A robot for in-situ detection of loess geological information

Abstract

The present invention proposes a robot for in-situ detection of loess geological information, comprising a shell, an active tensioning system, an auxiliary tensioning system, a control system, a driving system and a detection system; the active tensioning system is used to provide the tensioning force along the hole diameter direction required for the robot to walk in the loess hole; the auxiliary tensioning system is used to provide a pre-tightening force for the robot to walk in the loess hole; the control system is used to control the robot's motion mode according to different driving environments of the robot in the loess hole; the driving system is used to provide the robot with driving power in the loess hole. The detection system is used to detect parameters related to loess geological information. The robot provided by the present invention has a simple structure and can adapt to the aperture change of 100-150mm. At the same time, it can effectively solve the problem of large radial size of the crawler pipeline robot, has strong obstacle crossing ability and passability, and can be used for geological information detection in loess holes, filling the existing technical gap.

Description

Technical Field

[0001] The invention relates to loess geological information detection, and in particular to an in-situ loess geological information detection robot. Background Art

[0002] Loess itself is a special type of soil that is prone to disasters. It has a strong sensitivity to disasters, which is mainly manifested in its strong water sensitivity, fragile structure, unique strength attenuation, complex deterioration process, and sensitivity to dynamic disturbances. This also makes this type of soil prone to a series of engineering disasters, such as road collapse, residential tilt, and dam cracks on the Loess Plateau. Therefore, the detection of loess geological information and soil mechanical properties has become particularly important. At present, the existing detection methods mainly rely on manual soil sampling and use professional instruments for detection, also known as indoor tests. However, since this indoor test requires soil samples to be taken in the field, this test method not only destroys the original structure of the soil, but also makes it difficult to ensure the reliability and accuracy of the test parameters. Compared with indoor tests, in-situ detection can complete the detection without destroying the original structure of the soil, and the experimental data obtained is more reliable.

[0003] At present, the mainstream pipeline robots at home and abroad are mainly wheeled and crawler types. However, compared with general pipelines, loess holes often have internal defects such as cavities, protrusions, and local collapse. Due to the poor obstacle crossing and passing performance of wheeled pipeline robots, wheeled pipeline inspection robots are not suitable for such holes. For such holes, crawler pipeline robots with stronger obstacle crossing and passing performance should be selected. Considering factors such as the damage to the original soil, in order to reduce the disturbance to the soil, the diameter of the loess holes after processing by the existing loess drilling equipment is generally 100-150mm, which is smaller than other pipelines. The current crawler hole robot is difficult to adapt to such small-diameter hole detection due to its large radial size. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide an in-situ detection robot for loess geological information, aiming to solve the problem that the existing crawler pipeline robots are too large in size, making it difficult to complete the relevant parameter detection at any specified position in the loess holes and to transmit the three-dimensional geological information in the loess holes, thereby filling the existing technological gaps.

[0005] The technical solution of the present invention is as follows:

[0006] A robot for in-situ detection of loess geological information comprises a shell, wherein the shell comprises a first shell and a second shell connected to the first shell, and tracks are respectively arranged on the first shell and the second shell; the tensioning system is also included, and the tensioning system is used to provide the tensioning force along the hole diameter direction required for the robot to walk in the loess hole, and comprises an active tensioning system; the active tensioning system comprises a tensioning motor, an active camshaft, an active cam group, a driven cam group and a connecting base frame; the tensioning motor is located inside the shell, and the tensioning motor is connected to the active camshaft to provide driving force for the active tensioning system; the active camshaft is used to provide support for the active cam group and transmit the driving force of the tensioning motor; the active cam group is used to transmit the driving force from the active camshaft to the driven cam group; the driven cam group is used to convert the driving force of the active cam group into a tensioning force for the track to obtain along the hole diameter direction; the connecting base frame is used to support the track and also to realize the vibration reduction and reset function.

[0007] Furthermore, the tensioning motor is fixed inside the second housing, and the tensioning motor is connected to the active camshaft via a coupling; the two ends of the active camshaft are supported by two bearings fixed inside the first housing and the second housing respectively; the active cam group includes 6 active cams, and the 6 cams are axially positioned by fixing with shaft shoulders and circumferentially positioned by flat keys to ensure that each active cam can run accurately; the connecting base includes three, and the three connecting bases are 120° apart circumferentially, and the connecting base supports the crawler in the form of a simply supported beam; any one of the connecting bases includes a first end slider, a second slider and an intermediate connecting shaft, The first slider is fixed to the first housing through a slide guide rail, and an elastomer is arranged between the end face of the first slider and the upper end face of the groove of the first housing; the second slider is connected in the same way as the first slider, and is used to circumferentially fix the simply supported structure, and is allowed to move along the groove where the first slider or the second slider is located, and the elastomer is used to provide vibration reduction and reset functions for the first slider or the second slider; the intermediate connecting shaft fixes the first slider or the second slider, and is used to provide support for the driven cam group; the driven cam group includes three groups, any one group includes two driven cams, and the groups are circumferentially separated by degrees, and each group is fixed on the intermediate connecting shaft.

[0008] In addition, it also includes an auxiliary tensioning system, which is used to provide pre-tensioning force for the robot to walk in the loess holes and measure the travel distance of the robot in the loess holes.

[0009] Furthermore, the auxiliary tensioning system includes an elastic sleeve, a connector connected to the elastic sleeve, and a mileage wheel; the elastic sleeve includes six, the first shell and the second shell each include three and are circumferentially spaced 120° apart, for providing a preload force for the robot to walk in the loess hole; the mileage wheel is fixed to the elastic sleeve through the connector, for transmitting the preload force from the elastic sleeve and measuring the travel distance of the robot in the hole.

[0010] In particular, the robot also includes a control system and a driving system. The control system is used to control the robot's movement mode according to different driving environments of the robot in the loess hole; the driving system is used to provide the robot with driving power in the loess hole.

[0011] Furthermore, the control system includes a control circuit board, which is located on the inner wall of the second shell, and is used to receive information output by the detection system, and at the same time process and calculate the information output by the detection system, and transmit the moisture content, soil density, modulus, and three-dimensional geological information in the hole to the ground data acquisition center through the communication module carried by the control circuit board; it is also used to output electrical signals for controlling the tensioning motor and the driving motor according to the received obstacle information and pressure information.

[0012] Furthermore, the drive system includes three single-sided tracks with a circumferential angle of degrees, and the single-sided track includes a driving motor, a bevel gear, a spur gear, a track side plate, a driving pulley, a driven pulley, an elastic track, and multiple bearings; the driving motor is connected to the track side plate to provide driving force for the single-sided track to travel; a bevel gear is fixed on the motor output shaft, which meshes with the bevel gear on the transmission shaft, and is used to transmit the power of the driving motor to the transmission shaft, and then the spur gear on the transmission shaft meshes with the spur gear on the shaft where the driving pulley is located, so that the driving pulley obtains torque and speed to drive the track to rotate; the transmission shaft is supported by bearings, and the bearings are fixed by bearing end covers fixed to the track side plates.

[0013] At the same time, it also includes a detection system for detecting parameters related to loess geological information.

[0014] Furthermore, the detection system includes an optical moisture content detector, an ultrasonic sensor, a camera, a gamma spectral density meter, a spiral displacement sensor, a mileage wheel, a thin film pressure sensor and a data processing center; the optical moisture content detector is used to detect the soil moisture content at a specified position in the loess hole; the ultrasonic sensor is used to detect the distance between the robot and the obstacle in front of the loess cavity; the camera is used to construct three-dimensional geological information in the loess hole and identify the interface information between the loess and the paleosol; the gamma spectral density meter is used to detect the density of the soil at a specified position in the loess hole; the pressure sensor is used to monitor the pressure between the track and the inner wall of the loess hole; the spiral displacement sensor is used to record the deformation of the soil at any time when the robot is traveling in the loess hole; the mileage wheel is used to record the distance traveled by the robot in the loess hole; the thin film pressure sensor is used to record the pressure on the soil at any time; the data acquisition center analyzes the soil modulus information according to the various parameters output above.

[0015] The beneficial effects of the present invention are:

[0016] The pipeline robot provided by the present invention has a simple structure. Through the set tensioning system, it can adapt to the aperture change of 100-150mm. At the same time, it can effectively solve the problem of the radial size of the crawler pipeline robot being too large due to the space occupied by the traditional tensioning device, so that the crawler pipeline robot with strong obstacle crossing ability and passability can be used for geological information detection in loess holes, filling the existing technical gaps.

[0017] The present invention is equipped with a variety of detection instruments, which can respectively complete the collection of soil density, moisture content, modulus and other parameters in the loess hole, and can also complete the identification of soil three-dimensional geological information. Furthermore, a ball joint connection joint is set at the end of the right shell, and the robot can be connected to other in-hole detection instruments in the form of a ball joint connection, and can cooperate with other instruments to complete relevant test inspections. The robot can be used as a multi-functional experimental platform, and a variety of professional detection instruments can be connected to this platform to complete the all-round detection of parameters in the loess hole. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is an isometric view of the present invention.

[0019] Figure 2 It is the front view of the present invention.

[0020] Figure 3 It is a left view of the present invention.

[0021] Figure 4 2 is a structural diagram of a preferred embodiment of the present invention.

[0022] Figure 5 It is a cross-sectional view of section A of the present invention.

[0023] Figure 6 It is a cross-sectional view of section B of the present invention.

[0024] Figure 7 It is a schematic diagram of the overall structure of the crawler part of the present invention.

[0025] Figure 8 It is a schematic diagram of the internal structure of the crawler part of the present invention.

[0026] Fig. 9 It is a partial schematic diagram of the present invention.

[0027] Fig.10 It is a structural schematic diagram of the auxiliary support part of the present invention.

[0028] In the figure, the meaning of each number is:

[0029] 1—first housing; 2—connecting frame; 3—single-side crawler; 4—driven cam; 5—second housing; 6—active cam; 7—auxiliary support; 8—active camshaft; 9—key; 10—robot; 11—connecting bearing; 12—tensioning motor; 13—slideway guide rail; 101—ultrasonic sensor; 102—γ spectrum density measuring instrument; 103—camera; 104—bearing; 201—second slider; 202—middle connecting shaft; 203—first slider; 301—track side plate; 302— Bearing end cover; 303—driving pulley; 304—driving system bearing; 305—driving motor; 306—bevel gear; 307—driven pulley; 308—spur gear I; 309—spur gear II; 501—optical moisture content detector; 502—ball joint connector; 503—elastic body; 504—motor support; 505—control circuit board; 506—pressure sensor; 701—thin film pressure sensor; 702—mileage wheel; 703—spiral displacement sensor; 704—elastic sleeve. DETAILED DESCRIPTION

[0030] In order to make the technical solution of the present invention clearer and more specific, the present invention is further described in detail below in conjunction with the accompanying drawings.

[0031] The loess geological information described in the present invention refers to water content, soil density, modulus, three-dimensional geological information in the hole, etc.

[0032] Embodiment 1:

[0033] See also Figure 1-10The present embodiment provides an in-situ loess geological information detection robot, including a robot shell consisting of a left shell, an active camshaft, and a right shell; including a detection system consisting of an optical moisture content detector 501, an ultrasonic sensor 101, a high-definition camera 103, a γ spectrum density meter 102, a spiral displacement sensor 703, a mileage wheel 702, and a film pressure sensor 701, wherein the detection system is mainly used to detect relevant parameters of loess geological information; including a tensioning system consisting of an active tensioning mechanism and an auxiliary tensioning mechanism, wherein the active tensioning mechanism consists of a tensioning motor 12, an active camshaft 8, an active cam 6, a driven cam 4, and a connecting base frame 2, and the auxiliary tensioning system consists of an elastic sleeve 704, with and a connector connected to an elastic sleeve and a mileage wheel 702. The tensioning system is mainly used to provide the robot with the pressure along the aperture direction required for walking in the hole, also known as tensioning force; it includes a drive system (single side) composed of a track side plate 301, a drive motor 305, a bevel gear 306 and a gear 308, a gear 309, a drive pulley 303, a driven pulley 307, a bearing 302, and a rubber track, and its main function is to provide the robot with power for traveling in the loess hole; it includes a control system composed of a tensioning motor 12, three drive motors 305, various detection elements and a control circuit board 505, and its main function is to control the movement of the robot according to the different driving environments encountered by the robot.

[0034] Specifically, the robot housing is mainly composed of a left housing 1, an active camshaft 8, and a right housing 5. The left housing 1 and the right housing 5 are both rotating bodies with grooves inside, and the two ends of the active camshaft 8 are supported by two bearings fixed to the left housing 1 and the right housing 5 respectively.

[0035] Specifically, the detection system fixes an optical moisture detector 501 on the groove of the right shell 5, and its function is to detect the moisture content of the soil at a specified position in the loess hole, and transmit the detected data to the control circuit board 505 via wired communication to the data acquisition center on the ground; in order to detect the distance between the robot and the obstacle in front, three ultrasonic sensors 101 are fixed on the end face of the left shell of the robot in the form of a threaded connection, and its function is to transmit the distance information between the robot 10 and the obstacle in front to the control circuit board 505; a high-definition camera 103 is fixed on the groove of the left shell 1 of the robot in the form of a threaded connection, and its function is to construct a three-dimensional geological structure inside the hole. Information, through the three-dimensional geological information transmitted by it, the ground data acquisition center can complete the identification of interface information such as loess and paleosols through machine vision processing of this information; the gamma spectrum density measuring instrument 102 is fixed to the groove of the left shell 1 through a threaded connection, and its function is to detect the density of the soil at a specified position in the loess hole; the pressure sensor 506 is fixed to the upper end surface of the right slider 201 to monitor the pressure between the robot track and the inner wall of the hole; the spiral displacement sensor 703 is set between the elastic sleeve 704 and the mileage wheel 702, the mileage sensor is fixed to the mileage wheel 702 by precision welding, and the film pressure sensor 701 is fixed between the mileage wheel and its axis. The mileage wheel is used to record the distance traveled by the robot in the hole, the spiral displacement sensor 703 is used to record the deformation of the soil at any time when the robot travels in the hole, and the film pressure sensor 701 is used to record the pressure on the soil at any time. The data acquisition center can analyze the modulus information of the soil based on the parameters output by the above sensors.

[0036] At the same time, in order for the robot to be able to walk normally in the hole, the robot needs to have a certain pressure along the hole diameter direction, so the robot is equipped with a tensioning system.

[0037] Specifically, the tensioning system includes an active tensioning mechanism and an auxiliary tensioning mechanism. The active tensioning mechanism is composed of a tensioning motor, an active camshaft, an active cam group, a driven cam group, and a connecting base. The tensioning motor 12 is fixed on the motor support 504, and the motor support 504 is fixed to the inside of the right housing 5 by a threaded connection. The motor 12 is connected to the active camshaft 8, and its function is to provide driving force for the tensioning system; wherein the two ends of the active camshaft 8 are supported by two bearings fixed to the inside of the left and right housings, respectively, and its function is to provide support for the active cam and transmit the power of the tensioning motor; wherein the active cam group contains a total of 6 active cams, and the axial positioning of the 6 cams is performed by the form of shoulder fixing, and the circumferential positioning of the 6 active cams 6 is performed by the flat key 9, so as to ensure that each active cam 6 can accurately operate in its respective working position, and its function is to transmit the power from the active camshaft to the driven cam group; wherein there are a total of three connecting bases 2, and the three-side connecting bases are 120 degrees apart in the circumferential direction. The single-sided connecting base frame is composed of a left-end slider 203, a right-end slider 201, and an intermediate connecting shaft 202, and its function is to support the single-sided track 3 in the form of a simply supported beam; wherein the left-end slider 203 is fixed to the left shell through a slide groove guide rail 13, and a spring 503 is arranged between the end face of the slider and the upper end face of the shell groove. The right end slider is fixed to the right shell in the same way, and its function is to fix the simply supported structure circumferentially and allow movement along the grooves where the sliders are located, and the springs provide it with vibration reduction and reset functions; the middle connecting shaft 202 fixes the two end sliders together by welding, and its function is to connect the left and right end sliders and provide support for the driven cam group; there are three groups of driven cams 4, two in each group and the groups are 120 degrees apart circumferentially, and each group of cams is fixed on the middle connecting shaft 202 of the single-sided connecting base, and the fixing form is similar to the active cam group, and its function is to transmit power from the active cam group, and convert this power into displacement along the direction of the slide groove, and in this way enable the track 3 to obtain pressure along the aperture direction.

[0038] More specifically, the auxiliary tensioning system is mainly composed of an auxiliary support body 7, wherein the auxiliary support body 7 is composed of an elastic sleeve 704, a connector connected to the elastic sleeve 704, and a mileage wheel 702, wherein there are six elastic sleeves in total, three on each of the left and right shells and circumferentially spaced 120 degrees apart, wherein a single elastic sleeve 704 is fixed to the shell on one side by welding, and its function is to provide a certain preload force for the robot 10 to walk in the hole; the mileage wheel 702 is fixed to the elastic sleeve 704 by a connector, and its function is to transmit the preload force from the elastic sleeve and measure the distance the robot travels in the hole.

[0039] Specifically, the driving system is composed of three single-sided crawlers 3 with a circumferential angle of 120 degrees, wherein two side plates 301 of the single-sided crawlers 3 are fixed to the connecting base frame 2 by threaded connection.

[0040] More specifically, the single-sided crawler 3 includes two crawler side plates 301, a driving motor 305, a pair of bevel gears 306 and a pair of spur gears (308 and 309), a driving pulley 303, a driven pulley 307, and four bearings 304, as well as a rubber crawler. The driving motor 305 is fixed to the crawler side plate 301 by threaded connection, and its function is to provide driving force for the crawler walking mechanism; a bevel gear is fixed on the motor output shaft, meshing with the bevel gear 306 on the transmission shaft, and its function is to transmit the power of the driving motor 501 to the transmission shaft; another spur gear 309 on the transmission shaft meshes with a spur gear 308 on the shaft where the driving pulley 303 is located, so that the driving pulley 303 obtains a certain torque and speed, and its function is to drive the crawler to rotate; the transmission shaft and the pulley shaft are supported by bearings 304 at both ends, and the bearings 304 at both ends are fixed by bearing end covers fixed on the two side plates 301.

[0041] Specifically, the control system is mainly composed of a control circuit board 505, various components of the detection system, three drive motors 305 and a tensioning motor 12. The control circuit board 305 is the core component of the control system. Figure 6 As shown, the control circuit board 305 is fixed to the inner wall of the right shell in the form of a threaded connection. Its functions are: (1) receiving information transmitted by various components of the detection system; (2) processing and calculating the data information transmitted by the detection system, and transmitting the moisture content, soil density, modulus, three-dimensional geological information in the hole, etc. to the ground data acquisition center through its communication module; (3) outputting electrical signals to control the tensioning motor and the driving motor based on the obstacle information sent by the ultrasonic sensor 101 and the pressure sensor 506 and the pressure information between the track and the hole wall.

[0042] Preferably, a ball joint connector is provided at the end of the right shell body, so that the robot can be connected to other in-hole detection instruments in the form of a ball joint connection to cooperate with other instruments to complete relevant test inspections. The robot can be used as a multi-functional experimental platform, on which a variety of professional detection instruments can be connected and mounted to achieve refined detection of loess in-hole parameters.

[0043] The specific working process of the above-mentioned in-situ loess geological information detection robot is as follows:

[0044] First, after drilling is completed in the experimental area, the robot 10 is released into the hole via a cable.

[0045] Furthermore, the auxiliary tensioning mechanism of the tensioning system starts to work, and under the support of the pre-tightening force of the elastic sleeve 704 arranged on the two side shells, the robot 10 is fixed in the hole. Moreover, since three auxiliary support structures are adopted and are 120 degrees apart circumferentially, the centering accuracy is high, so that the axis of the robot 10 basically coincides with the axis of the hole.

[0046] Furthermore, the left shell 1 and the right shell 5 of the robot 10 serve as a base, and the active tensioning mechanism starts to act, such as Figure 4 As shown; first, the tensioning motor 12 starts to rotate and drives the active camshaft 8 to rotate through the coupling, and the key 9 transmits the power of the active camshaft 8 to the active cam af. At this time, the active cams af both obtain a certain speed and torque; thereafter, the rotational motion of the active cams a and f is converted into a linear motion along the direction of the slide groove through the cam transmission, so that the connecting frame 2 and the single-sided crawler 3 move a certain distance along the direction of the slide groove. At this time, the single-sided crawler 3 contacts the inner wall of the hole and obtains a certain contact pressure; at the same time, the active cams b and e rotate, and the driven cams h and i drive the connecting frame 2 to move linearly along the direction of the slide groove through the cam transmission, so that the second side crawler also contacts the wall and obtains a certain contact pressure; similarly, under the drive of the active cams c and d, the third side crawler also contacts the inner wall of the hole;

[0047] Furthermore, the pressure sensor 506 transmits the pressure data signal between the track and the hole wall to the control circuit board 505, and the control circuit board 505 determines whether the pressure is sufficient. If the pressure is insufficient, the control circuit board 505 sends a signal to control the tensioning motor 12 to continue rotating.

[0048] Further, each component of the detection system starts to work, the ultrasonic sensor 101 starts to detect the distance information between the obstacle and the robot 10, the gamma spectrum density meter 102 starts to detect the soil density at the relevant position, and the high-definition camera 103 starts to capture the three-dimensional image in the hole. Each component transmits this information to the control circuit board 505 in the form of wired communication, and then the control circuit board 505 processes and transmits it to the ground data collection center.

[0049] Furthermore, after the three-side crawlers all obtain contact pressure, the drive system starts to operate under the instruction of the electrical signal sent by the control circuit board 13. First, the drive motor 305 starts to rotate, and the spur gear 309 also obtains the speed and torque through the transmission of the bevel gear 306. Then the spur gear 308 meshes with it, and the shaft where the drive pulley 303 is located obtains power, driving the drive pulley 303 to rotate, and then the crawler rotates. Driven by the crawlers on the three sides, the robot starts to move along the hole.

[0050] Furthermore, the spiral displacement sensor 703 starts to work, measuring the deformation of the soil in contact with the odometer wheel 702, and the thin film pressure sensor 701 also starts to work, recording the pressure between the soil and the odometer wheel 702. These two types of information are transmitted to the control circuit board 505 via wired communication, and then transmitted to the data acquisition center via the control circuit board 505. The modulus information of the soil can be obtained through data analysis. At the same time, the odometer wheel 702 also starts to record the mileage of the robot 10 walking in the hole.

[0051] Furthermore, when the ultrasonic sensor 101 and the high-definition camera 103 are used together to detect that a turn is about to occur, the control circuit board 505 sends instructions to make the three-side drive motors 305 rotate at different speeds, and the robot passes the curve smoothly through the differential driving of the three-side tracks.

[0052] In particular, when the robot encounters defects such as protrusions, hollows, and wet collapse while walking in the hole, since the robot adopts a crawler walking mechanism, such obstacles can be overcome by the self-adaptation of the rubber crawler. When there is a large obstacle in front or it falls into the wet collapse area, the control circuit board 505 sends an electrical signal to drive the tensioning motor 12 to reverse and shrink it, and retract it through the cable.

[0053] The above specific implementation methods and examples are only common embodiments of the present invention. Obviously, various additions, modifications and substitutions can be made without departing from the spirit and scope of the present invention defined in the claims. Those skilled in the art should understand that the present invention can be changed in form, structure, layout, proportion, material, element, component and other aspects according to the specific environment and work requirements in practical applications without departing from the invention criteria. Therefore, the embodiments disclosed herein are only for illustration and not limitation, and the scope of the present invention is defined by the claims and their legal equivalents, and is not limited to the previous description.

Claims

1. A loess geological information in-situ detection robot, comprising a housing, the housing comprising a first housing (1) and a second housing (5) connected to the first housing (1), the first housing (1) and the second housing (5) being provided with crawlers respectively; It is characterized in that It also includes a tensioning system, which is used to provide the tensioning force along the hole diameter direction required for the robot to walk in the loess hole, including an active tensioning system; The active tensioning system comprises a tensioning motor (12), an active camshaft (8), an active cam group, a driven cam group and a connecting base frame (2); The tensioning motor (12) is located inside the housing, and is connected to the active camshaft (8) to provide driving force for the active tensioning system; The active camshaft (8) is used to provide support for the active cam assembly and transmit the driving force of the tensioning motor (12); The active cam group is used to transmit the driving force from the active cam shaft (8) to the driven cam group; The driven cam group is used to convert the driving force of the active cam group into a tensioning force for the crawler belt along the hole diameter direction; The connecting base frame (2) is used to support the crawler track and also to achieve a vibration reduction and reset function; The tensioning motor (12) is fixed inside the second housing (5), and the tensioning motor (12) is connected to the active camshaft (8) via a coupling; The two ends of the active camshaft (8) are supported by two connecting bearings (11) fixed inside the first housing (1) and the second housing (5), respectively; the active cam group comprises six active cams (6), and the six active cams (6) are axially positioned by means of shaft shoulder fixing and circumferentially positioned by means of keys (9), thereby ensuring that the active cams (6) can run accurately; The connecting frame (2) comprises three connecting frames (2) spaced 120° apart in the circumferential direction, and the connecting frames (2) support the crawler track in the form of a simply supported beam; any one of the connecting frames (2) comprises a first slider (203), a second slider (201) and an intermediate connecting shaft (202); the first slider (203) is fixed to the first shell (1) via a slide groove guide rail (13), and an elastic body (503) is provided between the end surface of the first slider (203) and the upper end surface of the groove of the first shell (1); the second slider (201) is connected in the same manner as the first slider (203), and is used to fix the simply supported structure in the circumferential direction, and moves along the groove where the first slider (203) or the second slider (201) is located, and provides vibration reduction and reset functions for the first slider (203) or the second slider (201) via the elastic body (503); The intermediate connecting shaft (202) fixes the first slider (203) or the second slider (201) to provide support for the driven cam group; the driven cam group includes three groups, any one group includes two driven cams (4), the groups are circumferentially spaced 120 degrees apart, and each group is fixed on the intermediate connecting shaft (202); It also includes a detection system for detecting parameters related to loess geological information.

2. The robot according to claim 1, characterized in that: It also includes an auxiliary tensioning system, which is used to provide pre-tensioning force for the robot to walk in the loess hole and measure the travel distance of the robot in the loess hole.

3. The robot according to claim 2, characterized in that: The auxiliary tensioning system comprises an elastic sleeve (704), a connecting body connected to the elastic sleeve (704), and a mileage wheel (702); The elastic sleeves (704) include six of them, with the first shell (1) and the second shell (5) respectively including three of them and spaced 120 degrees apart in the circumferential direction, and are used to provide a preload force for the robot to walk in the loess hole; the mileage wheel (702) is fixed to the elastic sleeve (704) via a connector, and is used to transmit the preload force from the elastic sleeve (704) and measure the travel distance of the robot in the hole.

4. The robot according to claim 1, characterized in that: The robot also includes a control system and a drive system. The control system is used to control the robot's movement mode according to different driving environments of the robot in the loess hole; the drive system is used to provide the robot with driving power in the loess hole.

5. The robot according to claim 4, characterized in that: The control system comprises a control circuit board (505), which is located on the inner wall of the second shell (5) and is used to receive information output by the detection system, process the information output by the detection system, and transmit the collected loess geological information to a ground data processing center via a communication module mounted on the control circuit board (505); and is also used to output an electrical signal for controlling the motor according to the received obstacle information and pressure information.

6. The robot according to claim 4, characterized in that: The drive system comprises three single-sided crawlers (3) with a circumferential angle of 120°, and the single-sided crawler (3) comprises a drive motor (305), a bevel gear (306), a spur gear, a crawler side plate (301), a drive pulley (303), a driven pulley (307), an elastic crawler, and a plurality of drive system bearings (304); The drive motor (305) is connected to the track side plate (301) and is used to provide driving force for the single-side track (3) to travel; a bevel gear (306) is fixed on the output shaft of the drive motor (305) and is used to transmit the power of the drive motor (305) to the transmission shaft, and then the spur gear II (309) on the transmission shaft is meshed with the spur gear I (308) on the shaft where the drive pulley (303) is located, so that the drive pulley (303) obtains torque and rotation speed, and drives the single-side track (3) to rotate; the transmission shaft is supported by a drive system bearing (304), and the drive system (304) bearing is fixed by a bearing end cover (302) fixed on the track side plate (301).

7. The robot according to claim 1, characterized in that: The detection system comprises an optical moisture content detector (501), an ultrasonic sensor (101), a camera (103), a gamma spectral density measuring instrument (102), a spiral displacement sensor (703), a thin film pressure sensor (701), a pressure sensor (506), and a data processing center; The optical moisture content detector (501) is used to detect the moisture content of the soil at any designated position in the loess hole; the ultrasonic sensor (101) is used to detect the distance between the robot and the obstacle in front of the loess hole; the camera (103) is used to construct three-dimensional geological information in the loess hole and identify the interface information between the loess and the paleosol; the gamma spectrum density measuring instrument (102) is used to detect the density of the soil at a designated position in the loess hole; the pressure sensor (506) is used to monitor the pressure between the track and the inner wall of the loess hole; the spiral displacement sensor (703) is used to record the deformation of the soil at any time when the robot is traveling in the loess hole; the thin film pressure sensor (701) is used to record the pressure on the soil at any time; the data processing center analyzes the soil modulus information according to the above-mentioned output parameters.

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