Analysis of attitude adjustment for airborne drilling rig of anchor excavator
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摘要: 探放水作业前后，前探钻机的部署需耗费大量时间。在掘锚机上装载超前钻探设备可减少设备部署时间，提高钻探效率。目前针对集掘、锚、探于一体的掘进机机组的研究大多聚焦于设备的结构设计及液压控制系统设计，对于不同结构间干涉特性的研究相对较少。分析了机载钻机姿态调整过程中的干涉情况，根据姿态调整时的几何位置关系，建立了掘锚机与机载钻机发生干涉时的数学模型，并推导出掘锚机与机载钻机发生干涉时的最大转角计算公式。以掘锚机和机载钻机发生干涉时的最大转角为指标，研究了掘锚机与机载钻机各个尺寸参数对机载钻机各个方向最大转角的影响。结果表明：① 掘锚机龙骨倾角越大，机载钻机的俯仰调节角度越大，通过调节掘锚机龙骨能有效改变探水钻机工作时仰角的调节范围。② 龙骨高度的变化对俯仰角的影响均很小，龙骨高度的变化不会影响俯角的变动，而对仰角的影响较大，且呈正比关系；龙骨连接绞耳到龙骨尾部长度的增大使俯仰角均增大，但对仰角的影响效果不明显。若要改动仰角，可优先考虑改变龙骨高度；若要改动俯角，可优先考虑改变龙骨连接绞耳到龙骨尾部长度。③ 当掘锚机龙骨护板间距越大，机载钻机的最大水平转角度越大，当增大到一定程度时，最大水平转角度不再受掘锚机龙骨护板间距增大的影响；当掘锚机龙骨护板间距大于某一值时，掘锚机支撑油缸中心距越大，机载钻机的最大水平转角度越大；掘锚机龙骨护板间距对机载钻机最大水平转角度的影响较掘锚机支撑油缸中心距大。 ④ 当机载钻机钻头后端宽度较小时，不影响最大水平转角；当机载钻机钻头后端宽度增大到某一值时，机载钻机钻头后端宽度越大，最大水平转角越小；当机载钻机钻头后端宽度小于某一值时，机载钻机钻头部分前端宽度越大，最大水平转角越小。实例验证结果表明：增大龙骨倾角、龙骨连接螺栓高度、龙骨高度、龙骨连接绞耳到龙骨尾部长度，并减小机载钻机钻头上缘与机载钻机框架连接绞耳的高度差、龙骨上护板长度，机载钻机的最大俯仰角得到了有效增加。Abstract: The deployment of the front drilling rig requires a significant amount of time before and after water exploration and drainage operations. Loading advanced drilling equipment on the anchor excavator can reduce equipment deployment time and improve drilling efficiency. At present, research on anchor excavator units that integrate excavation, anchoring, and exploration mostly focuses on the structural design of equipment and the design of hydraulic control systems. There is relatively little research on the interference features between different structures. The paper analyzes the interference situation during the attitude adjustment process of the airborne drilling rig. A mathematical model for the interference between the anchor excavator and the airborne drilling rig is established based on the geometric position relationship during the attitude adjustment. The formula for calculating the maximum rotation angle is derived when the anchor excavator interferes with the airborne drilling rig. The maximum angle of interference between the anchor excavator and the airborne drilling rig is taken as the indicator. The influence of various size parameters of the anchor excavator and airborne drilling rig on the maximum angle of the airborne drilling rig in various directions is studied. The results show the following points. ① The larger the inclination angle of the anchor excavator keel, the greater the pitch adjustment angle of the airborne drilling rig. By adjusting the inclination angle of anchor excavator keel, the adjustment range of the elevation angle during the operation of the water exploration drilling rig can be effectively changed. ② The variation of the keel height has little effect on the pitch angle. The variation of the keel height does not affect the variation of the pitch angle, but has a greater impact on the pitch angle, which is proportional. The increase in the length of the keel connecting the twisted ear to the tail of the keel increases the pitch angle, but the effect on the pitch angle is not significant. To change the elevation angle, the value of the keel height can be changed firstly. To change the depression angle, the value of the length of the keel connecting the hinge to the tail of the keel can be changed firstly. ③ When the spacing between the anchor excavator keel protection plates is larger, the maximum horizontal rotation angle of the airborne drilling rig is larger. When it increases to a certain extent, the maximum horizontal rotation angle is no longer affected by the increase in spacing between the anchor excavator keel protection plates. When the distance between the keel protection plates of the anchor excavator is greater than a certain value, the larger the center distance of the support oil cylinder of the anchor excavator, the greater the maximum horizontal rotation angle of the airborne drilling rig. The influence of the spacing between the keel protection plates of the anchor excavator on the maximum horizontal rotation angle of the airborne drilling rig is greater than the center distance of the support oil cylinder of the anchor excavator. ④ When the width of the rear end of the airborne drilling bit is small, it does not affect the maximum horizontal angle. When the width of the rear end of the airborne drilling bit increases to a certain value, the larger the width of the rear end of the airborne drilling bit, the smaller the maximum horizontal angle. When the width of the rear end of the airborne drilling bit is less than a certain value, the larger the width of the front end of the airborne drilling bit, the smaller the maximum horizontal angle. The example verification results show that increasing the inclination angle of the keel, the height of the keel connecting bolts, the height of the keel, and the length of the keel connecting ear to the tail of the keel, while reducing the height difference between the upper edge of the drill bit and the connecting ear of the drill frame, and the length of the keel upper protective plate, effectively increases the maximum pitch angle of the airborne drilling rig.
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图 1 机载钻机在掘锚机上的安装位置及设备结构
Figure 1. The installation position of the airborne drilling rig on the anchor excavator and the structure of the equipment
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图 4 不同龙骨倾角对干涉特性的影响
Figure 4. Influence of different keel inclination angles on interference features
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图 7 BJ1与BJ2同步变化对θ的影响
Figure 7. The influence of synchronous changes between BJ1 and BJ2 on θ
表 1 机载钻机俯仰调整时与掘锚机干涉的具体描述
Table 1 Specific description of interference with the anchor excavator during pitch adjustment of airborne drilling rig
调整方向 干涉判别 转动角度 逆时针 C与直线F1F2碰撞 D与直线F1F2碰撞 F1与直线CD碰撞 F2与直线CD碰撞 依据注释确定 以点A为圆心，点A到点C的距离为半径作圆，交直线F1F2于点m，连接Am，∠CAm即为该点与龙骨碰撞时的最大转角β1
注：仅当xm＞xF2，h3＞h2时，存在此类碰撞以点A为圆心，点A到点D的距离为半径作圆，交直线F1F2于点n，连接An，∠DAn即为该点与龙骨碰撞时的最大转角β2
注：仅当xn＜xF1，h3＞h2时存在此类碰撞以点A为圆心，点A到点F1的距离为半径作圆，交直线CD于点u，∠F1Au即为该点与龙骨碰撞时的最大转角β3
注：仅当xu＜xD，h3＞h2时存在此类碰撞以点A为圆心，点A到点F2的距离为半径作圆，交直线CD于点v，∠F2Av即为该点与龙骨碰撞时的最大转角β4
注：仅当xv＜xC，h3＞h2时存在此类碰撞顺时针 直线BE与点G 碰撞 γ 以点A为圆心，点A到直线BE的垂直距离为半径作圆A，过点G作圆A的下切线，直线BE与该切线的夹角为掘锚机的最大俯角 
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表 2 机载钻机水平调整时与掘锚机干涉的具体描述
Table 2 Specific description of interference with anchor excavator during pitch adjustment of airborne drilling rig
干涉判别 最大水平转角θ 直线MK与圆J的碰撞 点I与钻机龙骨护板碰撞 min（θ1，θ2） 以点H为圆心，BZ2/2为半径作圆H，再作圆H与圆J的公切线，该切线与直线MK的夹角θ1即为钻机前端与掘锚机支撑发生碰撞时的最大转角 以点H为圆心，HI为半径作圆，交龙骨护板于点k，
∠IHk即为该点与龙骨护板碰撞时的最大转角θ2
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表 3 基本尺寸取值区间
Table 3 Value range of basic size
参数 取值区间/mm 参数 取值区间/mm h0 （310，350） h1 （230,270） h2 （120,160） h3 （−100,350） h4 （480,520） L2 （6 000,6 500） L1 （2 100,2500） L4 （7 500,8 000） L3 （2 000,2400） l1 （1 600,2 100） l0 （1 500,2000） BZ1 （500,700） l2 （500,800） BJ1 （800,1 200） BZ2 （250,350） S0 （4 000,4 500） BJ2 （1 400,1 500） R2 （55,75） S （5 500,6 500）
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表 4 优化前后的尺寸
Table 4 Dimensions before and after optimization
参数 优化前 优化后 h0/m 320 320 h1/m 250 310 h2/m 140 190 h3/m 300 220 h4/m 500 500 L1/m 2 300 2 600 L2/m 6 300 6 300 L3/m 2 185 1 600 L4/m 7 830 7 830 l0/m 1 740 1 740 l1/m 1 890 1 890 l2/m 670 670 α/（°） 11 16 S/m 5 775 5 775 BZ1/m 500 500 BZ2/m 280 280 R2/m 65 65 BJ1/m 1 200 1 200 BJ2/m 1 460 1 460
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