A robot and control system for drilling underground

Abstract

This invention discloses a robot and control system for drilling underground. The robot includes a vehicle body with a flexible robotic arm connected to its end. The vehicle body is also connected to a guide mechanism for guiding the movement of the flexible robotic arm. The guide mechanism includes a folding arm with a connector at its end. The connector is connected to a guide frame, and the guide frame is provided with a fixing rod for connection and fixation. The guide frame and the fixing rod are connected to at least two sets of guide wheel assemblies. The two sets of guide wheel assemblies are provided with a flow channel for accommodating and guiding the flexible robotic arm through. This invention enables the flexible robotic arm to be extended along the flow channel by setting the guide mechanism. The flow mechanism includes two sets of guide wheel assemblies to clamp and guide the flexible robotic arm. The movement of the flexible robotic arm is driven by a hollow drill bit and a drive wheel set in the flexible robotic arm. The unexploded ordnance is destroyed by setting an energy-destroying device in the hollow drill bit.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a robot and control system for drilling underground. Background Technology

[0002] Countries and regions that have experienced war and armed conflict often have a considerable number of unexploded ordnance left behind years later. Military exercises, realistic training, and tests of new types of ammunition also frequently result in unexploded ordnance that fails to detonate upon landing. Because unexploded ordnance, especially post-war ammunition, is characterized by its long-term latency and high degree of danger, it frequently causes accidental explosions due to human contact or environmental factors, threatening public safety and posing a significant threat to society today.

[0003] The general procedure for destroying unexploded ordnance is to pile up a platform of earth next to the ordnance body, where the detonating charge or explosive charge is placed. The platform is usually set up according to the orientation of the unexploded ordnance on the ground, in accordance with the principle of facilitating sympathetic detonation. The detonating charge (or explosive charge) is placed on or near the platform, close to the ammunition, and a detonator is installed. The detonation direction is aimed at the end of the ammunition that is easy to detonate. The detonator is detonated by electric or fire method to ignite the explosive charge, and the ammunition is completely destroyed through sympathetic detonation.

[0004] Most existing robots used for drilling into the ground to handle unexploded ordnance have only a single function, such as detection or digging, and there is a lack of robots that can integrate the processing and dismantling of unexploded ordnance. Summary of the Invention

[0005] The purpose of this invention is to provide a robot that can drill underground, so as to solve the problems of the complexity of unexploded ordnance removal in the prior art and the lack of technical integration between the robot's underground drilling and unexploded ordnance removal.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] In a first aspect, the present invention provides a robot for drilling underground, including a vehicle body, a flexible robotic arm connected to the end of the vehicle body, and a guiding mechanism for guiding the movement of the flexible robotic arm.

[0008] The guiding mechanism includes a folding arm, the end of which is connected to a connector, the connector is connected to a guide frame, the guide frame is provided with a fixing rod for connection and fixation, and the guide frame and the fixing rod are connected to at least two sets of guide wheel assemblies, the two sets of guide wheel assemblies being provided with a guide channel for accommodating a flexible robotic arm that passes through and guides.

[0009] A guiding mechanism is set up to form a flow channel so that the flexible robotic arm can be exported along the flow channel. The flow guiding mechanism includes two sets of guide wheel assemblies to achieve clamping and guiding of the flexible robotic arm.

[0010] Optionally, the end of the vehicle body is provided with a winch separation mechanism, which is connected to a winch for winding a flexible robotic arm. The winch separation mechanism includes a winch frame and a transmission rod. The transmission rod passes through the end of the winch frame and is provided with a plurality of locking wheels. The connection end between the vehicle body and the winch separation mechanism is provided with a locking hole adapted to the locking wheels.

[0011] By setting up a winch separation mechanism, the flexible robotic arm can be separated from the vehicle body to dismantle unexploded ordnance. By setting up a transmission rod to drive the locking wheel to rotate, the locking wheel can be disengaged from the lock hole, thereby achieving the separation of the winch and the flexible robotic arm.

[0012] Optionally, the forward detection end of the flexible robotic arm is provided with a hollow drill bit, and the fixed end of the flexible robotic arm is provided with a robotic arm separation mechanism connected to the winch. The hollow drill bit has a spiral structure with a large front diameter and a small rear diameter.

[0013] Optionally, the hollow drill bit is equipped with an energy-concentrating and destroying device inside, and a drive wheel is connected to the rear end of the hollow drill bit. The drive wheel has a flexible spiral structure.

[0014] Optionally, the robotic arm separation mechanism includes a connecting plate and a fixed plate. The connecting plate is connected to the flexible robotic arm, and the fixed plate is connected to a winch. The connecting plate array is provided with several fixed blocks. The fixed plate is provided with matching connecting bolts corresponding to the threaded holes on the fixed blocks. The ends of the connecting bolts are provided with gears for clamping and adjustment. By setting the fixed plate and connecting bolts, and each connecting bolt is provided with a gear, the connecting bolt is rotated by the gear to achieve separation from the connecting plate.

[0015] Optionally, the guide frame in the guide mechanism is symmetrically arranged as a pair, and the pair of guide frames are connected to two sets of guide wheel assemblies. Each set of guide wheel assemblies includes a driving wheel and a driven wheel. The connecting fixing rod connects the driving wheel or the driven wheel to form a three-point clamping guide channel.

[0016] Optionally, each set of guide wheel assemblies includes one driving wheel and two driven wheels. The driving wheel and driven wheels in each set are staggered in the horizontal direction, and the rotation circumferential surfaces of the driving wheel and driven wheels are concave.

[0017] Optionally, the vehicle body is also provided with a clamping mechanism, which includes a clamping arm and a clamping head. One end of the clamping arm is connected to a hydraulic mechanism and the other end is connected to the clamping head. The clamping head is configured as a gripper-like structure.

[0018] In the above scheme, a three-point clamping guide channel is formed by setting up an active wheel and a driven wheel to drive the movement of the flexible robotic arm, and the clamping and control movement of the flexible robotic arm is achieved by setting up a chuck and a gripping arm.

[0019] In a second aspect, the present invention also provides a control system for a drilling robot according to the first aspect, characterized in that it comprises:

[0020] Information acquisition module: used to acquire robot motion data;

[0021] Information transmission module: used to transmit robot motion data;

[0022] Control module: Used to issue control commands to the robot.

[0023] Optional;

[0024] The information collection module includes:

[0025] Robot position acquisition unit: used to acquire the robot's current position information;

[0026] Target location acquisition unit: used to acquire the robot's target location information;

[0027] The control module includes:

[0028] Motion unit: Used to control the movement of the robot;

[0029] Action unit: Used to control the action of the energy destroyer;

[0030] Winch separating mechanism actuation unit: used to control the operation of the winch separating mechanism;

[0031] Robotic arm separation mechanism action unit: used to control the separation action of the flexible robotic arm.

[0032] The beneficial effects and advantages of this invention are as follows:

[0033] This underground drilling robot uses a guiding mechanism to create a flow channel, allowing the flexible robotic arm to be extended along the channel. The flow guiding mechanism includes two sets of guide wheel assemblies to clamp and guide the flexible robotic arm. A hollow drill bit and drive wheels are installed in the flexible robotic arm to drive its movement. An energy-destroying device is installed in the hollow drill bit to destroy unexploded ordnance. A winch separation mechanism is installed to separate the flexible robotic arm from the vehicle body. Another robotic arm separation mechanism separates the robotic arm from the winch. The two separation mechanisms reduce the possibility of failure to separate. The vehicle body and system enable unmanned remote control of unexploded ordnance dismantling, improving safety. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of the present invention;

[0035] Figure 2 This is a front view of the present invention;

[0036] Figure 3 This is a top view of the present invention;

[0037] Figure 4 This is an enlarged schematic diagram of the clamping mechanism of the present invention;

[0038] Figure 5 This is an enlarged schematic diagram of the guiding mechanism of the present invention;

[0039] Figure 6 This is a side view of the guide mechanism of the present invention;

[0040] Figure 7 This is an enlarged schematic diagram of the robotic arm separation mechanism of the present invention;

[0041] Figure 8 This is a partially enlarged schematic diagram of the robotic arm separation mechanism of the present invention;

[0042] Figure 9 This is an enlarged schematic diagram of the winch separation mechanism of the present invention.

[0043] In the diagram: 1-Motion mechanism, 2-Windlass separation mechanism, 21-Windlass frame, 22-Transmission rod, 23-Locking wheel, 3-Windlass, 4-Flexible robotic arm, 41-Hollow drill bit, 42-Drive wheel, 43-Connecting disc, 44-Fixed disc, 45-Fixed block, 46-Connecting bolt, 47-Gear, 5-Clamping mechanism, 51-Clamping arm, 52-Chuck, 6-Guiding mechanism, 61-Folding arm, 62-Connecting head, 63-Guiding frame, 64-Fixed rod, 65-Driving wheel, 66-Driven wheel, 67-Guide channel. Detailed Implementation

[0044] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0045] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0046] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances. Example 1:

[0047] refer to Figures 1 to 9 As shown, this embodiment provides a robot for drilling underground, including a vehicle body, a winch 3 at the end of the vehicle body, and a guide mechanism 6.

[0048] refer to Figure 1 and Figure 2 As shown, in this embodiment, the vehicle body is preferably equipped with movable wheels to drive the vehicle body to move, and the movable wheels are preferably movable wheels in the prior art;

[0049] A winch separation mechanism 2 is provided at the end of the vehicle body. The winch separation mechanism 2 includes a winch frame 21 and a transmission rod 22. The winch frame 21 is preferably a pair. The transmission rod 22 passes through the pair of winch frames 21. Locking wheels 23 are provided at both ends and the middle of the transmission rod 22. The locking wheel 23 is preferably a columnar structure with several arc-shaped blades on its columnar side. The vehicle body is provided with locking holes corresponding to the arc-shaped blades of the locking wheel 23. In use, the transmission rod 22 drives the locking wheel 23 to rotate. The arc-shaped blades of the locking wheel 23 rotate and engage with the locking holes to connect and fix the winch separation mechanism 2 to the vehicle body. When the locking wheel 23 rotates away from the locking holes, the winch separation mechanism 2 is separated from the vehicle body.

[0050] refer to Figure 1 , Figure 3 , Figure 7 and Figure 8 As shown, in this embodiment, the winch frame 21 is connected to the winch 3, the fixed end of the flexible robotic arm 4 is connected to the winch 3, and the flexible robotic arm 4 is wound on the shaft connected to the winch frame 21. The forward end of the flexible robotic arm 4 is provided with a hollow drill bit 41. In this embodiment, the hollow drill bit 41 is preferably the hollow drill bit 41 in the prior art, and the movement of the hollow drill bit 41 is realized by setting a motor. In this embodiment, the rear end of the hollow drill bit 41 is connected to a drive wheel 42, wherein the drive wheel 42 is preferably the drive wheel 42 driven by a motor in the prior art to drive the flexible robotic arm 4 to move forward. The motor is set inside the flexible robotic arm 4.

[0051] In this embodiment, the robotic arm separation mechanism includes a connecting plate 43 and a fixing plate 44. The connecting plate 43 is connected to the flexible robotic arm 4, and the fixing plate 44 is connected to the winch 3. The connecting plate 43 is arrayed with several engagement slots, which engage with fixing blocks 45. The fixing blocks 45 are provided with threaded holes. The fixing plate 44 is provided with matching connecting bolts 46 corresponding to the threaded holes on the fixing blocks 45. The ends of the connecting bolts 46 are provided with gears 47. An intermediate block is provided between the connecting plate 43 and the fixing plate 44. The connecting bolts 46 pass through the intermediate block and connect with the threaded holes of the fixing blocks 45. The connecting bolts 46 are attached to the outer periphery of the fixing plate 44. The gears 47 engage with the fixing plate 44, and several gears 47 are externally connected to large gears. In use, the rotation of the large gears drives the rotation of the gears 47 to realize the screwing in or out of the connecting bolts 46, thereby realizing the separation of the robotic arm winch separation mechanism from the winch 3.

[0052] refer to Figure 1 , Figure 2 and Figure 4 As shown, in this embodiment, the vehicle body is also connected to a clamping mechanism 5, which includes a clamping arm 51 and a clamp 52. In this embodiment, one end of the clamping arm 51 is connected to a hydraulic mechanism and the other end is connected to the clamp 52. The clamp 52 is configured as a gripper-like structure. In this embodiment, the clamping mechanism 5 and the clamp 52 are preferably controlled by a hydraulic transmission mechanism as in the prior art. When in use, the movement of the clamping arm 51 drives the movement of the clamp 52. The clamp 52 opens to clamp the flexible robotic arm 4 and then moves through the clamping arm 51.

[0053] refer to Figure 1 , Figure 2 , Figure 5 and Figure 6As shown, in this embodiment, the vehicle body is also connected to a guide mechanism 6, which includes a folding arm 61. The folding arm 61 is preferably a folding arm 61 that achieves folding and extension via a slider and hydraulic mechanism, as is common in the prior art. The folding arm 61 is mounted on the vehicle body via a turntable. A connector 62 is provided at the end of the folding arm 61, and the connector 62 is connected to a guide frame 63. The guide frame 63 is preferably a pair of symmetrically arranged fixed plates. Two sets of guide wheel assemblies are connected to the pair of guide frames 63. Each set of guide wheel assemblies includes one driving wheel 65 and two driven wheels 66. The guide frame 63 is provided with a fixing rod 64 connecting to the driving wheel 65. The drive wheel 65 or driven wheel 66 are connected. In each group of guide wheel assemblies, one drive wheel 65 is on top and two driven wheels 66 are on the bottom, or one drive wheel 65 is on the bottom and two driven wheels 66 are on top, so as to form a three-point support clamping channel. The rotation circumferential surface of the drive wheel 65 and the driven wheel 66 is set as a concave structure. The channel formed by the two groups of guide wheel assemblies is set as a flow guide channel 67. The two flow guide channels 67 are on the same horizontal line and the channel size is adapted to the flexible robotic arm 4. In this embodiment, the drive wheel 65 in each group of guide wheel assemblies is also connected to a drive motor to drive the flexible robotic arm 4 in the flow guide channel 67.

[0054] In use, the flexible robotic arm 4 extends through the guide channel 67. The position of the flexible robotic arm 4 is adjusted by the turntable and its own rotation. The arm head of the flexible robotic arm 4 is clamped by the chuck 52 and placed into the pit containing the unexploded ordnance. The hollow drill bit 41 on the flexible robotic arm 4 starts drilling forward. The drive wheel 42 drives the flexible robotic arm 4 into the pit. When it reaches the unexploded ordnance, the robotic arm separation mechanism is activated first to separate the winch 3 from the flexible robotic arm 4. If the robotic arm separation mechanism malfunctions, the winch separation mechanism is activated to separate the winch frame 21 from the vehicle body. After the vehicle body returns to a safe distance, the shaped charge destroyer in the hollow drill bit 41 dismantles and destroys the unexploded ordnance. After the shaped charge destroyer detonates, it forms a shaped charge jet that penetrates the unexploded ordnance casing and detonates the internal explosive, thereby destroying the unexploded ordnance. Example 2:

[0055] refer to Figures 1 to 9 As shown, this embodiment provides a control system for a robot that drills underground, including:

[0056] Information acquisition module: used to acquire robot motion data;

[0057] Information transmission module: used to transmit robot motion data;

[0058] Control module: Used to issue control commands to the robot.

[0059] Specifically, in this embodiment:

[0060] The information collection module includes:

[0061] Robot position acquisition unit: used to acquire the robot's current position information;

[0062] Target location acquisition unit: used to acquire the robot's target location information;

[0063] The control module includes:

[0064] Motion unit: Used to control the movement of the robot;

[0065] Action unit: Used to control the action of the energy destroyer;

[0066] Winch separation mechanism actuation unit: used to control the operation of winch separation mechanism 2;

[0067] Robotic arm separation mechanism action unit: used to control the separation action of the flexible robotic arm.

[0068] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A robot for drilling into the ground, characterized in that: The vehicle body is connected with a flexible mechanical arm (4) at the end, and is further connected with a guiding mechanism (6) for guiding the movement of the flexible mechanical arm (4); the guiding mechanism (6) comprises a folding arm (61) connected with a connecting head (62) at the end, the connecting head (62) is connected with a guiding frame (63), the guiding frame (63) is provided with a fixed rod (64) for connection and fixation, and the guiding frame (63) and the fixed rod (64) are connected with at least two groups of guiding wheel assemblies, the two groups of guiding wheel assemblies are provided with a guiding channel (67) for accommodating the flexible mechanical arm (4) to pass through the guiding. A capstan separating mechanism (2) is arranged at the end of the vehicle body, the capstan separating mechanism (2) is connected with a capstan (3) for winding the flexible mechanical arm (4), the capstan separating mechanism (2) comprises a capstan frame (21) and a transmission rod (22), the transmission rod (22) is provided with a plurality of locking wheels (23) penetrating through the end of the capstan frame (21), and the vehicle body is provided with a locking hole matched with the locking wheel (23) at the connecting end of the capstan separating mechanism (2). The flexible mechanical arm (4) is provided with a hollow drill bit (41) at the front end, the fixed end of the flexible mechanical arm (4) is provided with a mechanical arm separating mechanism connected with the capstan (3), and the hollow drill bit (41) has a spiral structure with a large front end diameter and a small rear end diameter.

2. The subsurface robot of claim 1, wherein: The hollow drill bit (41) is internally provided with a shaped charge destroyer, and the rear end of the hollow drill bit (41) is connected with a driving wheel (42) in a flexible spiral structure.

3. A robot for drilling into the ground according to claim 2, characterised in that: The mechanical arm separating mechanism comprises a connecting disc (43) and a fixed disc (44), the connecting disc (43) is connected with the flexible mechanical arm (4), the fixed disc (44) is connected with the capstan (3), the connecting disc (43) is arrayed with a plurality of fixing blocks (45), the fixed disc (44) is provided with a connecting bolt (46) matched with a threaded hole on the fixing block (45), and the end of the connecting bolt (46) is provided with a gear (47) for clamping and adjusting.

4. The robot for drilling into the ground according to claim 1 or 3, characterized in that: The guiding frames (63) in the guiding mechanism (6) are symmetrically arranged as a pair, the pair of guiding frames (63) correspondingly connect two groups of guiding wheel assemblies, the guiding frames (63) are connected with the driving wheels (65) or the driven wheels (66) through the fixed rods (64), each group of guiding wheel assemblies is provided with one driving wheel (65) above two driven wheels (66) or one driving wheel (65) below two driven wheels (66), so as to form a three-point supporting clamping channel.

5. A robot for drilling into the ground according to claim 4, characterised in that: Each group of guiding wheel assemblies comprises one driving wheel (65) and two driven wheels (66), each group of driving wheels (65) and driven wheels (66) is arranged in a staggered manner in the horizontal direction, and the rotating circumferential surface of the driving wheel (65) and the driven wheel (66) is internally recessed.

6. A robot for drilling into the ground according to claim 5, wherein: The vehicle body is further provided with a clamping mechanism (5), the clamping mechanism (5) comprises a clamping arm (51) and a chuck (52), one end of the clamping arm (51) is connected with a hydraulic mechanism, the other end is connected with the chuck (52), and the chuck (52) is arranged in a gripper structure.

7. A control system for a subsurface robot according to any one of claims 1-6, characterized in that, Comprise: An information collection module is configured to collect the robot motion data. An information transmission module is configured to transmit the robot motion data. A control module is configured to initiate control instructions for the robot.

8. The control system of the robot drilling into the ground according to claim 7, characterized in that: the information collection module comprises: a robot position acquisition unit configured to acquire the current position information of the robot; a target site position acquisition unit configured to acquire the position information of the target site of the robot; the control module comprises: a movement unit configured to control the movement of the robot; an action unit configured to control the action of the energy concentrator destroyer; a capstan separation mechanism action unit configured to control the action of the capstan separation mechanism (2); a mechanical arm separation mechanism action unit configured to control the separation action of the flexible mechanical arm.

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