A ground drilling robot

Abstract

The application discloses a ground drilling robot. The robot comprises a body, the outer side of the body is provided with an extending mechanism, the extending mechanism comprises an extending sheet, a middle groove and a middle block, the extending sheet is slidingly arranged on one side of the body, the upper side of the extending sheet is provided with the middle groove, the surface of the middle groove is rotatably provided with the middle block, the edge of the body is provided with an unfolding mechanism, the unfolding mechanism comprises an unfolding strip, a supporting strip and an extending strip, the arrangement of the unfolding strip rotation can extrude the soil on the edge of the unfolding strip to the direction of the extending sheet, the soil at the position of the extending sheet is more filled, the extending sheet is supported and stabilized, the arrangement of the middle groove can store the soil, meanwhile, the friction with the soil can be increased, the rotatable arrangement of the middle block can loosen the soil in the middle groove, and the sampling soil can be separated.

Description

Technical Field

[0001] This invention relates to the field of geological exploration equipment technology. Specifically, it relates to a drilling robot. Background Technology

[0002] In geological exploration and other similar operations, manpower is often insufficient to meet the needs and carries certain risks. In such cases, drilling robots can replace human labor. According to the technical solution disclosed in Chinese invention patent CN104727749B, the robot is supported by scales. However, because the scales rotate towards the edges for support, the soil at the edges of the scales is squeezed, resulting in less soil below the scales, weakening the support effect, and making the robot body prone to lateral sliding. It lacks a lateral anti-slip structure. After the robot reaches a certain depth on the ground, it is necessary to sample the soil at that location. The scales in the above technical solution cannot sample the soil at that location while supporting the robot. Summary of the Invention

[0003] Therefore, the technical problem to be solved by the present invention is to provide a drilling robot that, through the setting of rotating unfolding strips, can compress the soil at the edge of the unfolding strips toward the direction of the protruding plate, making the soil at the position of the protruding plate more compact and stabilizing the support of the protruding plate, and can store soil through the setting of the central groove.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0005] The device includes a body, an extension mechanism on the outer side of the body, the extension mechanism including an extension piece, a central groove and a central block, the extension piece being slidably disposed on one side of the body, the central groove being formed above the extension piece, the central block being rotatably disposed on the surface of the central groove, an unfolding mechanism on the side of the body, the unfolding mechanism including an unfolding bar, a support bar and an extension bar, the unfolding bar being rotatably disposed on one side of the body, the extension bar being slidably disposed on one side of the unfolding bar, the support bar being rotatably disposed on one side of the body, a drive shaft being rotatably disposed inside the body, and a lifting bar being slidably disposed on the side of the body.

[0006] The technical solution of the present invention achieves the following beneficial technical effects:

[0007] This design, through the rotation of the unfolding strip, compresses the soil at the edge of the unfolding strip towards the protruding plate, making the soil at the protruding plate position more compact and providing stable support. The central groove can store soil and also increase friction with the soil. The rotatable central block can loosen the soil in the central groove, facilitating soil sampling and detachment. The rotation of the central block can also tilt the edge to prevent the protruding plate edge from sliding. During the rotation of the unfolding strip, the protruding plate can extend, increasing the length of the unfolding strip edge and inserting it into the soil, making the machine body more stable. Attached Figure Description

[0008] Figure 1 Schematic diagram of the fuselage structure of this invention;

[0009] Figure 2 Schematic diagram of the cutting of the middle part of the fuselage of this invention;

[0010] Figure 3 Schematic diagram of the edge cutting of the middle block in this invention;

[0011] Figure 4 This invention Figure 3 Enlarged view of point A in the middle;

[0012] Figure 5 Schematic diagram of the edge cutting of the support strip in this invention;

[0013] Figure 6 A schematic diagram of the cutting on the upper side of the drive shaft of this invention.

[0014] The reference numerals in the diagram are as follows: 1. Body; 2. Extending piece; 3. Central groove; 4. Central block; 5. Unfolding strip; 6. Support strip; 7. Extending strip; 8. Drive shaft; 9. Lifting strip; 10. Lifting block; 11. Reset block; 12. Reset groove; 13. Extending spring; 14. Corresponding rod; 15. Extending groove; 16. Positioning frame; 17. Positioning groove; 18. Side groove; 19. Lifting strip; 20. Top spring; 21. Lifting block; 22. Corresponding block; 23. Flexible strip; 24. One-way groove; 25. One-way block; 26. Bending strip; 27. Release block; 28. Release strip; 29. ​​Side groove; 30. Side block; 31. Push rod; 32. Lifting groove. Detailed Implementation

[0015] This implementation example is attached to the instruction manual. Figure 1 As shown, the instruction manual is attached. Figure 1The body 1 is a segment of the drilling robot's body. The drilling robot adopts the existing circular rod shape, with the drill bit at the top. The middle of body 1 has a reasonable layout for facilitating soil transport. The robot has a tracked propulsion structure or uses the existing pusher-type 31 peristaltic drilling method to facilitate propulsion during drilling. Therefore, the attached diagram of this design does not show the complete body 1. Both tracked and pusher-type propulsion are existing technologies and will not be described in detail. Additionally, a corresponding rope needs to be installed at the robot's tail to prevent the robot from failing to reach the ground. This is detailed in the instruction manual. Figure 1 As can be seen from the diagram, this design arranges multiple unfolding strips 5 along the edge of the fuselage 1. These unfolding strips 5 rotate outwards (the rotation center of each unfolding strip 5 is located below, and a support frame extends along the edge of the fuselage 1 to ensure stable rotation of the unfolding strip 5 along the lower edge). An extension strip 7 slides above each unfolding strip 5. The orientation of this design is as shown in the attached instruction manual. Figure 1 For reference, the drill bit is below the machine body 1 and the ground is above the machine body 1. At this time, it is drilling vertically downward. A support bar 6 is set on the side of the unfolding bar 5. Since the support bar 6 is also rotatably set on the support frame on the lower side, it is also rotatably set on the machine body 1. A lifting bar 9 is vertically slidably set on the side of the machine body 1. The lifting bar 9 has vertical limiting protrusions on both sides, which can make the lifting bar 9 slide stably on the machine body 1.

[0016] As per the instruction manual Figure 2 As shown, the machine body has a push rod 31 inside. The push rod 31 is a hydraulic push rod 31, which can be controlled to extend downwards. One side of the push rod 31 is attached to the lifting groove. The drive shaft 8 is rotatably located inside the machine body 1 and is limited in its vertical movement. To ensure rotation, ball bearings are installed on the side of the drive shaft 8. As the push rod 31 extends downwards, the drive shaft 8 rotates in a specific direction. The lifting groove is shaped like an arc-shaped spiral, as shown in the attached instruction manual. Figure 2 As shown, there are multiple lifting slots, and lifting bars 9 are connected to the lifting slots. Due to the rotation of the drive shaft 8, the lifting bars 9 can slide on the machine body 1. A lifting block 10 is integrally set on one side of the lifting bar 9. The lifting block 10 is a right-angled triangle with a corresponding inclined surface on the inner side of the unfolding bar 5. Therefore, as the lifting bar 9 and the lifting block 10 slide downward together, they can support the unfolding bar 5, allowing the unfolding bar 5 to rotate outward. The outward rotation of the unfolding bar 5 can support the machine body 1. At the same time, the upward sliding of the machine body 1 can also effectively block it. The rotation of the unfolding bar 5 can also squeeze the soil generated by the rotation towards the position of the protruding plate 2, so that the soil near the protruding plate 2 is compacted.

[0017] The extendable piece 2 is laterally slidably mounted on the body 1. The extension of the extendable piece 2 is driven by the drive shaft 8. An extension slot 15 is provided below the drive shaft 8; the extension slot 15 is a flat groove, as shown in the instruction manual. Figure 2 As shown, with the rotation of the drive shaft 8, the extension piece 2 extends and can be inserted into the hole to support the machine body 1. Since the unfolding strip 5 mentioned above also unfolds at this time, the soil contacted by the extension piece 2 is harder, making the support of the extension piece 2 more stable. In order to give the extension piece 2 a certain anti-slip effect, a central groove 3 and a central block 4 are provided in the middle of the extension piece 2. The central groove 3 not only gives the extension piece 2 a certain anti-slip effect, but also gives the central groove 3 a certain storage capacity. Corresponding to the position of the drill bit, the soil at that position can be removed. As the extension piece 2 returns, the soil that has entered the central groove 3 can be carried laterally into the interior of the machine body 1.

[0018] An extension bar 7 is slidably provided on one side of the unfolding bar 5, and an extension spring 13 is provided between the two, as shown in the instruction manual. Figure 2 As shown, the extension spring 13 has been stretched at this time. The end of the extension spring 13 is connected to the extension bar 7 and the unfolding bar 5 respectively. Since the extension spring 13 has been stretched, releasing the extension bar 7 can make the release bar 28 extend upwards, preventing the unfolding bar 5 from rotating and causing the soil to be moved, which would prevent the edge of the unfolding bar 5 from fully contacting the soil to support the machine body 1. The extension bar 7 extends relative to the unfolding bar 5 to provide extended support.

[0019] To ensure that the extension bar 7 can be released during the rotation of the unfolding bar 5, a release block 27 is slidably installed in the middle of the unfolding bar 5. The right side of the release block 27 is a slope, and the left side is a cylindrical extension. A release bar 28 is integrally installed on one side of the lifting bar 9, and a release spring is installed on the edge of the release block 27, as shown in the instruction manual. Figure 2 Enlarged view: At this point, the spring is at its original length. As the lifting bar 9 moves downwards, the release bar 28 also moves downwards. The position of the release bar 28 is to one side of the release block 27. To the left of the release block 27 is a cylinder that extends towards the release bar 28. (Note: The instruction manual is attached.) Figure 2The perspective obstructs the shape of the cylinder, so a circular block is displayed on the left side of the release block 27. This circular block is on the path of the release bar 28, so the release bar 28 moves downward, allowing the circular block to be pulled out to the left. Even if the support bar 6 rotates, it does not affect the release bar 28 because the release bar 28 is relatively long. As the release block 27 is pulled out by the edge circular block, the extension bar 7 is released. Because the lower part of the extension bar 7 is blocked by the release block 27, it cannot be released. When the release bar 28 pushes the release block 27, it is no longer in control of the extension bar 7, meaning the extension bar 7 can extend. The extension of the extension bar 7 corresponds to the end of the rotation of the unfolding bar 5, that is, the extension occurs when the unfolding bar 5 rotates to its maximum angle.

[0020] As per the instruction manual Figure 5 As shown, in order to enable the extension bar 7 to retract, a cylinder is provided on the edge of the extension bar 7, and a support bar 6 is provided on the plane. The support bar 6 is rotatably mounted on the body 1. The rotation of the support bar 6 can provide the same function as the support bar 6 in supporting the body 1. At the same time, the rotation of the support bar 6 can also cause the circular block on the edge of the extension bar 7 to slide. Because once the support bar 6 slides, it can form an inclined plane. The cylinder on the edge of the extension bar 7 will hit the inclined plane during the return process, so that the extension bar 7 can be retracted and released and reset. In addition, in order to provide a certain anti-slip effect during the extension of the extension bar 7, a sharp-shaped side groove 29 is provided on the edge of the extension bar 5. The surface of the side groove 29 contacts the side block 30. The side block 30 corresponds to the shape of the side groove 29 and can provide an anti-slip effect.

[0021] As per the instruction manual Figure 6As shown, in order to control the rotation of the support bar 6 and the unfolding bar 5 in this design so that they can be staggered, a one-way groove 24 is provided in the middle of the drive shaft 8 in this design. A curved bar 26 overlaps the surface of the one-way groove 24. The curved bar 26 is slidably disposed on one side of the body, with one end extending to the outside of the body 1 and the other end overlapping the one-way groove 24. As the drive shaft 8 rotates counterclockwise, the curved bar 26 will not move at first. This is because the one-way groove 24 is composed of two upper and lower arc segments and two left and right oblique segments. The center of the upper and lower arc segments coincides with the center of the drive shaft 8. Therefore, the curved bar 26 does not move when the drive shaft 8 rotates counterclockwise. As the drive shaft 8 rotates to the leftmost position, the curved bar 26 will move. The curved bar 26 will reach the inclined section on the left side of the one-way groove 24. As the drive shaft 8 resets in the opposite direction, the curved bar 26 will move along the upper arc segment. Because the one-way groove 24 has a one-way block 25 at a longer position, and the edge of the one-way block 25 is spring-supported, the curved bar 26 will maintain its position when the drive shaft 8 rotates counterclockwise first, corresponding to the unfolding bar 5. As the unfolding bar 5 unfolds to a specific position, the curved bar 26 reaches the inside. As the unfolding bar 5 retracts, the curved bar 26 maintains its inside position, corresponding to the retraction of the unfolding bar 5. The movement of the curved bar 26 inward corresponds to the rotation of the support bar 6, because the upper part of the support bar 6 is a groove, as shown in the instruction manual. Figure 5 As shown, one end of the curved strip 26 overlaps the groove, so the movement of the curved strip 26 inward corresponds to the rotation of the support strip 6. The function of the one-way block 25 is to make one end of the curved strip 26 rotate in a loop corresponding to the one-way groove 24. The one-way block 25 has the effect of one-way blocking.

[0022] Before the lifting block 10 unfolds the unfolding bar 5, a reset groove 12 is provided in the middle of the unfolding bar 5 to ensure that the unfolding bar 5 can maintain a stable position. A reset block 11 overlaps the surface of the reset groove 12. The reset block 11 is integrally set below the lifting bar 9, as shown in the attached instruction manual. Figure 2 As shown, the unfolding bar 5 cannot rotate at this time. As the reset block 11 moves downward and disengages from the reset groove 12, the unfolding bar 5 can rotate. As the reset bar moves upward back, the reset block 11 will re-enter the reset groove 12, allowing the unfolding bar 5 to retract. This is because one side of the reset groove 12 has a buffer slope, making it easy for the reset block 11 to enter the reset groove 12, allowing the unfolding bar 5 to retract.

[0023] As per the instruction manual Figure 2 , 3As shown in Figure 4, the central groove 3 of this design provides both anti-slip and storage functions. To ensure these functions are maintained as the machine body 1 continues drilling, the soil in the central groove 3 needs to be removed during the extension of the extension plate 2. Therefore, this design includes a rotating central block 4 in the central groove 3. One side of the central block 4 is a side groove 18. (See attached instruction manual). Figure 3 The edge structure of the central block 4 extends from the rotation center of the central block 4 to both sides and is provided with edge grooves 18. A lifting strip 19 overlaps the surface of the edge groove 18, and a top spring 20 is located below the lifting strip 19. (See the attached instruction manual.) Figure 3 and 4 The perspective has been reversed, so it is included in the instruction manual. Figure 3 and 4 At the top, the top spring 20 supports the lifting bar 19 to maintain its position. As the drive shaft 8 rotates, the corresponding extension piece 2 extends. (See instruction manual attached.) Figure 4 The structure is concealed inside the protruding piece 2. During the extension process, the lifting bar 9 of this design also moves downwards. (See attached instruction manual.) Figure 4 Corresponding to upward movement, a corresponding rod 14 is slidably provided above the lifting bar 9, and a corresponding block 22 is provided on the edge of the corresponding rod 14, as shown in the instruction manual. Figure 2 A spring is present between the corresponding rod 14 and the lifting bar 9. The upward sliding distance of the corresponding rod 14 is extremely short because a blocking block is installed on the body 1, as shown in the instruction manual. Figure 2 The enlarged view below shows that the movement of the lifting bar 9 can drive the corresponding rod 14 closer to the central hole without affecting the continuous movement of the lifting bar 9, because of the compression by the spring. When the corresponding rod 14 is close to the central groove 3, the soft strip 23 above the corresponding rod 14 can be inserted into the central groove 3, pushing out the soil inside the central groove 3, because the soft strip 23 is made of soft plastic and can be deformed.

[0024] As the middle strip extends again, the positioning groove 17 of the positioning frame 16 lifts the lifting strip 19 (the positioning groove 17 is longer, corresponding to the shorter block 22). Because one side of the positioning groove 17 is an inclined plane and the left side of the lifting strip 19 is a cylinder, the lifting strip 19 can move upward under the action of the inclined plane. The upward movement of the lifting strip 19 can cause the middle block 4 to rotate towards the center, making the middle groove 3 into a V shape. In this way, the soil can be stored even when the body 1 returns to the ground. At the same time, the middle block 4 rotates towards the center, as shown in the instruction manual. Figure 2 As mentioned above, at this time, the center of rotation of the middle block 4 is at the top, and the middle block 4 rotates clockwise. The lower part of the middle block 4 will also rotate to form a slant, which can also play an anti-slip role. The middle block 4 can ensure that the stored soil cannot fall out, and it can also play an anti-slip role.

[0025] The previous paragraph introduced that the lifting bar 19 can move towards the top spring 20 and compress the top spring 20 under the action of the positioning frame 16. At the same time, it can also compress the top spring 20 under the action of the corresponding block 22. Because the lifting block 21 is slidably arranged below the lifting bar 19, the lifting block 21 is supported by a spring inside and has a slot limit. When the soft bar 23 of this solution enters the middle groove 3, the corresponding block 22 can push the middle block 4 upward and also make the middle block 4 rotate. Since the corresponding block 22 is relatively short, the positioning groove 17 has not yet lifted the lifting bar 19. Therefore, the middle block 4 will rotate first and then reset. This can make the soil shake quickly, which is convenient for squeezing and pushing out the soil. The function of the top spring 20 is to enable the lifting bar 19 to reset.

[0026] An extension mechanism is provided on the outer side of the body 1. The extension mechanism includes an extension piece 2, a central groove 3, and a central block 4. The extension piece 2 is slidably disposed on one side of the body 1. A central groove 3 is formed above the extension piece 2. A central block 4 is rotatably disposed on the surface of the central groove 3. An unfolding mechanism is provided on the side of the body 1. The unfolding mechanism includes an unfolding strip 5, a support strip 6, and an extension strip 7. The unfolding strip 5 is rotatably disposed on one side of the body 1. An extension strip 7 is slidably disposed on one side of the unfolding strip 5. The support strip 6 is rotatably disposed on one side of the body 1. A drive shaft 8 is rotatably disposed inside the body 1. A lifting bar 9 is slidably arranged, and a corresponding rod 14 is slidably arranged on the upper surface of the lifting bar 9. A lifting block 10 is integrally arranged on the edge of the lifting bar 9, and a reset block 11 is integrally arranged on the top of the lifting bar 9. A reset groove 12 is connected to one end of the reset block 11. The reset groove 12 is opened in the middle of the unfolding bar 5. An extension spring 13 is arranged between the unfolding bar 5 and the extension bar 7. An extension groove 15 is opened at the bottom of the drive shaft 8, and an extension piece 2 is connected to the surface of the extension groove 15. A positioning frame 16 is integrally arranged inside the body 1. A positioning groove 17 is opened on one side of the positioning frame 16. The middle block 4 A side groove 18 is provided on the edge, and a lifting strip 19 overlaps the surface of the side groove 18. The lifting strip 19 is slidably disposed inside the protruding piece 2. A top spring 20 is provided below the lifting strip 19, and a lifting block 21 is slidably disposed on the lower side of the lifting strip 19. A corresponding block 22 is integrally provided on the edge of the corresponding rod 14, and a flexible strip 23 is provided above the corresponding rod 14. A one-way groove 24 is opened in the middle of the drive shaft 8, and a one-way block 25 is slidably disposed on the surface of the one-way groove 24. A curved strip 26 overlaps the surface of the one-way groove 24, and a support strip 6 overlaps the other end of the curved strip 26. A release block 27 is slidably provided in the middle of the opening bar 5, and a release spring is provided on one side of the release block 27. A release bar 28 is integrally provided in the middle of the lifting bar 9. A side groove 29 is provided on the edge of the unfolding bar 5. A side block 30 overlaps the surface of the side groove 29. The side block 30 is slidably provided inside the extension bar 7. A push rod 31 is provided inside the body 1. A lifting groove 32 overlaps one end of the push rod 31. The lifting groove 32 is opened above the drive shaft 8. A lifting bar 9 overlaps one side of the lifting groove 32. A support frame is integrally provided on the edge of the body 1. A lifting spring is provided inside the lifting bar 9.

[0027] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of the claims of this patent application.

Claims

1. A drilling robot, characterized in that, The device includes a body (1), an extension mechanism is provided on the outer side of the body (1), the extension mechanism includes an extension piece (2), a central groove (3) and a central block (4), the extension piece (2) is slidably disposed on one side of the body (1), the central groove (3) is provided above the extension piece (2), the central block (4) is rotatably disposed on the surface of the central groove (3), the side of the body (1) is provided with an unfolding mechanism, the unfolding mechanism includes an unfolding strip (5), a support strip (6) and an extension strip (7), the unfolding strip (5) is rotatably disposed on one side of the body (1), the extension strip (7) is slidably disposed on one side of the unfolding strip (5), the support strip (6) is rotatably disposed on one side of the body (1), the inside of the body (1) is rotatably provided with a drive shaft (8), the side of the body (1) is slidably provided with a lifting strip (9), and the upper surface of the lifting strip (9) is slidably provided with a corresponding rod (14). The lifting bar (9) is integrally provided with a lifting block (10) on its side, and a reset block (11) is integrally provided on the top of the lifting bar (9). One end of the reset block (11) is connected to a reset groove (12). The reset groove (12) is opened in the middle of the unfolding bar (5). An extension spring (13) is provided between the unfolding bar (5) and the extension bar (7). The lifting block (10) is in the shape of a right triangle, and an inclined surface is provided on the inner side of the unfolding bar (5) corresponding to the lifting block (10). The bottom of the drive shaft (8) is provided with an extension groove (15), and an extension piece (2) overlaps the surface of the extension groove (15). The interior of the body (1) is integrally provided with a positioning frame (16), and a positioning groove (17) is provided on one side of the positioning frame (16). The edge of the middle block (4) is provided with a side groove (18), and a lifting strip (19) overlaps the surface of the side groove (18). The lifting strip (19) is slidably disposed inside the extension piece (2). A top spring (20) is provided below the lifting bar (19), a lifting block (21) is slidably provided on the lower side of the lifting bar (19), a corresponding block (22) is integrally provided on the edge of the corresponding rod (14), and a soft strip (23) is provided above the corresponding rod (14). The drive shaft (8) has a one-way groove (24) in the middle, and a one-way block (25) is slidably disposed on the surface of the one-way groove (24). A curved strip (26) overlaps the surface of the one-way groove (24), and a support strip (6) overlaps the other end of the curved strip (26). The edge of the unfolding strip (5) is provided with a side groove (29), and a side block (30) overlaps the surface of the side groove (29). The side block (30) is slidably disposed inside the extension strip (7). The body (1) is provided with a push rod (31) inside. One end of the push rod (31) is connected to a lifting groove (32). The lifting groove (32) is opened above the drive shaft (8). The lifting bar (9) is connected to one side of the lifting groove (32).

2. The drilling robot according to claim 1, characterized in that, A release block (27) is slidably provided in the middle of the unfolding bar (5), and a release spring is provided on one side of the release block (27). A release bar (28) is integrally provided in the middle of the lifting bar (9).

3. The drilling robot according to claim 1, characterized in that, The side of the fuselage (1) is integrally provided with a support frame.

4. The drilling robot according to claim 1, characterized in that, The lifting bar (9) is equipped with a lifting spring inside.

Images