A multi-legged robot for retrieving a deep well drill bit

Abstract

The present application relates to a kind of multi-legged robot for taking out deep well drill bit, and multiple track walking modules are evenly distributed along the double layer of robot central seat and are arranged in a circular pattern, the corrosion-resistant rubber track of track walking module is contacted with hole wall by the extension of ejecting hydraulic cylinder, and the corner and helical angle of track walking module are realized by swing hydraulic cylinder, for the submersion of robot;Gravity jaw module is installed at the bottom of robot central seat, is engaged to the tail end of deep well drill bit by buckle, and is tightened by the connecting rod of gravity jaw module pulled by the weight of drill bit;Mechanical sensor module is arranged at the bottom of the overall robot, inside gravity jaw module, for realizing the positioning of drill bit, and there is a lifting ring on the top of robot, the crane above deep hole is connected by lifting ring, so that the overall gravity is supported by crane.The drill bit is taken out by the way of the multi-legged robot of the present application, which can ensure life safety, improve efficiency and reduce cost.

Description

TECHNICAL FIELD

[0001] The present application relates to a multi-legged robot, in particular to a multi-legged robot for deep well drill bit. BACKGROUND

[0002] At present, the dangerous job is "construction site water ghost". The duty of the construction site water ghost is to enter the deep part of the 20-meter deep well, hang the rope to the drill bit, and pull out the deep well through the crane and the drill bit. It is a high-risk occupation. During the work, the human body needs to withstand superhuman pressure, which is equivalent to the pressure of deep sea. Because the specific gravity of mud is much larger than that of water, the specific gravity of mud is 1.3-1.5 times that of water in the same volume. This specific gravity is also super water pressure relative to the human body.

[0003] Furthermore, the inside of the deep well is very bad, there are stones, mud, mud, and even some small iron parts may appear in the deep well. Because the visibility of the mud is zero, these cannot be seen in the deep well. If the diving suit is punctured during the diving process, it may cause a series of life-threatening problems due to pressure problems.

[0004] Therefore, a special robot is needed to completely replace the "construction site water ghost" and achieve the functions of diving, positioning, and traction.

[0005] The purpose of diving is to reach the location of the drill bit, but during the diving process, the human body has buoyancy, and the specific gravity of the mud is relatively heavy, so the person needs to hold the hole wall to dive, and the robot needs to achieve the function of replacing the human diving.

[0006] Positioning the drill bit is a relatively time-consuming and difficult process. Because the human body is selected as the main labor force for pulling the drill bit, ordinary sensors and signal receiving schemes cannot effectively realize the positioning of the drill bit, which is also the reason for using manual work. However, the human body also needs to spend a certain amount of time to explore in the deep hole, and the longer the exploration time, the more dangerous it is.

[0007] Traction of the drill bit is achieved by entering the deep hole by the human body, placing or hanging the hook ring on the top of the drill bit, and then lifting the drill bit in the hole by the crane above the drill hole. SUMMARY

[0008] The present application is to propose a multi-legged robot for taking out a deep well drill bit, which adopts a multi-legged robot to take out the drill bit, ensures life safety, improves efficiency, and reduces cost.

[0009] In order to achieve the above object, the technical scheme of the present application is: a multi-legged robot for taking out a deep well drill bit, comprising a crawler walking module, a mechanical sensor module and a gravity clamp module, a plurality of crawler walking modules are arranged in a circumferential layout along the double-layered center seat of the robot, the corrosion-resistant rubber crawler belt of the crawler walking module is in contact with the hole wall through the extension of the ejection hydraulic cylinder, and the turning angle and helical angle of the crawler walking module are realized through the swing hydraulic cylinder for the submersion of the robot; the gravity clamp module is installed at the bottom of the center seat of the robot, is clamped to the tail end of the deep well drill bit, and is tightened by the connecting rod of the gravity clamp module through the self-weight of the drill bit; the mechanical sensor module is arranged at the bottom of the whole robot and in the gravity clamp module, is used for realizing the positioning of the drill bit, and the top end of the robot is uniformly provided with a lifting ring, the lifting machine above the deep hole is connected through the lifting ring, and the whole gravity is borne by the lifting machine.

[0010] Further, the waterproof worm gear reduction motor is used to drive the driving gear of the crawler walking module, the involute tooth profile of the driving gear is in meshing state with the inner ring of the rubber crawler belt, and the whole triangular crawler walking module is tensioned by two tensioning wheels.

[0011] Further, the waterproof worm gear reduction motor is a self-locking reduction motor, which can effectively ensure the self-locking effect of the crawler walking module when it is stopped.

[0012] Further, the control crawler walking module has two hydraulic cylinders, wherein the swing hydraulic cylinder is connected with the connecting rod and used for swinging the crawler walking module, realizing the helical submersion movement of the whole robot and generating a helical angle, and the ejection hydraulic cylinder is connected with the crawler walking module through the swing hydraulic cylinder, and the crawler belt of the crawler walking module can be uniformly attached to the hole wall through the ejection hydraulic cylinder, generating uniform pressure, and the size of the deep hole diameter can be adjusted through the ejection hydraulic cylinder, so as to adapt to various deep well drill bits.

[0013] Further, the control crawler walking module can realize a helical angle of 0-35° in the process of helical submersion through the movement of the swing hydraulic cylinder connected with the connecting rod.

[0014] Further, the mechanical sensor module comprises a hydraulic cylinder, a tension spring, a contact wheel, a swing lever, a pull rope type displacement sensor and a machine base, the lower end of the cylinder body of the hydraulic cylinder and one end of the swing lever are hingedly connected on the machine base through a pin shaft, the upper end of the piston rod of the hydraulic cylinder and the other end of the swing lever are hingedly connected and connected with the contact wheel, the lower end of the cylinder body of the hydraulic cylinder is connected with the tension spring column on the machine base through the tension spring, and the pull rope type displacement sensor is arranged on the machine base.

[0015] Further, the mechanical sensor module adopts a crank slider mechanism and a hydraulic cylinder to control the swing of the swing lever, realizes the two states of working and not working of the mechanical sensor module.

[0016] Further, the gravity clamp module comprises a connecting rod, a connecting rod, a buckle, a rack, and a flange connecting disc. The rack under the flange connecting disc is uniformly provided with three parallelogram mechanisms, each of which is composed of a connecting rod and a connecting rod, and the connecting rod is connected with the rack through the upper and lower connecting rods. The lower part of the connecting rod is provided with a buckle.

[0017] The beneficial effects of the present application are:

[0018] (1) The present application adopts a caterpillar walking module to cooperate with a crane to form a spiral diving motion, which can make the motion slow and the stress on the hole wall uniform, thereby preventing the collapse of the hole wall. According to the innovative design method in the Modern Mechanical Design Method, the principle of bionics is adopted. According to the spiral diving trajectory of multi-legged creatures such as centipedes and worms climbing down the large hole wall, the spiral motion of the multi-legged robot is used for large deep holes that require uniform pressure, and is a common motion method.

[0019] (2) The present application adopts a mechanical sensor module for circular layout, and uses a sequential signal receiving method to realize the positioning of the drill bit. This method can be used in harsh environments where detection is not possible, and can realize detection of the presence or absence of an object. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a perspective view of the multi-legged robot structure for taking out the deep well drill bit;

[0021] Figure 2 is a sectional view of Figure 1 ;

[0022] Figure 3 is a bottom view of Figure 1 ;

[0023] Figure 4 is a schematic diagram of the caterpillar walking module mechanism layout;

[0024] Figure 5 is a schematic diagram of the caterpillar walking module hydraulic cylinder ejection structure;

[0025] Figure 6 is a schematic diagram of the mechanical sensor state;

[0026] Wherein: (a) is the working state, (b) is the non-working state

[0027] Figure 7 is a structural diagram of the mechanical sensor;

[0028] Figure 8 is a schematic diagram of the mechanical sensor mechanism motion;

[0029] Figure 9 Figure 1 is a schematic diagram of the gravity clamp module structure;

[0030] Figure 10 Figure 2 is a schematic diagram of the gravity clamp module mechanism movement;

[0031] Figure 1: 10-track walking module, 20-mechanical sensor module, 30-gravity clamp module, 1-ejection hydraulic cylinder, 2-oscillating hydraulic cylinder, 3-waterproof worm gear and worm reduction motor, 4-driving gear, 5-tensioning wheel, 6-corrosion-resistant rubber track, 11-hydraulic cylinder, 12-tension spring, 13-contact wheel, 14-oscillating lever, 15-pull rope displacement sensor, 16-machine base, 21-link rod, 22-linkage, 23-buckle, 24-rack, 25-flange connection disc. DETAILED DESCRIPTION

[0032] The application will be further described below in conjunction with the drawings and examples.

[0033] As shown in 1 to Figure 3 The multi-legged robot for taking out the deep well drill bit of the application is composed of three modules, namely the track walking module 10, the mechanical sensor module 20 and the gravity clamp module 30.

[0034] The overall robot is arranged in a circumferential layout, and the double-layered evenly distributed track walking module 10 forms a circumferential layout. The track walking function has a hydraulic cylinder that can expand the radius of the circumference by extending the hydraulic cylinder, and the hydraulic cylinder can realize the turning angle of the track walking module and realize the helical angle of ascent.

[0035] The mechanical sensor module 20 is at the bottom of the overall robot, and the gravity clamp module 30 is inside. The top end of the robot has evenly distributed lifting rings, which can be connected to the crane above the deep hole to bear the overall gravity of the crane.

[0036] The application is a deep hole pile driver drill bit traction robot. The submersion, detection, positioning and clamping actions of the robot realize the clamping of the deep well drill bit, and finally the robot and the drill bit are lifted out together by the crane.

[0037] The specific operation steps are as follows:

[0038] a) pass the steel cable through the lifting ring at the top end of the robot and lift it into the deep well;

[0039] b) when the robot enters a certain depth in the well, the rotating function hydraulic cylinder of the track walking module is started to form a certain helical angle of ascent;

[0040] c) the track climbing module ejection hydraulic cylinder works to contact the rubber track of the track walking module with the hole wall.

[0041] d) The motors of the tracked walking module start, and the robot body descends in a spiral motion;

[0042] e) Based on the estimated position, the robot stops descending (the estimated position needs to be higher than the drill bit depth);

[0043] f) The mechanical sensor module is ejected by the hydraulic cylinder, and the sensor module is started.

[0044] g) When the track walking module motor is working, it spirals downwards and steps a certain distance.

[0045] h) The hydraulic cylinder of the tracked walking module retracts, the track becomes horizontal, the motor rotates, and the robot rotates in place;

[0046] i) Check if the mechanical sensor module detects six signals. If not, continue the process.

[0047] j) After detecting six signals, advance one depth step;

[0048] k) When the tracked walking module retracts, check if the crane's working tension sensor value increases; if it does, lift evenly.

[0049] l) When the tension sensor stops increasing (at which point the drill bit leaves the soil), the tracked walking module extends to the borehole wall and rises spirally at a uniform speed until the robot emerges from the water.

[0050] m) Tighten the track walking module, and the crane will lift the whole thing up.

[0051] I. Tracked Walking Module

[0052] The function of the tracked walking module is to perform a spiral-shaped descent movement based on a circular layout, using the tracks for movement.

[0053] like Figure 4 As shown, the most basic principle of the tracked walking module 10 is that a waterproof worm gear reducer motor 3 drives the drive gear 4. The involute tooth profile of the drive gear 4 meshes with the inner ring of the corrosion-resistant rubber track 6, and two tensioning pulleys 5 tension the overall triangular tracked walking module. Due to the self-locking effect of the waterproof worm gear reducer motor 3, the self-locking effect of the tracked walking module can be effectively guaranteed when it stops.

[0054] Two hydraulic cylinders control the position and direction of the tracked walking module. One of them, a swing hydraulic cylinder 2 connected to a connecting rod, drives the tracked walking module to swing. Since the responsibility of the tracked walking module is to drive the entire deep well robot to perform a spiral descent, a spiral angle is required. The size of the spiral angle determines the speed of the spiral descent and the lead of two adjacent spiral lines.

[0055] The movement of the swing hydraulic cylinder 2 connected with the connecting rod can ensure that the helical angle of 0-35° can be reached during the helical diving. The other ejection hydraulic cylinder 1 connects the track walking module through the swing hydraulic cylinder 2, and the track walking module can be uniformly attached to the hole wall through the ejection hydraulic cylinder 1, so that uniform pressure is generated. The size of the deep hole diameter can also be adjusted through this hydraulic cylinder, so as to adapt to various deep well drill bits.

[0056] When the ejection hydraulic cylinder 1 of the connecting rod part is ejected, the hydraulic cylinder that controls the track walking module to attach to the hole wall is ejected, and the state of the track walking module is as shown in Figure 5 .

[0057] II. Mechanical sensor module

[0058] The principle of the mechanical sensor module 20 is to adopt a crank slider mechanism as the main design principle, and a hydraulic cylinder is used to control the swing of the swing rod. Its function is to control the working and non-working states of the mechanical sensor module, and the installation form adopts a uniform installation form.

[0059] As shown in Figure 6 , (a) is the working state of the mechanical sensor module, and the contact wheel center of the whole contact wheel is small due to the ejection of the hydraulic cylinder. (b) is the non-working state, and when the hydraulic cylinder is retracted, the sensing area surrounded by the friction wheel is large. The drill bit can enter the inside of the clamp.

[0060] The specific structure of the mechanical sensor module is shown in Figure 7 , including a hydraulic cylinder 11, a tension spring 12, a contact wheel 13, a swing rod 14, a tension rope displacement sensor 15, and a machine base 16. The lower end of the cylinder body of the hydraulic cylinder 11 and one end of the swing rod 14 are hingedly connected on the machine base 16 through a pin shaft, the upper end of the piston rod of the hydraulic cylinder 11 and the other end of the swing rod 14 are hingedly connected, and the contact wheel 13 is connected, the lower end of the cylinder body of the hydraulic cylinder 11 is connected to the tension spring column on the machine base 16 through the tension spring 12, and the tension rope displacement sensor 5 is arranged on the machine base 16.

[0061] When working, the hydraulic cylinder is ejected, the swing rod swings, and a relatively small rod passing area is generated. During the rotary motion of the robot, the rod passing area can touch the top end of the drill bit to ensure that the position of the drill bit is contacted. When the six mechanical sensor modules all receive the contact feedback during the rotation, it indicates that the drill bit has been touched.

[0062] When the top end of the mechanical sensor is contacted, the whole triangular structure formed by the hydraulic cylinder and the swing lever will swing, the spring will be stretched, the pull rope type displacement sensor is installed at the bottom, the pull rope head is installed at the swing lever, and the displacement generated by the pull rope measures the received contact signal.

[0063] The uniform distribution is adopted to avoid the false touch of the mechanical sensor module in the harsh environment of the deep well and cause the false judgment of the signal. The position of the drill bit is determined when the uniform distribution sensor receives the touch signal.

[0064] The motion diagram of the designed mechanical sensor module is abstracted, and the specific diagram is shown in Figure 8 .

[0065] III. Gravity clamp module

[0066] The deep well drill bit needs to be fixed on the body of the robot in a certain way during the extraction process. The clamp is used to clamp the deep well drill bit, and the power source of the clamp is considered first. The clamping force of the hydraulic cylinder as the main power source and the clamping force of the gravity as the main power source are the common ways to clamp heavy objects in engineering machinery.

[0067] The advantages and disadvantages of the two schemes are analyzed. The drill bit is a large load, and when the hydraulic thrust of the hydraulic cylinder is used as the clamping force, a large thrust hydraulic cylinder is needed, which makes the load and structure of the robot body relatively complex. At this time, the gravity clamp is superior.

[0068] The gravity clamp is converted into the clamping force of the mechanism by the structural characteristics of the mechanism, so that the heavier the mechanism is, the greater the clamping force is.

[0069] As described above, the scheme of using such a gravity clamp is used as the final design method.

[0070] The structure of the gravity clamp module 30 is shown in Figure 9 , including the connecting rod 21, the connecting rod 22, the buckle 23, the rack 24, and the flange connection disc 25. The rack 24 below the flange connection disc 25 is evenly distributed with three parallelogram mechanisms, each parallelogram mechanism is composed of the connecting rod 21 and the connecting rod 22, and the connecting rod 22 is connected with the rack 24 through the upper and lower connecting rods 21. The buckle 33 is installed in the lower part of the connecting rod 22.

[0071] The gravity clamp module is composed of three evenly distributed parallelogram mechanisms, which are clamped to the tail end of the deep well drill bit by the buckle. The weight of the drill bit will pull the connecting rod of the clamp to clamp, so that the clamp clamps.

[0072] The main mechanism of the gravity clamp module is a parallelogram mechanism. The mechanism motion diagram is shown in FIG. 16. Figure 10 The main mechanism of the gravity clamp module is a parallelogram mechanism. The mechanism motion diagram is shown in FIG. 16.

Claims

1. A multi-legged robot for retrieving a deep well drill bit, the robot comprising: The robot comprises a crawler walking module, a mechanical sensor module and a gravity clamp module, a plurality of crawler walking modules are arranged in a circumferential layout along a double-layer center seat of the robot, the crawler walking module contacts a hole wall through the extension of an ejection hydraulic cylinder, and the crawler walking module realizes corner turning and helical angle through a swing hydraulic cylinder, which is used for submerging the robot; the gravity clamp module is installed at the bottom of the center seat of the robot, is clamped to the tail end of a deep well drill bit through buckling, and is clamped through the self-weight of the drill bit to pull the connecting rod of the gravity clamp module; the mechanical sensor module is arranged at the bottom of the whole robot and in the gravity clamp module, which is used for realizing the positioning of the drill bit, the top end of the robot is uniformly provided with a lifting ring, the whole gravity is borne by a crane through the lifting ring, the crawler walking module is driven by a waterproof worm gear reducer motor, the involute tooth profile of the driving gear is in meshing with the inner ring of the rubber crawler, and the whole triangular crawler walking module is tensioned by two tensioning wheels; the crawler walking module has two hydraulic cylinders, the swing hydraulic cylinder is connected with the connecting rod and used for swinging the crawler walking module, realizing the helical submerging movement of the whole robot and generating a helical angle, the ejection hydraulic cylinder is connected with the crawler walking module through the swing hydraulic cylinder, the crawler of the crawler walking module is uniformly adhered to the hole wall through the ejection hydraulic cylinder, uniform pressure is generated, the size of the deep hole diameter is adjusted through the ejection hydraulic cylinder, and the effect of adapting to various deep well drill bits is achieved; the mechanical sensor module comprises a hydraulic cylinder, a tension spring, a contact wheel, a swing rod, a pull rope type displacement sensor and a machine base, the lower end of the cylinder body of the hydraulic cylinder and one end of the swing rod are hingedly connected to the machine base through a pin shaft, the upper end of the piston rod of the hydraulic cylinder and the other end of the swing rod are hingedly connected and are connected with the contact wheel, the lower end of the cylinder body of the hydraulic cylinder is connected to the tension spring column on the machine base through the tension spring, and the pull rope type displacement sensor is arranged on the machine base; the gravity clamp module comprises a connecting rod, a connecting link, a buckle, a machine frame and a flange connecting disc, three parallelogram mechanisms are uniformly arranged on the machine frame below the flange connecting disc, each parallelogram mechanism is composed of the connecting rod and the connecting link, the connecting link is connected with the machine frame through the upper and lower connecting rods, and the buckle is arranged in the lower part of the connecting link.

2. The multi-legged robot for retrieving a drill bit from a deep well of claim 1, wherein: The waterproof worm gear reducer motor is a self-locking reducer motor, which can effectively guarantee the self-locking effect of the crawler walking module when it is stopped.

3. The multi-legged robot for retrieving a drill bit from a deep well of claim 1, wherein: The crawler walking module can realize a helical angle of 0-35° in the helical submerging process through the movement of the swing hydraulic cylinder connected with the connecting rod.

4. The multi-legged robot for retrieving a drill bit from a deep well of claim 1, wherein: The mechanical sensor module adopts a crank slider mechanism and a hydraulic cylinder to control the swing of the swing rod, realizes the two states of working and not working of the mechanical sensor module, and has the advantages of simple structure, convenient operation and the like.

Images