises a sensor, a motor and a single chip microcomputer, a hollow groove is arranged at the upper part of the central control part and is responsible for drawing the external working part, a rotary steel groove is arranged between the hollow groove and the central control part and rotates mutually, so that the direction of the external working part of the mechanical control hand is changed, and the steering effect is achieved, and the external working part comprises the sensor, the motor, the single chip microcomputer and a rotating shaft.
Further, the connecting rod is for passing power subassembly and sleeve subassembly, the connecting rod middle part is the rigidity sleeve, and both ends are formed by the preparation of rich elastic rubber circle, and rubber circle is inside to be equipped with pressure sensor, is responsible for upwards transmitting the signal to the control computer, connecting rod outsourcing soil layer or cement layer.
Furthermore, the compressor adopts a flexible driving type piezoelectric piston gas compressor and comprises a square piezoelectric vibrator, a vibrator bracket, a piston sleeve, a pump body, an air outlet valve, an air inlet valve and a middle bracket, wherein the periphery of a metal substrate adopts a hollow design, four corners of the metal substrate are fixed on the vibrator bracket, the vibration constraint of the vibrator is reduced, the deformation in the vibration process is concentrated in a hollow area, piezoelectric ceramics are adhered to the geometric center of the metal substrate, four corners of the piezoelectric vibrator adopt fixed constraints, the upper surface and the lower surface of the piezoelectric ceramics are used as electrodes, alternating driving voltage is applied to the square piezoelectric vibrator to generate periodic reciprocating motion under the action of sine wave voltage, the driving frequency of the square piezoelectric vibrator is adjusted to be equal to the inherent frequency of a compressor system, and the compressor moves under the action of resonance; when an alternating electric field acts on the piezoelectric ceramic, the piezoelectric vibrator amplifies the deformation of the piezoelectric vibrator and outputs displacement and force to the outside; the air reciprocating pump cavity constructed by the dynamic sealing action of the piston and the piston sleeve reduces the dry friction damping between the piston and the piston sleeve; when the piston moves upwards, the pressure of the gas in the pump cavity is reduced and drives the gas inlet valve to be opened, the gas outlet valve is closed, and then the gas flows into the pump cavity through the inlet; when the piston moves downwards, the pressure of the air in the pump cavity is increased, the air inlet valve is closed, the air outlet valve is opened, and the air is discharged out of the pump cavity through the outlet, so that the continuous driving of the air is realized.
Furthermore, the control circuit of the vibrator comprises a direct-current power supply, a control switch, a speed sensor, a vibration generating element and a fixed-value resistor, wherein the switch is always kept disconnected when the drill bit normally tunnels downwards, the speed sensor has a control function, once the speed is sensed to be reduced to 0, the control switch can be automatically closed, the control switch is disconnected after a period of time, and the shell of the vibrator is provided with more elastic rubber compared with the connecting rod.
Further, the vertical control part includes the mounting panel, the side fixedly connected with spring airbag that the mounting panel is close to drilling, spring airbag's inside fixedly connected with push rod, the tip fixedly connected with push pedal of push rod, the peripheral sliding connection of push pedal has the oil pocket, the water pipe has been seted up to the side of oil pocket, one side fixedly connected with spout of oil pocket is kept away from to the water pipe, the inside sliding connection of spout has the slider, the terminal surface fixedly connected with rack of slider, the one end fixedly connected with reset spring of slider is kept away from to the rack, the side meshing of rack has drive gear, one side meshing that drive gear kept away from the rack has the slide bar, the tip fixedly connected with clamp plate of slide bar, the inside fixedly connected with locating lever of slide bar, the tip fixedly connected with metal contact of locating lever, the side fixedly connected with bee calling organ of mounting panel accomplishes the brill of a direction when equipment and digs, when preparing the redirecting, the vertical control part stop work, the gasbag gassing simultaneously, bee calling organ outage.
The invention has the following advantages:
1. the traditional geotechnical engineering and the bionics principle are combined, a novel drilling device which is safer, more energy-saving, less in disturbance and more friendly to the environment is manufactured by learning the tunneling modes of other organisms, the single solution which is purely strong in force in the prior art is changed, and a new thought and solution are provided for the improvement of the subsequent geotechnical drilling device.
2. The adopted mode of controlling the volume of gas makes the volume of the soil to be squeezed to the greatest extent by using a high-power compressor and a telescopic membrane with good flexibility, and reduces the resistance of the soil to the greatest extent.
3. The direction is controlled by a mechanical control hand at the tail, so that slipping is prevented, the drill bit and the connected wire can be completely isolated, the drill bit is liberated from the wire, the production cost is greatly reduced, the drill bit is miniaturized, and the tunneling efficiency is improved.
The invention produces a more efficient drilling robot by simulating a series of processes of inflating, extruding, dumping and the like of certain organisms in nature. In the traditional tunneling mode, the power of the drill bit is over-emphasized, and the change of the soil environment is not noticed. With the drill bit going deep, the surrounding soil becomes stronger and stronger, and the difficulty of tunneling becomes greater and greater. In addition, since it is difficult to drive the tunnel further, the required energy consumption is increased, and the conventional drill depending on "strength" causes great disturbance to the surrounding environment, which adversely affects nearby people and buildings. The traditional tunneling mode is changed, so that the cost can be saved, the energy consumption can be reduced, and the disturbance to the surrounding environment can be reduced. The tunneling step of the device is simple, and the device is suitable for tunneling in loose soil and is not suitable for hard rocks.
Drawings
FIG. 1 is a schematic diagram of the apparatus of the present invention.
Fig. 2 is a control diagram of the vibrator circuit in the present invention.
Fig. 3 is a schematic view of the structure of the mechanical control hand in the invention.
Fig. 4 is a top view of a stretchable membrane structure in accordance with the present invention.
Fig. 5 is a schematic diagram of the operation flow of the mechanical control hand in the invention.
Fig. 6 is a schematic view of the compressor structure of the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples.
When the invention is implemented specifically, the multi-stroke drilling device designed based on the bionics principle mainly comprises a mechanical control hand, a connecting rod, a telescopic membrane, a compressor, a vibrator, a vertical control part and a drill bit 7. The seven parts are connected with each other by sleeve components, wherein the sleeve has the characteristics of good sealing performance, corrosion resistance, good connectivity and the like.
The mechanical control hand is an important component of the whole device, and is not only responsible for steering control, but also responsible for anchoring, so that the situations of slippage and ineffective drilling of the device are prevented. In addition, the mechanical control hand also plays an important role in the underground recovery process of the device. The mechanical control hand comprises the following parts: (1C) A central control part (comprising a power supply, a control circuit and the like), and (1B) an external working part (two mechanical control hands and a sensor). The central control part comprises a sensor, a motor, a single chip microcomputer and the like and is responsible for controlling the movement of the whole mechanical control hand. The upper part of the central control part is provided with a (1A) hollow groove which is mainly responsible for furling the external working part. The rotary steel groove is arranged between the hollow groove and the central control part, so that the rotary steel groove can rotate mutually, the direction of the external working part of the mechanical control hand is changed, and the steering effect is achieved. The external working part is composed of a sensor, a motor, a single chip microcomputer, a rotating shaft and the like, is mainly responsible for anchoring the device to prevent backward slipping, and is also responsible for playing a control role when the device turns, so that a lateral boosting force is provided at the back, and the device turns according to the direction of an instruction. Meanwhile, the central control part is responsible for executing commands of ground commanding, such as recovery, power failure, steering and the like.
The connecting rod is a traditional force transmission assembly and a sleeve assembly and is responsible for connecting a mechanical control hand with the drilling equipment below, connecting a vibrator, a compressor and the like. Has a series of characteristics of strong sealing performance, good connectivity, corrosion resistance and the like. The middle part of the connecting rod is a rigid sleeve, and the two ends of the connecting rod are made of elastic rubber rings and used for buffering vibration and enhancing the sealing property. The rubber ring is internally provided with a pressure sensor (a) which is responsible for transmitting signals upwards to a control computer. Meanwhile, the connecting rod is wrapped with a soil layer or a cement layer, so that the connecting rod is prevented from being scratched in the drilling and digging process, and the service life is prevented from being influenced.
The telescopic membrane is made of a novel plastic material and has the characteristics of strong flexibility, good sealing property and corrosion resistance. The telescopic film is a main finishing component in the whole soil discharging and extruding process and is also the innovative characteristic of the multi-stroke drill designed based on the bionics principle. The telescopic membrane mainly comprises two parts, wherein the upper part and the lower part are composed of steel strands and are used for being tightly connected with the connecting rod to prevent the telescopic membrane from falling off in the telescopic process. The middle part consists of two parts of a rib and a film. The 'rib' mainly comprises a Glass Fiber Rib (GFRP), a Carbon Fiber Rib (CFRP) and an Aramid Fiber Rib (AFRP). The film is mainly made of materials with good elasticity, such as High Density Polyethylene (HDPE), polyvinyl chloride (PVC) and the like. The whole shrink film is divided into four air chambers, when the direction needs to be changed, a certain air chamber cannot expand, and soil in the direction cannot be extruded to deform, so that the drill bit deviates, and the rotation is completed.
The compressor is responsible for controlling the volume of gas within the bellows. The compressor in the device adopts a flexible driving type piezoelectric piston gas compressor. The vibrator mainly comprises (4A) a square piezoelectric vibrator, (4B) a vibrator bracket, (4C) a piston, (4D) a piston sleeve, (4E) a pump body, (4F) an air outlet valve, (4G) an air inlet valve and (4H) a middle bracket. The periphery of the metal substrate is designed in a hollow mode, four corners of the metal substrate are fixed on the vibrator bracket, vibration constraint of the vibrator is reduced, deformation in the vibration process is concentrated in the hollow area, the piezoelectric ceramic is pasted at the geometric center of the metal substrate, four corners of the piezoelectric vibrator are fixedly constrained, the upper surface and the lower surface of the piezoelectric ceramic are used as electrodes, alternating driving voltage is applied to the upper surface and the lower surface of the piezoelectric ceramic, the square piezoelectric vibrator generates periodic reciprocating motion under the action of sine wave voltage, the driving frequency of the square piezoelectric vibrator is adjusted to be equal to the natural frequency of a compressor system, and the compressor moves under the action of resonance. When an alternating electric field acts on the piezoelectric ceramic, the piezoelectric vibrator amplifies the deformation of the piezoelectric vibrator and then outputs displacement and force outwards. The air reciprocating pump cavity constructed by the dynamic sealing action of the piston and the piston sleeve reduces the dry friction damping between the piston and the piston sleeve and improves the air driving performance of the compressor. When the piston moves upwards, the pressure of the gas in the pump cavity is reduced and drives the gas inlet valve to be opened, the gas outlet valve is closed, and then the gas flows into the pump cavity through the inlet; when the piston moves downwards, the pressure of the air in the pump cavity is increased, the air inlet valve is closed, the air outlet valve is opened, and the air is discharged out of the pump cavity through the outlet, so that the continuous driving of the air is realized. The compressor shown in the figure has 4 air outlet valves and 4 air inlet valves for controlling the four air chambers of the telescopic membrane.
The vibrator is the equipment responsible for loosening the soil around the drill bit and creating conditions for the next soil discharging and squeezing. The control circuit of the vibrator mainly comprises 5 parts: the device comprises five parts, namely a (DC) direct current power supply, an S (n/o) 1 control switch, a 5A speed sensor, a 5B vibration generating element and an R1 constant value resistor. When the drill bit normally tunnels downwards, the switch is always switched off. The speed sensor has a control function, and once the speed sensor senses that the speed drops to 0, the speed sensor automatically closes the control switch and opens after a period of time. The vibration generating element has the characteristics of small volume, high power, high vibration frequency, large amplitude and the like, and can loosen soil in a short time. The shell of the vibrator is similar to the connecting rod in structure, but has more elastic rubber than the connecting rod, and damage to other equipment caused by excessive vibration is prevented.
The vertical control part is responsible for controlling the drill bit to keep vertically drilling in the drilling process, and specifically comprises the following steps: the mounting panel (drilling has been seted up at the center), the side fixedly connected with spring airbag that the mounting panel is close to drilling, spring airbag's inside fixedly connected with push rod, the tip fixedly connected with push pedal of push rod, the peripheral sliding connection of push pedal has the oil pocket, the water pipe has been seted up to the side of oil pocket, one side fixedly connected with spout of oil pocket is kept away from to the water pipe, the inside sliding connection of spout has the slider, the terminal surface fixedly connected with rack of slider, the one end fixedly connected with reset spring of slider is kept away from to the rack, the side meshing of rack has drive gear, one side meshing that drive gear kept away from the rack has the slide bar, the tip fixedly connected with clamp plate of slide bar, the inside fixedly connected with locating lever of slide bar, the tip fixedly connected with metal contact of locating lever, the side fixedly connected with bee calling organ of mounting panel. When the equipment completes drilling in one direction and is ready to change direction, the vertical control part stops working, and meanwhile, the air bag is deflated, and the buzzer is powered off.
The bit is a traditional PDC bit or a roller bit, is suitable for soft-hard stratum and has the characteristics of small torque and quick transmission. It is not suitable for drilling in rock, nor for sampling underground soil layer.
A model experimental device for drilling based on the bionics principle comprises: the mechanical control hand, the connecting rod, the telescopic film, the compressor, the vibrator, the vertical control part and the drill bit 7. The drill bit portion, which is quite different from conventional drilling equipment, also suffers from the above-mentioned problems during drilling. The vertical control part is responsible for intelligently controlling the direction of the drill bit so that the drill bit can be kept vertical in the tunneling process. And the vibrator is responsible for loosening the compacted soil and creates conditions for opening the shrink film. The shrink film will cling to the reservoir when retracted. Meanwhile, the air pressure in the air storage tank is very high, and the whole shrink film can be quickly filled with air in the air storage tank along with the opening of the air storage tank, so that the shrink film expands and becomes large. The size of the inside of the shrink film can be controlled through the circulation of gas between the gas storage tank and the shrink film, so that loosened soil is squeezed open, and the connecting rod is responsible for communicating equipment. Among these, the mechanical control hand is the most important one, and is mainly responsible for preventing the situation that the tunneling is ineffective due to the integral retreat of the equipment under the condition that the contraction and the relaxation of the contraction film are carried out. Meanwhile, the mechanical control hand can control the tunneling direction of the drill bit by controlling the depth of the insertion in the soil body. In the actual tunneling process, the tunneling mode of the equipment can be specifically divided into the following strokes, so that the continuity of tunneling is ensured, and the effect of reducing disturbance to the surrounding environment is achieved.
The seven strokes are respectively:
A. in the downward drilling process, the drill bit (7) firstly keeps the speed of 1m/s to tunnel downwards, and after the tunnel is tunneled to the depth of 20m, the downward continuous drilling is stopped. During the whole tunneling process, the vertical control part (6) is always kept in a working state so as to keep the device vertically downwards for drilling.
B. At this time, the speed sensor (5A) in the vibrator (5) senses the change of the drill bit speed, the switch S (n/o) 1 is closed, the vibration component (5B) starts to work, and the vibration lasts for 10 seconds. After 10 seconds, the switch S (n/o) 1 is turned off and the vibration stops.
C. A pressure sensor (a) is arranged at the rubber connecting part between the vibrator (5) and the compressor (4), and when the pressure sensor senses that the pressure is gradually reduced, the compressor (4) and the mechanical control hand (1) start to work simultaneously. And (3) putting part of the gas into the telescopic membrane (3) by the compressor (4), so that the volume of the telescopic membrane (3) expands to 2m for harvesting within 3 seconds. At the same time, the mechanical control hand (1) starts to work, and the external working part (1B) extends out of the hollow groove (1A) and is inserted into the soil to prevent the device from slipping backwards. After the flexible membrane (3) is maintained at the volume of 2m for 1s, the compressor (4) refills the gas in the flexible membrane (3) to restore the original volume of the flexible membrane (3), and the time consumed for gas contraction is about 3s.
D. After the volume of the telescopic membrane is recovered, the external working part of the mechanical control hand (1) is retracted into the hollow groove in 2s, and the drill bit starts to work again.
If the device needs to change the direction, the telescopic film (3), the compressor (4), the vertical control part (6) and the mechanical control hand (1) need to act together. If the vertical control part (6) is in need of being deviated towards a certain direction in the tunneling process, the compressor (4) stops exhausting air towards the air chamber in the certain direction, so that the volume of the air chamber is kept unchanged, and the soil in the certain direction is prevented from being squeezed out. Meanwhile, after the internal control part of the mechanical control hand (1) receives a rotation instruction, the extension length of the external working part (1B) can be controlled, and meanwhile, the external working part (1B) generates a lateral thrust to control the integral deviation of the drill bit.
Although the invention has been described in detail with respect to the general description and the specific embodiments thereof, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Accordingly, it is intended that all such modifications and alterations be included within the scope of this invention as defined in the appended claims.

Claims (6)

1. The utility model provides a device is dug to multi-stroke based on bionics principle which characterized in that: the pneumatic rock bit comprises a mechanical control hand, a connecting rod, a telescopic film, a compressor, a vibrator, a vertical control part and a drill bit which are sequentially connected, wherein the mechanical control hand comprises a central control part and an external working part, the central control part is used for controlling the movement of the whole mechanical control hand, a built-in control system is used for receiving instructions of a ground command part, the external working part is used for anchoring devices and playing a control role when the devices turn, lateral boosting force is provided behind the devices to enable the devices to turn according to the direction of the instructions, the connecting rod is used for connecting the mechanical control hand and drilling equipment below the mechanical control hand, the vibrator and the compressor are connected, the upper part and the lower part of the telescopic film are composed of steel strands and are used for being tightly connected with the connecting rod, the middle part is composed of a rib and a film, the rib is composed of glass fiber ribs, carbon fiber ribs and aramid fiber ribs, the film is composed of high-density polyethylene, polyvinyl chloride and a material with good flexibility, the whole telescopic film is divided into four air chambers, when the direction needs to be changed, a certain air chamber cannot expand, the air chamber cannot be extruded to deform in the direction, the bit is used for keeping the drill bit in charge of extrusion and the drill bit to control the loosening process.
2. The multi-stroke drilling device based on the bionics principle of claim 1, wherein: the central control part comprises a sensor, an electric motor and a single chip microcomputer, a hollow groove is arranged at the upper part of the central control part and is responsible for drawing in the external working part, a rotary steel groove is arranged between the hollow groove and the central control part and is rotated mutually, so that the direction of the external working part of the mechanical control hand is changed, and the steering effect is achieved, and the external working part comprises the sensor, the electric motor, the single chip microcomputer and a rotating shaft.
3. The multi-stroke drilling device based on the bionics principle of claim 2, wherein: the connecting rod is for passing power subassembly and sleeve subassembly, the connecting rod middle part is the rigidity sleeve, and both ends are formed by the preparation of the rubber circle that is rich in elasticity, and rubber circle inside is equipped with pressure sensor, is responsible for upwards transmitting the signal to the control computer, connecting rod outsourcing soil layer or cement layer.
4. The multi-stroke drilling device based on the bionics principle of claim 3, wherein: the compressor adopts a flexible driving type piezoelectric piston gas compressor and comprises a square piezoelectric vibrator, a vibrator bracket, a piston sleeve, a pump body, an air outlet valve, an air inlet valve and a middle bracket, wherein the periphery of a metal substrate adopts a hollow design, four corners of the metal substrate are fixed on the vibrator bracket, the vibration constraint of the vibrator is reduced, the deformation in the vibration process is concentrated in a hollow area, piezoelectric ceramics are adhered to the geometric center of the metal substrate, four corners of the piezoelectric vibrator adopt fixed constraints, the upper surface and the lower surface of the piezoelectric ceramics are used as electrodes, alternating driving voltage is applied to the square piezoelectric vibrator to generate periodic reciprocating motion under the action of sine wave voltage, the driving frequency of the square piezoelectric vibrator is adjusted to be equal to the inherent frequency of a compressor system, and the compressor moves under the resonance action; when an alternating electric field acts on the piezoelectric ceramic, the piezoelectric vibrator amplifies the deformation of the piezoelectric vibrator and outputs displacement and force to the outside; the air reciprocating pump cavity constructed by the dynamic sealing action of the piston and the piston sleeve reduces the dry friction damping between the piston and the piston sleeve; when the piston moves upwards, the pressure of the gas in the pump cavity is reduced and drives the gas inlet valve to be opened, the gas outlet valve is closed, and then the gas flows into the pump cavity through the inlet; when the piston moves downwards, the pressure of the air in the pump cavity is increased, the air inlet valve is closed, the air outlet valve is opened, and the air is discharged out of the pump cavity through the outlet, so that the continuous driving of the air is realized.
5. The multi-stroke drilling device based on the bionics principle of claim 4, wherein: the control circuit of the vibrator comprises a direct-current power supply, a control switch, a speed sensor, a vibration generating element and a fixed-value resistor, wherein the switch is always kept off when the drill bit normally tunnels downwards, the speed sensor has a control function, once the speed sensor senses that the speed is reduced to 0, the control switch can be automatically closed and is disconnected after a period of time, and the shell of the vibrator is provided with more elastic rubber compared with the connecting rod.
6. The multi-stroke drilling device based on the bionics principle of claim 5, wherein: the vertical control part comprises a mounting plate, the mounting plate is close to a side fixedly connected with spring air bag of a drilling hole, the inside fixedly connected with push rod of the spring air bag, the tip fixedly connected with push pedal of push rod, the peripheral sliding connection of push pedal has the oil pocket, the water pipe has been seted up to the side of oil pocket, one side fixedly connected with spout of oil pocket is kept away from to the water pipe, the inside sliding connection of spout has the slider, the terminal surface fixedly connected with rack of slider, the one end fixedly connected with reset spring of slider is kept away from to the rack, the side meshing of rack has drive gear, one side meshing that drive gear kept away from the rack has the slide bar, the tip fixedly connected with clamp plate of slide bar, the inside fixedly connected with locating lever of slide bar, the tip fixedly connected with metal contact of locating lever, the side fixedly connected with bee calling organ of mounting plate, when equipment accomplishes the brill of a direction, when preparing the redirecting, the vertical control part stop work, the gasbag gassing simultaneously, bee calling organ outage.
CN202110484631.5A 2021-04-30 2021-04-30 Multi-stroke drilling and digging device based on bionics principle Active CN113187382B (en)

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