A flexible crawler type hole drilling rig for complex disturbance and its control method

Abstract

The present invention discloses a complex disturbance-resistant flexible crawler type hole-forming drill rig and its control method, belonging to the technical field of engineering equipment. The drill rig includes a machine body, a crawler assembly, a redundant mechanism, a connector, a side plate and a bottom plate. The connectors are arranged on both sides of the machine body, the side plates are connected to the connectors, a control mechanism is arranged at the bottom of the machine body, the crawler assembly is arranged on the side plates, the bottom plate is located below the machine body, and both ends of the bottom plate are respectively connected to the side plates on both sides. A crawler driving mechanism for driving the crawler assembly is arranged on the bottom plate, and the redundant mechanism is arranged at the bottom of the machine body. It has a high degree of intelligence, good toughness and strong anti-interference ability. The redundant mechanism is a spare part of the crawler assembly and can replace it to maintain the forward movement of the drill rig when the crawler assembly is abnormal. This method monitors the crawler assembly of the drill rig more comprehensively, can react to abnormal situations in a timely manner, avoid the increase of damage, and preferably ensure the safety of the operation of the drill rig.

Description

Technical Field

[0001] The present invention belongs to the technical field of engineering equipment, and relates to a hole-forming drill, in particular to a ductile crawler hole-forming drill for complex disturbances and a control method thereof. Background Art

[0002] At present, many engineering construction sites are located on steep mountain bodies where there are few people and it is difficult to carry out handling work. This undoubtedly causes great difficulties for the drilling and pre-deployment work of the drill. Crawler drills are widely used in engineering construction due to their advantages such as low ground pressure, large traction force, obvious advantages in deep turning and heavy load operation, strong passability and climbing ability.

[0003] However, when a crawler drill travels under overload, it may cause a dangerous accident in which the core iron breaks due to excessive crawler tension. When turning, it is easy to cause the wheel to come off and the core iron to fall off. When climbing steps, cracks will occur at the root of the tread pattern. When walking on the edge of the steps, it will also cause damage to the crawler. In addition, when traveling on a slope road, the crawler may also fall off. Its anti-interference and anti-damage capabilities are limited, and the anti-interference ability of the pre-deployment work of drilling construction is weak, and the probability of being affected by the drilling efficiency in complex terrains is relatively large.

[0004] In addition, after the crawler is damaged, due to its large weight and large volume, it is extremely difficult to replace and repair, and there are relatively large potential safety hazards. Summary of the Invention

[0005] An object of an embodiment of the present invention is to provide a ductile crawler hole-forming drill for complex disturbances, which has a high degree of intelligence and good ductility, and can better improve the above problems.

[0006] Another object of an embodiment of the present invention is to provide a control method for a ductile crawler hole-forming drill for complex disturbances. This method can better monitor the operation of the drill, accurately judge the cause of the drill abnormality, and give corresponding treatment plans.

[0007] The embodiments of the present invention are implemented as follows:

[0008] An embodiment of the present invention provides a complex disturbance-resistant flexible crawler type hole-forming drilling rig, which includes a machine body, a crawler assembly, a redundant mechanism, a connector, a side plate and a bottom plate; mounting holes are provided on both sides of the machine body, and the connector is arranged in the mounting holes; the number of the side plates is two and they are distributed on both sides of the machine body, and the side plates are connected to the connector; a control mechanism for controlling the disconnection of the connector is provided at the bottom of the machine body; the number of the crawler assemblies is two groups and they are respectively arranged on the two side plates; the bottom plate is located below the machine body, and both ends of the bottom plate are respectively connected to the side plates on both sides, and a crawler driving mechanism for driving the crawler assembly is provided on the bottom plate; the redundant mechanism includes a support leg, a step transmission assembly and a step driving mechanism, a receiving groove is provided at the bottom of the machine body, the support leg is arranged in the receiving groove, one end of the support leg is rotatably connected to the bottom of the machine body, and the other end is a free end, the step transmission assembly is arranged at the bottom of the machine body and close to the rotating end of the support leg, the step transmission assembly is connected to the support leg through a pin shaft, the step driving mechanism is arranged at the bottom of the machine body and is in transmission connection with the step transmission assembly, and a limiting member is further provided on one side of the receiving groove, and the limiting member is used for clamping or releasing the support leg.

[0009] Further, the connector includes a first connection portion, a second connection portion and a third connection portion; a plurality of card slots are provided on the outer peripheral surface of one end of the first connection portion along the circumferential direction, a clamping post is provided at the bottom of the card slot, a first spring is sleeved on the clamping post, a second spring is provided on the side wall in the axial direction of the card slot, a clamping plate is provided at the front end of the second spring, and sliding grooves are provided on both side walls of the card slot, and both ends of the clamping plate are slidably matched with the sliding grooves; a plurality of teeth are provided on the outer edge of one end of the second connection portion along the circumferential direction, one end of the tooth is hinged to the second connection portion, a clamping hole is provided on the tooth, the tooth is clamped in the card slot and the clamping post is inserted into the clamping hole, the clamping plate presses the free end of the tooth, a through hole is provided at the end of the first connection portion away from the second connection portion, the through hole communicates with the card slot, a pull rod is provided in the through hole, and one end of the pull rod is connected to the clamping plate; the third connection portion is located at the end of the first connection portion away from the second connection portion, and the third connection portion is connected to the pull rod; the side plate is connected to the second connection portion.

[0010] Further, the control mechanism includes a control motor and a transmission assembly; the transmission assembly includes a first transmission shaft, a second transmission shaft, a crank, and a connecting rod. The control motor is disposed at the bottom of the body, and a bevel gear is provided on the output shaft of the control motor. An installation groove is provided at the bottom of the body corresponding to the installation hole. The second transmission shaft is rotatably disposed in the installation groove. The crank is connected to the second transmission shaft. One end of the connecting rod is eccentrically connected to the crank, and the other end of the connecting rod is connected to the third connecting portion. A bevel gear is provided at the lower end of the second transmission shaft, and bevel gears are provided at both ends of the first transmission shaft. The first transmission shaft is rotatably supported at the bottom of the body. The number of the first transmission shafts is multiple and the bevel gears at the head and tail are meshed in sequence. The bevel gears on the first rotating shafts at both ends are respectively meshed with the bevel gear on the control motor and the bevel gear on the second transmission shaft.

[0011] Further, the stepping transmission assembly includes a stepping driving gear and a stepping driven gear that mesh with each other, and the pin shaft is disposed on one side of the stepping driven gear.

[0012] Further, the stepping driving mechanism includes a stepping driving motor, a first gear, a second gear, a first belt pulley, a second belt pulley, and a first transmission belt; the stepping driving motor is connected to the rotating shaft of the first gear through a coupling; the first gear meshes with the second gear; the first belt pulley is coaxially disposed with the second gear and can rotate synchronously; the second belt pulley is coaxially disposed with the stepping driving gear and can rotate synchronously; the first belt pulley and the second belt pulley are connected by the first transmission belt.

[0013] Further, a supporting foot is provided at the free end of the leg. The supporting foot is hinged to the leg. The number of the legs is at least four, and the number of the legs, the stepping transmission assembly, and the stepping driving mechanism is the same and they correspond to each other one by one.

[0014] Further, the crawler assembly includes crawler wheels and a crawler chain; the crawler wheels are rotatably supported on the side plates, and the crawler chain is wound around the crawler wheels; the crawler driving mechanism includes a crawler driving motor, a driving shaft, a third belt pulley, a fourth belt pulley, and a second transmission belt. The crawler driving motor is disposed on the bottom plate, the driving shaft is rotatably supported on the bottom plate, both ends of the driving shaft are respectively connected to the rotating shafts of one crawler wheel on both sides of the body, the third belt pulley is disposed on the output shaft of the crawler driving motor, the fourth belt pulley is disposed on the driving shaft, and the third belt pulley and the fourth belt pulley are connected by the second transmission belt.

[0015] Furthermore, a pressure sensor is provided on the track wheel; a speed sensor for monitoring its rotational speed and a temperature sensor for monitoring its temperature are provided near the drive shaft; a first camera for monitoring the surrounding environment is provided at the front end of the body, and second cameras for monitoring the track chain are provided on both sides of the body.

[0016] An embodiment of the present invention further provides a control method for a tough crawler drilling rig for complex disturbances, comprising the following steps:

[0017] S1: The pressure sensor collects the pressure data between the track wheel and the track chain in real time. The speed sensor and temperature sensor collect the speed and temperature of the drive shaft in real time. The first camera collects the road condition information of the surrounding environment in real time. The second camera collects the information of the track chain in real time.

[0018] S2: Process and analyze each data and determine whether it is normal; if all data are within the normal value range, the drilling rig is operating normally; if any data is abnormal, a braking signal is issued;

[0019] S3: After the brake signal is issued, the cause is analyzed and the damage status of the drilling rig is determined, and a treatment plan is given. If the treatment plan requires stopping due to continuous damage, the process proceeds to step S4 to re-plan the plan; otherwise, the brake is released after the fault is eliminated and the drilling rig continues to operate;

[0020] S4: Disengage the crawler assembly, start the redundant mechanism, and release the redundant mechanism to ensure that the drilling rig can continue to operate.

[0021] In step S3, the integrity of the drilling rig is evaluated based on the integrity of the track chain or the wear of the track wheel. If the integrity of the track is lower than the threshold or the pressure measured by the pressure sensor is lower than the set threshold, it indicates that the drilling rig component is damaged and failed, and it is necessary to stop the continuous damage and enter step S4 to re-plan the plan; if the integrity of the track chain is not lower than the threshold or the pressure measured by the pressure sensor is not lower than the threshold, it indicates that the drilling rig component has not reached the damage and failure standard, and it is necessary to further troubleshoot the fault based on the information collected by the first camera and / or the second camera, and then release the brake and the drilling rig continues to operate.

[0022] The beneficial effects of the present invention are:

[0023] The tough crawler-type hole-forming drill for complex disturbances provided in the embodiment of the present invention has a high degree of intelligence, good toughness, and strong anti-interference ability. The redundant mechanism is a spare part of the crawler assembly. When the crawler assembly is working normally, the redundant mechanism does not work. When the crawler assembly is damaged and cannot work normally, the first connecting part and the second connecting part can be automatically separated, so that the crawler assembly falls off the machine body. At the same time, the legs of the redundant mechanism unfold and replace the crawler assembly to support the machine body, thereby driving the drilling rig to move forward in a step-by-step manner.

[0024] The control method of the flexible crawler hole-forming rig for complex disturbances provided by the embodiments of the present invention monitors the working conditions of multiple parts of the crawler assembly, transmits the data to the cloud, processes and analyzes the data through the cloud, and determines whether the data is abnormal. If the data is abnormal, the cause of the abnormality is determined, and then the corresponding treatment plan is given. This method monitors the crawler assembly of the rig more comprehensively, and analyzes and judges the data more accurately, can respond to abnormal situations in a timely manner, avoid greater damage, better guarantee the safety of the rig operation, and improve its reliability. Brief Description of the Drawings

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as a limitation of the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0026] Figure 1 It is a schematic structural diagram of a flexible crawler hole-forming rig for complex disturbances from a perspective provided in Embodiment 1 of the present invention;

[0027] Figure 2 It is a schematic structural diagram of a flexible crawler hole-forming rig for complex disturbances from another perspective provided in Embodiment 1 of the present invention;

[0028] Figure 3 It is Figure 2 a schematic structural diagram of the redundant mechanism for the crawler assembly to deploy in

[0029] Figure 4 It is Figure 2 a schematic structural diagram of the crawler assembly falling off in

[0030] Figure 5 It is Figure 4 a partial enlarged view of part A in

[0031] Figure 6 a schematic structural diagram of the connector;

[0032] Figure 7 It is Figure 6 an exploded view of

[0033] Figure 8 a schematic structural diagram of the redundant mechanism;

[0034] Figure 9 a schematic structural diagram of the stepping transmission assembly.

[0035] In the figure: 10 - body; 11 - side plate; 12 - bottom plate; 20 - crawler assembly; 21 - crawler wheel; 22 - crawler chain; 23 - crawler drive motor; 24 - drive shaft; 25 - third pulley; 26 - fourth pulley; 27 - second transmission belt; 30 - redundant mechanism; 31 - leg; 311 - support foot; 312 - limit member; 32 - step transmission assembly; 321 - step driving gear; 322 - step driven gear; 323 - pin shaft; 33 - step driving mechanism; 331 - step driving motor; 332 - first gear; 333 - second gear; 334 - first pulley; 335 - second pulley; 336 - first transmission belt; 40 - connector; 41 - first connection part; 411 - card slot; 412 - clamping post; 413 - first spring; 414 - second spring; 415 - clamping plate; 416 - pull rod; 42 - second connection part; 421 - engaging tooth; 422 - clamping hole; 43 - third connection part; 50 - control mechanism; 51 - control motor; 52 - first transmission shaft; 53 - second transmission shaft; 54 - crank; 55 - connecting rod. Detailed implementation manners

[0036] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. The components of the embodiments of the present invention usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0037] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0038] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0039] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship when the product of the present invention is normally placed, or the orientation or positional relationship commonly understood by those skilled in the art. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation to the present invention. In addition, the terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0040] In the description of the present invention, it should also be noted that, unless otherwise clearly specified and defined, the terms "arranged", "installed", "connected", and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0041] Embodiment 1

[0042] Reference Figures 1-4 As shown, Embodiment 1 of the present invention provides a flexible crawler type hole-forming drill for complex disturbances, including a machine body 10, a crawler assembly 20, a redundant mechanism 30, a connector 40, a side plate 11, and a bottom plate 12.

[0043] The machine body 10 is the main body of the drill, which can adopt the existing technology or be improved or designed according to needs. Installation holes are provided on both sides of the machine body 10. In this embodiment, two installation holes are provided on each side.

[0044] Reference Figure 6 and 7 As shown, the connector 40 includes a first connection portion 41, a second connection portion 42, and a third connection portion 43. The first connection portion 41 is a columnar structure. A plurality of card slots 411 are provided on the outer peripheral surface of one end of the first connection portion 41 along the circumferential direction. A card post 412 is provided at the bottom of the card slot 411. A first spring 413 is sleeved on the card post 412. A second spring 414 is provided on the side wall in the axial direction of the card slot 411. A card plate 415 is provided at the front end of the second spring 414. Slide grooves are provided on both side walls of the card slot 411. Both ends of the card plate 415 are slidably matched with the slide grooves. The second connection portion 42 is also a columnar structure. A plurality of teeth 421 are provided on the outer edge of one end of the second connection portion 42 along the circumferential direction. One end of the tooth 421 is hinged to the second connection portion 42. The axial direction of the hinge axis is the same as the radial direction of the second connection portion 42. The other end of the tooth 421 is a free end. A card hole 422 is provided on the tooth 421. The tooth 421 is clamped in the card slot 411 and the card post 412 is inserted into the card hole 422. The card plate 415 presses the free end of the tooth 421. At this time, the second spring 414 is in an open state, so that the first connection portion 41 and the second connection portion 42 are connected together. A through hole is provided on the end surface of the first connection portion 41 away from the second connection portion 42. The through hole communicates with the card slot 411. A pull rod 416 is provided in the through hole. The pull rod 416 is slidably matched with the through hole. One end of the pull rod 416 is connected to the card plate 415. The other end of the pull rod 416 is located outside the through hole. The third connection portion 43 is located at the end of the first connection portion 41 away from the second connection portion 42. The third connection portion 43 is connected to the pull rod 416.

[0045] A connector 40 is provided in each mounting hole on both sides of the body 10. The first connecting portion 41 is fixed in the mounting hole, and one end of the second connecting portion 42 away from the first connecting portion 41 is located outside the mounting hole.

[0046] There are two side plates 11, which are distributed on both sides of the body 10, and the side plates 11 are connected to the second connecting portion 42. The bottom plate 12 is located below the body 10, and both ends of the bottom plate 12 are respectively connected to the two side plates 11.

[0047] There are two sets of track assemblies 20, which are respectively located on both sides of the body 10. The track assembly 20 includes a track wheel 21 and a track chain 22. The track wheel 21 is rotatably supported on the side plate 11 through a rotating shaft, and the track chain 22 is wound around the track wheel 21. A track driving mechanism for driving the track wheel 21 is provided on the bottom plate 12. The track driving mechanism includes a track driving motor 23, a driving shaft 24, a third belt pulley 25, a fourth belt pulley 26 and a second transmission belt 27. The track driving motor is arranged on the bottom plate 12, the driving shaft 24 is rotatably supported on the bottom plate 12, and both ends of the driving shaft 24 are respectively connected to the rotating shafts of a track wheel 21 on both sides of the body 10. The driving shaft 24 rotates synchronously with the track wheel 21. The third belt pulley 25 is arranged on the output shaft of the track driving motor 23, the fourth belt pulley 26 is arranged on the driving shaft 24, and the third belt pulley 25 and the fourth belt pulley 26 are connected by the second transmission belt 27. Of course, the third belt pulley 25 and the fourth belt pulley 26 can also adopt sprockets. At this time, the second transmission belt 27 adopts a chain.

[0048] Reference Figure 4 and 5 As shown, a control mechanism 50 is provided at the bottom of the body 10, and the control mechanism 50 is used to control the disconnection of the connector 40.

[0049] The control mechanism 50 includes a control motor 51 and a transmission assembly. The transmission assembly includes a first transmission shaft 52, a second transmission shaft 53, a crank 54 and a connecting rod 55. The control motor 51 is arranged at the bottom of the body 10. A bevel gear is provided on the output shaft of the control motor 51. An installation groove is provided at the bottom of the body 10 corresponding to the installation hole, and the installation groove communicates with the installation hole. The second transmission shaft 53 is rotatably arranged in the installation groove, and the axis direction of the second transmission shaft 53 is perpendicular to the bottom surface of the body 10. The crank 54 is located in the installation groove, and the crank 54 is connected to the second transmission shaft 53. One end of the connecting rod 55 is eccentrically hinged to the crank 54, and the other end of the connecting rod 55 is hinged to the third connecting portion 43. The lower end of the second transmission shaft 53 extends out of the installation groove, and a bevel gear is provided at the lower end of the second transmission shaft 53. Bevel gears are provided at both ends of the first transmission shaft 52. The first transmission shaft 52 is rotatably supported at the bottom of the body 10. The number of the first transmission shafts 52 is multiple and the bevel gears at the head and tail are engaged in sequence. The bevel gears on the first rotating shafts at both ends are respectively engaged with the bevel gear on the control motor 51 and the bevel gear on the second transmission shaft 53. In this way, the control motor 51 can drive the first transmission shaft 52 to rotate, the first transmission shaft 52 can drive the second transmission shaft 53 to rotate, the second transmission shaft 53 drives the crank 54 to rotate, and the crank 54 drives the connecting rod 55 to move, so as to pull the third connecting portion 43 of the connector 40 to move inwards. The third connecting portion 43 drives the pull rod 416 and the clamping plate 415 to slide inwards, so that the clamping plate 415 is separated from the free end of the engaging tooth 421. At this time, the first spring 413 pops the engaging tooth 421 out of the clamping groove 411, so that the second connecting portion 42 is separated from the first connecting portion 41. In this way, the side plate 11, the bottom plate 12, the crawler assembly 20 and the crawler driving mechanism are detached from the body 10.

[0050] The redundant mechanism 30 includes a support leg 31, a step transmission assembly 32 and a step driving mechanism 33.

[0051] A receiving groove is provided at the bottom of the body 10. The support leg 31 is arranged in the receiving groove. One end of the support leg 31 is rotatably connected to the bottom of the body 10, and the other end is a free end. A support foot 311 is provided at the free end of the support leg 31, and the support foot 311 is hinged to the support leg 31. When the support leg 31 is not in use, it is stored in the receiving groove. A limiting member 312 is further provided on one side of the receiving groove, and the limiting member 312 is used to clamp or release the support leg 31. When the limiting member 312 clamps the support leg 31, the support leg 31 is located in the receiving groove in a stored state. When the limiting member 312 releases the support leg 31, the free end of the support leg 31 will move out of the receiving groove and be in an unfolded state. In this embodiment, the limiting member 312 adopts a hydraulic cylinder, and the hydraulic cylinder is placed horizontally. The support leg 31 can be clamped or released by the telescoping of the hydraulic cylinder.

[0052] The step transmission assembly 32 is arranged at the bottom of the body 10 and close to the rotating end of the support leg 31.

[0053] Reference Figure 8 As shown, the stepping transmission assembly 32 includes a stepping driving gear 321 and a stepping driven gear 322 that mesh with each other. Both the stepping driving gear 321 and the stepping driven gear 322 are supported by a rotating shaft at the bottom of the machine body 10, and are close to one end where the support leg 31 is rotatably connected to the machine body 10. A pin shaft 323 is provided on one side of the stepping driven gear 322 (Reference Figure 9 shown). The pin shaft 323 is located at an eccentric position of the stepping driven gear 322, and the pin shaft 323 is also connected to the support leg 31. In this embodiment, there is a partial section on the circumferential surface of the stepping driving gear 321 without teeth. During the process of the stepping driving gear 321 driving the stepping driven gear 322 to rotate, when the section without teeth of the stepping driving gear 321 corresponds to the stepping driven gear 322, the stepping driven gear 322 will not rotate, so that the stepping driven gear 322 forms an intermittent rotational motion.

[0054] The stepping driving mechanism 33 is arranged at the bottom of the machine body 10 and is in transmission connection with the stepping transmission assembly 32.

[0055] The stepping driving mechanism 33 includes a stepping driving motor 331, a first gear 332, a second gear 333, a first pulley 334, a second pulley 335 and a first transmission belt 336. The stepping driving motor 331 is connected to the rotating shaft of the first gear 332 through a coupling. The first gear 332 meshes with the second gear 333. The first pulley 334 is coaxially arranged with the second gear 333 and can rotate synchronously. The second pulley 335 is coaxially arranged with the stepping driving gear 321 and can rotate synchronously. The first pulley 334 and the second pulley 335 are connected by the first transmission belt 336. The first pulley 334 and the second pulley 335 can be belt pulleys or sprockets, and the corresponding first transmission belt 336 is a belt or a chain.

[0056] In this embodiment, the number of the support legs 31 is four. The number of the stepping transmission assemblies 32 and the stepping driving mechanisms 33 is the same as that of the support legs 31 and they correspond one by one. Of course, the number of the support legs 31 can also be more than four.

[0057] The crawler wheel 21 includes a driving wheel and a driven wheel. A pressure sensor is provided on the outer peripheral surface of the driven wheel in the crawler wheel 21. The pressure sensor adopts a strain gauge type pressure sensor, and the pressure sensor is used to monitor the pressure at the driven wheel. A rotational speed sensor for monitoring its rotational speed and a temperature sensor for monitoring its temperature are provided at the drive shaft 24. The rotational speed sensor and the temperature sensor are arranged adjacent to each other. The rotational speed sensor adopts a laser type sensor, and the temperature sensor adopts a non-contact temperature sensor. A first camera for monitoring the surrounding environment is provided at the front end of the body 10, and second cameras for monitoring the crawler chain 22 are provided at both side edges of the body 10. The pressure sensor, the rotational speed sensor, the temperature sensor, the first camera, and the second camera are all communicatively connected to the data processing module on the body 10. The micro data processing module can upload the collected data to the cloud for storage, and the cloud can process and analyze the data. Of course, the collected data can also be stored in a memory card in the body 10 or other storage devices capable of storing data.

[0058] The working principle of the crawler drill provided by the present invention is as follows:

[0059] When the crawler assembly 20 can work normally, the redundant mechanism 30 does not work. When the crawler assembly 20 is damaged and cannot work normally, the control mechanism 50 works to separate the first connecting portion 41 and the second connecting portion 42, so that the crawler assembly 20 falls off from the body 10. At the same time, the legs 31 of the redundant mechanism 30 are deployed and replace the crawler assembly 20 to support the body 10. The stepping drive mechanism 33 of the redundant mechanism 30 works, and the legs 31 can be driven to swing through the stepping transmission assembly 32, so as to drive the drill to move forward step by step. In this way, the working efficiency of the drill is greatly improved. Because when the crawler assembly 20 is damaged, there is no need to stop the drill for repair. Instead, the damaged crawler assembly 20 is automatically detached from the body 10, and then the drill is driven to continue moving forward by the redundant mechanism 30. The detached crawler assembly 20 is then recovered by the staff.

[0060] Embodiment 2

[0061] Embodiment 2 of the present invention provides a control method for a complex perturbation resistant flexible crawler type hole-forming drill, including the following steps:

[0062] S1: Real-time collect the pressure data between the crawler wheel 21 and the crawler chain 22 through the pressure sensor, real-time collect the rotational speed and temperature of the drill drive shaft 24 through the rotational speed sensor and the temperature sensor, real-time collect the road condition information of the surrounding environment through the first camera, and real-time collect the information of the crawler chain 22 through the second camera.

[0063] The collected data can be uploaded to the cloud for storage. This makes it convenient for relevant staff to view the collected data at any time. Of course, the collected data can also be stored in a memory card in the body 10, or other storage devices that can store data.

[0064] S2: Process and analyze each data and determine whether it is normal; if each data is within the normal value range, the drilling rig is operating normally; if any data is abnormal, a braking signal is issued.

[0065] Pressure data is primarily used to analyze the wear of the track wheels 21. As the drive wheel wears, the contact area between it and the track chain 22 decreases, while the contact area between the driven wheel and the track chain 22 increases. This reduces the pressure collected by the pressure sensor. When the pressure drops below a set threshold, an alarm is triggered, and actions are taken based on the damage. The pressure threshold needs to be set based on actual conditions.

[0066] The speed sensor is used to collect the speed of the drive shaft 24. When the speed exceeds a set threshold, an alarm signal is issued and a brake signal is sent to the crawler drive motor to stop driving. The speed threshold needs to be set according to actual conditions.

[0067] The temperature sensor is used to collect the temperature of the drive shaft 24. When the temperature exceeds a set threshold, an alarm signal is issued and a brake signal is sent to the crawler drive motor to stop driving. Generally, the normal operating temperature range can be set to -20°C to 65°C.

[0068] The first camera collects real-time road condition information of the surrounding environment to ensure that the drilling rig can move forward on the correct and reasonable route.

[0069] The second camera captures the track chain 22 in real time and transmits the captured images to a cloud server for processing and analysis to determine its integrity. When the integrity of the track chain 22 falls below a set threshold, an alarm is issued. The track chain 22 integrity threshold can be set to 80%, which refers to 80% of the track chain portion in the image captured by the second camera.

[0070] S3: After the brake signal is issued, the cause is analyzed and the damage status of the drilling rig is determined, and then a treatment plan is given. If the treatment plan requires stopping due to continuous damage, then step S4 is entered to re-plan the plan; otherwise, the brake is released after the fault is eliminated and the drilling rig continues to operate.

[0071] In this embodiment, the integrity of the drill rig is evaluated according to the integrity of the crawler chain or the wear degree of the crawler wheel. If the integrity of the crawler is lower than the threshold value or the pressure measured by the pressure sensor is less than the set threshold value, it indicates that the components of the drill rig are damaged and ineffective, and it is necessary to stop the continuous damage and enter step S4 to re-plan the scheme; if the integrity of the crawler chain is not lower than the threshold value or the pressure measured by the pressure sensor is not less than the threshold value, it indicates that the components of the drill rig do not reach the damage and failure standard, and it is necessary to further troubleshoot according to the information collected by the first camera or / and the second camera. After that, the brake is released and the drill rig continues to run.

[0072] According to the information collected by the first camera or / and the second camera, further troubleshoot according to the following operations, and then release the brake:

[0073] (1) When the value of the temperature sensor exceeds the threshold range, the whole drill rig will first receive the braking command, and judge whether there are obstacles blocking the road conditions through the data information collected by the first camera. If an obstacle is found, re-plan the travel path and restart the drill rig to continue running; judge whether there is foreign matter affecting the rotation of the drive wheel through the information collected by the second camera, and issue a reverse movement command to eliminate the influence of the foreign matter, and re-judge whether the abnormality still exists until the abnormality is eliminated, re-plan the path and restart the drill rig to continue running; if neither of the above two phenomena appears, consider that there is a problem with the drive hardware, and issue an alarm waiting for replacement and repair;

[0074] (2) When the value collected by the speed sensor exceeds the upper threshold, the whole drill rig will first receive the braking command, and judge whether there are obstacles blocking the road conditions through the data information collected by the first camera. If an obstacle is found, re-plan the travel path and restart the drill rig to continue running; when the value collected by the speed sensor exceeds the lower threshold, judge whether there is foreign matter affecting the rotation of the drive wheel through the information collected by the second camera, and issue a reverse movement command to eliminate the influence of the foreign matter, and re-judge whether the abnormality still exists until the abnormality is eliminated, re-plan the path and restart the drill rig to continue running.

[0075] The temperature sensor and the speed sensor complement each other to improve the detection rate of abnormal conditions.

[0076] S4: Disengage the crawler assembly 20 and start the redundant mechanism 30. The redundant mechanism 30 is released to ensure that the drill rig can continue to run.

[0077] The crawler assembly 20 is disengaged from the drill rig body through the connector given in Embodiment 1. At the same time, the redundant mechanism 30 is started to release the support leg 31 to replace the crawler assembly 20 to support the body 10 and move forward step by step.

[0078] In addition, it is also possible to determine whether there are obstacles blocking the road conditions based on the data information collected by the first camera. If an obstacle is found, the traveling path is re-planned and the stepping drive mechanism of the redundant mechanism is activated to control the drill to continue moving forward.

[0079] The control method of the present invention can greatly improve the toughness of the drill. Because when the crawler assembly 20 is damaged and cannot continue to work, the crawler assembly 20 can automatically fall off the body 10, and at the same time, the redundant mechanism 30 is released. The redundant mechanism 30 can drive the drill to move forward step by step. Since the damaged crawler assembly 20 is detached, there is no need for repair and replacement, which better ensures the working efficiency of the drill. Moreover, it has a high degree of intelligence. All data are automatically collected, uploaded to the cloud, and then automatically analyzed and judged. If the data is normal, the drill operates normally. If the data is abnormal, the cause of the abnormality is automatically analyzed and judged, and different treatment plans are given according to different causes.

[0080] The present invention is not limited to the above optional embodiments. Anyone can obtain other various forms of products under the inspiration of the present invention. However, no matter what changes are made in its shape or structure, as long as the technical solutions fall within the scope defined by the claims of the present invention, they are all within the protection scope of the present invention.

Claims

1. A flexible crawler type hole drilling rig for complex disturbances, characterized in that: It includes a body, a crawler assembly, a redundant mechanism, a connector, side plates and a bottom plate; mounting holes are provided on both sides of the body, and the connector is arranged in the mounting holes; the number of the side plates is two and they are distributed on both sides of the body, and the side plates are connected to the connector; a control mechanism for controlling the disconnection of the connector is provided at the bottom of the body; the number of the crawler assemblies is two groups and they are respectively arranged on the two side plates; the bottom plate is located below the body, and both ends of the bottom plate are respectively connected to the side plates on both sides, and a crawler driving mechanism for driving the crawler assembly is provided on the bottom plate; the redundant mechanism includes a leg, a stepping transmission assembly and a stepping driving mechanism, a receiving groove is provided at the bottom of the body, the leg is arranged in the receiving groove, one end of the leg is rotatably connected to the bottom of the body, and the other end is a free end, the stepping transmission assembly is arranged at the bottom of the body and close to the rotating end of the leg, the stepping transmission assembly is connected to the leg through a pin shaft, the stepping driving mechanism is arranged at the bottom of the body and is in transmission connection with the stepping transmission assembly, and a limiting member is further provided on one side of the receiving groove, and the limiting member is used for clamping or releasing the leg; The connector includes a first connection part, a second connection part and a third connection part; a plurality of card slots are provided on the outer peripheral surface of one end of the first connection part along the circumferential direction, a clamping post is provided at the bottom of the card slot, a first spring is sleeved on the clamping post, a second spring is provided on the side wall in the axial direction of the card slot, a clamping plate is provided at the front end of the second spring, and sliding grooves are provided on both side walls of the card slot, and both ends of the clamping plate are slidably matched with the sliding grooves; a plurality of teeth are provided on the outer edge of one end of the second connection part along the circumferential direction, one end of the tooth is hinged to the second connection part, a clamping hole is provided on the tooth, the tooth is clamped in the card slot and the clamping post is inserted into the clamping hole, the clamping plate presses the free end of the tooth, a through hole is provided at the end of the first connection part away from the second connection part, the through hole communicates with the card slot, a pull rod is provided in the through hole, and one end of the pull rod is connected to the clamping plate; the third connection part is located at the end of the first connection part away from the second connection part, and the third connection part is connected to the pull rod; the side plate is connected to the second connection part; The control mechanism includes a control motor and a transmission assembly; the transmission assembly includes a first transmission shaft, a second transmission shaft, a crank, and a connecting rod. The control motor is arranged at the bottom of the machine body. A bevel gear is provided on the output shaft of the control motor. An installation groove is provided at the bottom of the machine body corresponding to the installation hole. The second transmission shaft is rotatably arranged in the installation groove. The crank is connected to the second transmission shaft. One end of the connecting rod is eccentrically connected to the crank, and the other end of the connecting rod is connected to the third connecting portion. A bevel gear is provided at the lower end of the second transmission shaft. Bevel gears are provided at both ends of the first transmission shaft. The first transmission shaft is rotatably supported at the bottom of the machine body. The number of the first transmission shafts is multiple and the bevel gears at the head and tail are engaged in sequence. The bevel gears on the first transmission shafts at both ends are respectively engaged with the bevel gear on the control motor and the bevel gear on the second transmission shaft.

2. The flexible crawler type hole-forming drill for complex disturbance according to claim 1, wherein: The stepping transmission assembly includes a stepping driving gear and a stepping driven gear that are engaged with each other. The pin shaft is arranged on one side of the stepping driven gear.

3. The flexible crawler type hole-forming drill for complex disturbance according to claim 2, characterized in that: The stepping driving mechanism includes a stepping driving motor, a first gear, a second gear, a first belt pulley, a second belt pulley, and a first transmission belt; the stepping driving motor is connected to the rotating shaft of the first gear through a coupling; the first gear is engaged with the second gear; the first belt pulley is coaxially arranged with the second gear and can rotate synchronously; the second belt pulley is coaxially arranged with the stepping driving gear and can rotate synchronously; the first belt pulley and the second belt pulley are connected by the first transmission belt.

4. The flexible crawler type hole-forming drill for complex disturbance according to claim 1, characterized in that: A supporting foot is provided at the free end of the leg. The supporting foot is hinged to the leg. The number of the legs is at least four. The number of the legs, the stepping transmission assembly, and the stepping driving mechanism is the same and they correspond one by one.

5. The flexible crawler type hole-forming drill for complex disturbance according to claim 1, wherein: The crawler assembly includes crawler wheels and a crawler chain; the crawler wheels are rotatably supported on the side plates, and the crawler chain is wound around the crawler wheels; the crawler driving mechanism includes a crawler driving motor, a driving shaft, a third belt pulley, a fourth belt pulley, and a second transmission belt. The crawler driving motor is arranged on the bottom plate. The driving shaft is rotatably supported on the bottom plate. Both ends of the driving shaft are respectively connected to the rotating shafts of one crawler wheel on both sides of the machine body. The third belt pulley is arranged on the output shaft of the crawler driving motor. The fourth belt pulley is arranged on the driving shaft. The third belt pulley and the fourth belt pulley are connected by the second transmission belt.

6. The flexible crawler type hole-forming drill for complex disturbing according to claim 5, wherein: A pressure sensor is provided on the crawler wheel; a speed sensor for monitoring its speed and a temperature sensor for monitoring its temperature are provided near the driving shaft; a first camera for monitoring the surrounding environment is provided at the front end of the machine body, and second cameras for monitoring the crawler chain are provided on both sides of the machine body.

7. A control method for a flexible crawler type hole-forming drilling rig for complex disturbance according to any one of claims 1 to 6, characterized in that: Including the following steps: S1: Real-time collect the pressure data between the crawler wheel and the crawler chain through the pressure sensor, real-time collect the speed and temperature of the driving shaft through the speed sensor and the temperature sensor, real-time collect the road condition information of the surrounding environment through the first camera, and real-time collect the information of the crawler chain through the second camera; S2: Process and analyze each data and determine whether it is normal; if all data are within the normal value range, the drilling rig is operating normally; if any data is abnormal, a braking signal is issued; S3: After the brake signal is issued, the cause is analyzed and the damage status of the drilling rig is determined, and a treatment plan is given. If the treatment plan requires stopping due to continuous damage, the process proceeds to step S4 to re-plan the plan; otherwise, the brake is released after the fault is eliminated and the drilling rig continues to operate; S4: Disengage the crawler assembly, start the redundant mechanism, and release the redundant mechanism to ensure that the drilling rig can continue to operate.

8. The control method of the flexible crawler type hole-forming drill for complex disturbance according to claim 7, characterized in that: In step S3, the integrity of the drilling rig is evaluated based on the integrity of the track chain or the wear of the track wheel. If the integrity of the track is lower than the threshold or the pressure measured by the pressure sensor is lower than the set threshold, it indicates that the drilling rig component is damaged and failed, and it is necessary to stop the continuous damage and enter step S4 to re-plan the plan; if the integrity of the track chain is not lower than the threshold or the pressure measured by the pressure sensor is not lower than the threshold, it indicates that the drilling rig component has not reached the damage and failure standard, and it is necessary to further troubleshoot the fault based on the information collected by the first camera and / or the second camera, and then release the brake and the drilling rig continues to operate.

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