阅读说明：本技术 可控震源原地转向装置及方法 (Vibroseis in-situ steering device and method ) 是由 赵志勋 马磊 于 2019-04-29 设计创作，主要内容包括：一种可控震源原地转向装置及方法,可控震源原地转向装置设置于可控震源车上,装置包含固定机构、升降机构、旋转机构和驱动机构；固定机构与可控震源车的振动组件固定连接,用于供可控震源原地转向装置转向固定支撑；升降机构与固定结构连接,用于根据外部指令控制可控震源车的振动平板下放至地面,以振动平板为支撑将可控震源车抬离地面；以及根据外部指令控制可控震源车下放至地面,并将振动平板抬离地面；旋转结构与可控震源车的车架大梁固定连接,并与固定机构活动连接,用于根据驱动机构所提供的驱动力带动可控震源车向预定位置转向；驱动机构与固定机构固定连接,用于根据外部指令向旋转机构提供驱动力。(A controllable seismic source in-situ steering device and a method are disclosed, wherein the controllable seismic source in-situ steering device is arranged on a controllable seismic source vehicle and comprises a fixing mechanism, a lifting mechanism, a rotating mechanism and a driving mechanism; the fixing mechanism is fixedly connected with a vibration component of the controllable seismic source vehicle and is used for fixedly supporting the controllable seismic source pivot steering device in a steering mode; the lifting mechanism is connected with the fixed structure and used for controlling the vibration flat plate of the vibroseis vehicle to be lowered to the ground according to an external instruction and lifting the vibroseis vehicle off the ground by taking the vibration flat plate as a support; controlling the vibroseis vehicle to be lowered to the ground according to an external instruction, and lifting the vibrating flat plate off the ground; the rotating structure is fixedly connected with a frame girder of the vibroseis vehicle and movably connected with the fixing mechanism, and is used for driving the vibroseis vehicle to turn to a preset position according to the driving force provided by the driving mechanism; the driving mechanism is fixedly connected with the fixing mechanism and used for providing driving force for the rotating mechanism according to an external instruction.)

1. The controllable seismic source in-situ steering device is arranged on a controllable seismic source vehicle and is characterized by comprising a fixing mechanism, a lifting mechanism, a rotating mechanism and a driving mechanism;

the fixing mechanism is fixedly connected with a vibration assembly of the vibroseis vehicle and is used for fixedly supporting the vibroseis in-situ steering device in a steering way;

the lifting mechanism is connected with the fixed structure and used for controlling a vibration flat plate of the vibroseis vehicle to be lowered to the ground according to an external instruction and taking the vibration flat plate as a support to lift the vibroseis vehicle off the ground; controlling the vibroseis vehicle to be lowered to the ground according to an external instruction, and lifting the vibration flat plate off the ground;

the rotating structure is fixedly connected with a frame girder of the vibroseis vehicle, is movably connected with the fixing mechanism and is used for driving the vibroseis vehicle to turn to a preset position according to the driving force provided by the driving mechanism;

the driving mechanism is fixedly connected with the fixing mechanism and used for providing driving force for the rotating mechanism according to an external instruction.

2. The vibroseis pivot steering device according to claim 1, wherein the fixing mechanism comprises a spindle and a transition disc;

The spindle is of a circular ring structure and is fixedly connected with a vibration assembly of the vibroseis vehicle, and the spindle is used for providing steering support and fixation for the vibroseis in-situ steering device;

the transition disc is fixedly connected with the spindle and used for providing a connecting and fixing space for the lifting mechanism and the driving mechanism.

3. The vibroseis pivot steering device according to claim 2, wherein the rotating mechanism comprises a rotor, the rotor is of a circular ring structure, the inner diameter of the rotor is larger than the outer diameter of the spindle, and the rotor is sleeved outside the spindle through a rolling bearing; and a gear structure is arranged on the outer side of the circular ring of the rotor, and the driving structure drives the rotor to rotate through the gear structure.

4. The vibroseis pivot steering device according to claim 2, wherein the rotating mechanism comprises a rotor, the outer diameter of the rotor is smaller than the inner diameter of the spindle, and the rotor is arranged inside the spindle through a rolling bearing; the inner side of the circular ring of the rotor is provided with a circular empty groove of a gear structure, and the driving structure drives the rotor to rotate through the gear structure.

5. The vibroseis pivot steering apparatus according to claim 2, wherein the lifting mechanism comprises a pressure plate and a plurality of lifting cylinders;

The lifting cylinder comprises a cylinder body and a piston rod;

the cylinder body end of the lifting cylinder is hinged with the transition disc through a hinge lug, and the piston rod end of the lifting cylinder is hinged with the pressure plate through a fixed seat;

the pressing plate is fixedly connected with a vibrating flat plate of the vibroseis vehicle and used for providing support when the vibroseis in-situ steering device rotates the vibroseis vehicle.

6. The vibroseis pivot steering device according to claim 5, wherein a plurality of empty slots are arranged on the transition plate, the cylinder end of the lifting cylinder passes through the transition plate through the empty slots, and the empty slots are used for providing a preset range of swing space of the lifting cylinder.

7. The vibroseis pivot steering device according to claim 5, wherein the lifting cylinders are installed and fixed between the pressure plate and the transition plate in a regular V shape, and are used for mutually balancing the tangential torsion of the lifting cylinders during the rotation of the vibroseis vehicle.

8. The vibroseis pivot steering apparatus according to claim 5, wherein the number of lifting cylinders is four.

9. The vibroseis pivot steering apparatus according to claim 1, wherein the driving mechanism is a hydraulic motor, and the hydraulic motor provides driving force to the rotating mechanism through a gear structure arranged in cooperation with the rotating mechanism.

10. A vibroseis in-situ steering method applied to the vibroseis in-situ steering device of any one of claims 1 to 9, the method comprising:

controlling a vibration flat plate of the vibroseis vehicle to be lowered to the ground according to the received steering instruction, and taking the vibration flat plate as a support to lift the vibroseis vehicle away from the ground;

the rotating mechanism is driven to rotate in a preset direction through the driving mechanism according to the steering instruction, and a vehicle body of the vibroseis vehicle fixedly connected with the rotating mechanism is driven to rotate to a preset position;

and controlling the vibroseis vehicle to be lowered to the ground according to an external instruction, and lifting the vibration flat plate off the ground.

Technical Field

The invention relates to the field of geophysical prospecting equipment, in particular to a controllable seismic source in-situ steering device and a controllable seismic source in-situ steering method.

Background

In the current field, a controllable seismic source vehicle is mainly used in the geophysical prospecting field, steering is complex in actual use due to the fact that the controllable seismic source vehicle is large in size, and in the prior art, the steering mode of the controllable seismic source vehicle is divided into hinged steering and straight beam bridge steering.

This solution has the following problems:

1) the straight beam bridge type steering has large turning radius, is difficult to turn around or turn around in a small place or a narrow road, and can often meet the problem in construction.

2) The articulated steering has much improved turning radius compared with a straight beam type, but still needs to swing for many times during steering, and the structural size of the whole machine is larger than that of the straight beam type.

3) The small controllable seismic source which appears recently adopts unilateral braking steering, which can theoretically realize pivot steering, but is difficult to realize practically, and the design limits the size of a front wheelbase and a rear wheelbase, thereby influencing the performance of the whole machine.

Therefore, there is a need in the art for a solution for in-situ steering of a vibroseis vehicle to overcome the above problems and achieve flexible control of the vibroseis vehicle.

Disclosure of Invention

The invention aims to provide a steering structure scheme requiring smaller space size based on the self condition of a controllable seismic source vehicle, so as to solve the problem of difficult construction steering of small and medium controllable seismic sources in narrow road areas such as cities, towns, rural areas and the like.

In order to achieve the purpose, the invention provides a vibroseis in-situ steering device which is arranged on a vibroseis vehicle, and comprises a fixing mechanism, a lifting mechanism, a rotating mechanism and a driving mechanism; the fixing mechanism is fixedly connected with a vibration assembly of the vibroseis vehicle and is used for fixedly supporting the vibroseis in-situ steering device in a steering way; the lifting mechanism is connected with the fixed structure and used for controlling a vibration flat plate of the vibroseis vehicle to be lowered to the ground according to an external instruction and taking the vibration flat plate as a support to lift the vibroseis vehicle off the ground; controlling the vibroseis vehicle to be lowered to the ground according to an external instruction, and lifting the vibration flat plate off the ground; the rotating structure is fixedly connected with a frame girder of the vibroseis vehicle, is movably connected with the fixing mechanism and is used for driving the vibroseis vehicle to turn to a preset position according to the driving force provided by the driving mechanism; the driving mechanism is fixedly connected with the fixing mechanism and used for providing driving force for the rotating mechanism according to an external instruction.

In the vibroseis in-situ steering device, preferably, the fixing mechanism comprises a spindle and a transition disc; the spindle is of a circular ring structure and is fixedly connected with a vibration assembly of the vibroseis vehicle, and the spindle is used for providing steering support and fixation for the vibroseis in-situ steering device; the transition disc is fixedly connected with the spindle and used for providing a connecting and fixing space for the lifting mechanism and the driving mechanism.

In the vibroseis in-situ steering device, preferably, the rotating mechanism comprises a rotor, the rotor is of a circular ring structure, the inner diameter of the rotor is larger than the outer diameter of the spindle, and the rotor is sleeved outside the spindle through a rolling bearing; and a gear structure is arranged on the outer side of the circular ring of the rotor, and the driving structure drives the rotor to rotate through the gear structure.

In the vibroseis in-situ steering device, preferably, the rotating mechanism comprises a rotor, the outer diameter of the rotor is smaller than the inner diameter of the spindle, and the rotor is arranged inside the spindle through a rolling bearing; the inner side of the circular ring of the rotor is provided with a circular empty groove of a gear structure, and the driving structure drives the rotor to rotate through the gear structure.

In the vibroseis pivot steering device, preferably, the lifting mechanism comprises a pressure plate and a plurality of lifting cylinders; the lifting cylinder comprises a cylinder body and a piston rod; the cylinder body end of the lifting cylinder is hinged with the transition disc through a hinge lug, and the piston rod end of the lifting cylinder is hinged with the pressure plate through a fixed seat; the pressing plate is fixedly connected with a vibrating flat plate of the vibroseis vehicle and used for providing support when the vibroseis in-situ steering device rotates the vibroseis vehicle.

In the vibroseis pivot steering device, preferably, the transition plate is provided with a plurality of empty slots, the cylinder body end of the lifting cylinder passes through the transition plate through the empty slots, and the empty slots are used for providing a swing space within a preset range of the lifting cylinder.

In the vibroseis pivot steering device, preferably, the lifting cylinders are installed and fixed between the pressure plate and the transition plate in a shape like a Chinese character 'ba', and are used for mutually balancing the tangential torque of the lifting cylinders in the rotation process of the vibroseis vehicle.

In the vibroseis pivot steering device, preferably, the number of the lifting cylinders is four.

In the vibroseis in-situ steering device, preferably, the driving mechanism is a hydraulic motor, and the hydraulic motor provides driving force for the rotating mechanism through a gear structure matched with the rotating mechanism.

The invention also provides a vibroseis in-situ steering method, which is applied to the vibroseis in-situ steering device and comprises the following steps: controlling a vibration flat plate of the vibroseis vehicle to be lowered to the ground according to the received steering instruction, and taking the vibration flat plate as a support to lift the vibroseis vehicle away from the ground; the rotating mechanism is driven to rotate in a preset direction through the driving mechanism according to the steering instruction, and a vehicle body of the vibroseis vehicle fixedly connected with the rotating mechanism is driven to rotate to a preset position; and controlling the vibroseis vehicle to be lowered to the ground according to an external instruction, and lifting the vibration flat plate off the ground.

The invention has the beneficial technical effects that: 1. the controllable seismic source pivot steering is met, and the minimum rotation space environment is adapted. 2. The overall dimension planning design of the whole machine is smaller and more flexible compared with the traditional steering mode. 3. Is particularly suitable for cities, towns and densely populated areas.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:

fig. 1 is a schematic structural diagram of a vibroseis in-situ steering apparatus according to an embodiment of the present invention;

fig. 2A to 2C are schematic diagrams illustrating an installation of a vibroseis pivot steering apparatus according to an embodiment of the present invention;

fig. 3 is a schematic flow chart of a method for in-situ steering of a vibroseis according to an embodiment of the present invention.

Reference numerals

1. Rotor

2. Spindle

3. Transition disc

4. Lifting cylinder

5. Pinion gear

6. Hydraulic motor

7. Pressing plate

8. Vibrating plate

21. Steering structure

22. Spindle threaded hole

23. Frame crossbeam

24. Threaded hole of vehicle frame cab apron

25. Vehicle frame transition

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the present invention is described in further detail below with reference to the embodiments and the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.

Additionally, the steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions and, although a logical order is illustrated in the flow charts, in some cases, the steps illustrated or described may be performed in an order different than here.

Referring to fig. 1, the present invention provides a vibroseis in-situ steering apparatus, which is disposed on a vibroseis vehicle, and includes a fixing mechanism, a lifting mechanism, a rotating mechanism and a driving mechanism; the fixing mechanism is fixedly connected with a vibration assembly of the vibroseis vehicle and is used for fixedly supporting the vibroseis in-situ steering device in a steering way; the lifting mechanism is connected with the fixed structure and used for controlling a vibration flat plate of the vibroseis vehicle to be lowered to the ground according to an external instruction and taking the vibration flat plate as a support to lift the vibroseis vehicle off the ground; controlling the vibroseis vehicle to be lowered to the ground according to an external instruction, and lifting the vibration flat plate off the ground; the rotating structure is fixedly connected with a frame girder of the vibroseis vehicle, is movably connected with the fixing mechanism and is used for driving the vibroseis vehicle to turn to a preset position according to the driving force provided by the driving mechanism; the driving mechanism is fixedly connected with the fixing mechanism and used for providing driving force for the rotating mechanism according to an external instruction. Therefore, in actual work, after the controllable seismic source vehicle is lifted by the lifting mechanism, the controllable seismic source vehicle is controlled to horizontally steer to a specified position by taking the support column as a center, and the controllable seismic source vehicle is put down to complete the in-situ steering operation of the controllable seismic source vehicle, wherein the fixing mechanism, the lifting mechanism, the rotating mechanism and the driving mechanism can be arranged by adopting the existing mechanism combination, and the invention is not limited herein.

In the above embodiment, the driving mechanism may be a hydraulic motor, and the hydraulic motor provides driving force to the rotating mechanism through a gear structure configured with the rotating mechanism. Of course, the driving mechanism may be of other structures, and the driving mechanism is used for achieving the purpose of rotating the vibroseis vehicle by adjusting the rotating mechanism connected with the frame of the vibroseis vehicle.

In one embodiment of the invention, the fixing mechanism comprises a spindle and a transition disc; the spindle is of a circular ring structure and is fixedly connected with a vibration assembly of the vibroseis vehicle, and the spindle is used for providing steering support and fixation for the vibroseis in-situ steering device; the transition disc is fixedly connected with the spindle and used for providing a connecting and fixing space for the lifting mechanism and the driving mechanism. The rotating mechanism comprises a rotor which is of a circular ring structure, the inner diameter of the rotor is larger than the outer diameter of the spindle, and the rotor is sleeved outside the spindle through a rolling bearing; and a gear structure is arranged on the outer side of the circular ring of the rotor, and the driving structure drives the rotor to rotate through the gear structure. Of course, the structure of the rotating mechanism is not only the above-mentioned mechanism, for example, in an embodiment of the present invention, the rotating mechanism includes a rotor, the outer diameter of the rotor is smaller than the inner diameter of the spindle, and the rotor is arranged inside the spindle through a rolling bearing; the inner side of the circular ring of the rotor is provided with a circular empty groove of a gear structure, and the driving structure drives the rotor to rotate through the gear structure. In practice, the rotating mechanism may be other structures, and the invention is not limited herein.

In one embodiment of the present invention, the lifting mechanism comprises a pressure plate and a plurality of lift cylinders; the lifting cylinder comprises a cylinder body and a piston rod; the cylinder body end of the lifting cylinder is hinged with the transition disc through a hinge lug, and the piston rod end of the lifting cylinder is hinged with the pressure plate through a fixed seat; the pressing plate is fixedly connected with a vibrating flat plate of the vibroseis vehicle and used for providing support when the vibroseis in-situ steering device rotates the vibroseis vehicle. In the above embodiment, the transition plate may further be provided with a plurality of empty grooves, the cylinder body end of the lift cylinder passes through the transition plate through the empty grooves, and the empty grooves are used to provide a swing space in a preset range of the lift cylinder. The number of the lifting cylinders can be four, the lifting cylinders are installed and fixed between the pressure plate and the transition plate in a shape like a Chinese character 'ba', and the lifting cylinders are used for mutually balancing tangential torsion of the lifting cylinders in the rotating process of the vibroseis vehicle.

In order to more clearly illustrate the arrangement structure of the vibroseis in-situ steering device provided by the invention in the practical operation, the device is generally described below by combining the above embodiments, and it should be understood by those skilled in the art that the following description is only for facilitating understanding of the functions and connection relations of the components of the vibroseis in-situ steering device provided by the invention, and does not limit the structural form thereof at all; referring to fig. 1, the vibroseis in-situ steering device provided by the invention is mainly characterized in that a spindle and a rotor component are added between the connection part of a flat lifting oil cylinder and a corresponding frame, the spindle and a vibrator component are connected into a whole, the rotor and a frame girder are connected into a whole, and the rotor is driven by a pinion connected with the spindle into a whole to rotate; referring to fig. 1 again, the device mainly comprises a rotor 1, a spindle 2, a transition disc 3, a lifting cylinder 4, a pinion 5, a hydraulic motor 6, a pressing plate 7, a vibrating plate 8, and the like; the spindle 2 and the transition disc 3 are fixedly connected; the driving motor 6 is fixedly connected with the transition disc 3; the rotor 1 and the spindle 2 are connected by a rolling bearing and can rotate relatively; the lifting cylinders 4 are four in number, every two lifting cylinders are in a group and are respectively arranged between the transition disc 3 and the pressing plate 7 in a shape of a Chinese character 'ba'; the cylinder end of the lifting cylinder 4 is hinged with the transition plate 3, the piston rod end of the lifting cylinder 4 is hinged with the pressure plate 7 and can swing, wherein a pressure air bag is arranged between the pressure plate 7 and the vibrating plate 8, and the element is a traditional supporting structure and is not described more.

In the embodiment, the center of gravity of the whole vibroseis is mainly concentrated at the center of the vibrator; under the action of the lifting cylinder, the vibration flat plate is in a ground contact state from a ground-off state and then is separated from the ground by front and rear tires, so that the whole weight of a seismic source (except a seismic vibrator assembly) is transmitted onto the flat plate through the lifting cylinder in a pressurized manner, then, the driving motor drives the pinion to rotate, the pinion drives the rotor and passively rotates together with the vehicle body, and therefore the in-situ steering or in-situ turning of the vehicle is realized, and the requirement of the minimum rotating space is met by the mode; two sets of lifting cylinders which are respectively arranged in a splayed manner not only keep the stability of the vehicle body, but also balance the tangential torsion mutually in the rotating process, and prevent the lifting cylinders from being twisted and damaged. During actual work, when the controllable seismic source needs to turn, the upper cavity of the lifting cylinder is pressurized, the vibrating plate is lowered to be in contact with the ground, then pressurization is continued, the front tire and the rear tire of the controllable seismic source are completely separated from the ground, and the state of the lifting cylinder is locked. The hydraulic motor drives the pinion to rotate the rotor and rotate together with the vehicle body, the rotation direction is determined by the rotation direction of the hydraulic motor, the rotation angle is any value within 360 degrees, and after the rotation direction is achieved, the lower cavity of the lifting cylinder is pressurized, and the vibrating flat plate is lifted off the ground.

In practical operation, the vibroseis in-situ steering device and the vibroseis vehicle are mounted in a manner shown in fig. 2A to 2C, the steering structure 21 of the vibroseis in-situ steering device serves as a steering control center of the vibroseis vehicle, the spindle threaded holes 22 are fixed on the vibrator element as a supporting structure, the frame girder 23 is fixedly connected with the rotor so as to drive the vibroseis vehicle to steer when the rotor rotates, and the frame transition plate threaded holes 24 and the frame transition 25 are used for providing connection buffering between the vibroseis vehicle and the vibroseis in-situ steering device.

Referring to fig. 3, the present invention further provides a vibroseis in-situ steering method, which is applied to the vibroseis in-situ steering apparatus, the method comprising: s301, controlling a vibration flat plate of the vibroseis vehicle to be lowered to the ground according to the received steering command, and taking the vibration flat plate as a support to lift the vibroseis vehicle off the ground; s302, driving the rotating mechanism to rotate in a preset direction through the driving mechanism according to the steering instruction, and driving the vehicle body of the vibroseis vehicle fixedly connected with the rotating mechanism to rotate to a preset position; s303, controlling the vibroseis vehicle to be lowered to the ground according to an external instruction, and lifting the vibration flat plate off the ground.

The invention has the beneficial technical effects that: 1. the controllable seismic source pivot steering is met, and the minimum rotation space environment is adapted. 2. The overall dimension planning design of the whole machine is smaller and more flexible compared with the traditional steering mode. 3. Is particularly suitable for cities, towns and densely populated areas.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.