A submersible asteroid excavating robot

Abstract

This invention relates to the field of geospatial excavation robot technology, and more specifically, to a submersible geospatial excavation robot. It utilizes an excavation mechanism to excavate geospatial material, and a pushing mechanism to drive the excavation mechanism forward. In operation, the pushing mechanism is supported by a support frame, and a drive device drives a tracked transmission device. The tracked transmission device acts on the well wall to achieve the pushing action, thereby providing drilling pressure to the excavation mechanism. The tracked transmission device increases the contact area between the pushing mechanism and the well wall, effectively maintaining operational stability. It also increases the drilling power provided to the excavation mechanism by utilizing the friction force of the well wall against the pushing mechanism, thus improving the robot's drilling pressure capability for deeper drilling. Furthermore, an adaptive structure automatically adjusts the distance between the tracked transmission device and the support frame, maintaining the tracked transmission device pressed against the well wall, enabling the pushing mechanism to achieve an adaptive function.

Description

Technical Field

[0001] This invention relates to the field of rheostat tunneling robot technology, and more specifically, to a submersible rheostat tunneling robot. Background Technology

[0002] Since ancient times, space has been an unknown world that humanity has always yearned for and pursued. Since the beginning of human space sample return missions, significant achievements have been made. For example, the Soviet Union's Luna series probes, the United States' Apollo lunar mission, Japan's Hayabusa probe, the European Mars Express's Beagle probe, and my country's Chang'e 5 probe have all successfully returned samples from exoplanets. Currently, drilling robots from various countries primarily use auger drill pipes as their main functional components. However, with increasing drilling depth, the friction in auger drilling increases dramatically, limiting the drilling depth.

[0003] Existing technology discloses a star soil tunneling robot, including a digging mechanism for star soil excavation and a pushing mechanism for driving the digging mechanism forward, the pushing mechanism having an envelope radius greater than or equal to that of the digging mechanism, and the digging mechanism being located at the front end of the pushing mechanism. The pushing mechanism includes a support frame, a chain drive device, and a drive device for driving the chain drive device, both of which are mounted on the support frame. In this design, the chain drive device is driven by the drive device for propulsion. However, due to the excessively short and narrow chain width and small contact area with the well wall, the pressure that can be provided is extremely limited. Furthermore, the small diameter of star soil particles makes them prone to getting stuck in the chain, increasing chain friction and exacerbating chain wear. In effect, this prevents the robot from achieving its tunneling objective. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a submersible drilling robot. During the process of the pushing mechanism providing drilling pressure to the excavation mechanism, the contact area between the pushing mechanism and the well wall is increased, preventing wear on the pushing mechanism during the pushing process from causing the inability to excavate, and ensuring the stable movement of the pushing mechanism.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] A submersible tunneling robot is provided, comprising a digging mechanism and a pushing mechanism whose dimensions can be adjusted according to the well wall. The envelope radius of the pushing mechanism is larger than that of the digging mechanism, and the digging mechanism is located at the bottom of the pushing mechanism. The pushing mechanism includes a support frame, a drive device, several track transmission devices, and several adaptive structures. The bottom of the support frame is connected to the digging mechanism. The drive device is mounted on the support frame, and its output end is connected to the track transmission devices. The several adaptive structures are arranged along the circumference of the support frame, and the track transmission devices are mounted on the adaptive structures. The adaptive structures are used to adjust the distance between the track transmission devices and the support frame.

[0007] The submersible geodetic tunneling robot of the present invention utilizes an excavating mechanism to excavate geodetic soil, and a pushing mechanism to drive the excavating mechanism forward. In use, the pushing mechanism is supported by a support frame, and a drive device drives a tracked transmission device. The tracked transmission device acts on the well wall to achieve the pushing action, thereby providing drilling pressure to the excavating mechanism. The tracked transmission device increases the contact area between the pushing mechanism and the well wall, effectively maintaining the stability of the operation, and at the same time improving the drilling power that can be provided to the excavating mechanism by utilizing the friction force of the well wall on the pushing mechanism, thus improving the drilling pressure capability of the robot to drill deeper. Meanwhile, through an adaptive structure, the distance between the tracked transmission device and the support frame can be automatically adjusted to keep the tracked transmission device pressed against the well wall, enabling the pushing mechanism to achieve an adaptive function.

[0008] Furthermore, each of the adaptive structures includes a first connecting rod, a second connecting rod, and a plurality of fixed connecting rods. The two ends of the fixed connecting rods are respectively hinged to one end of the first connecting rod and one end of the second connecting rod. The other ends of the first connecting rod and the other ends of the second connecting rod are respectively hinged to the support frame. The first connecting rod, the fixed connecting rods, the second connecting rods, and the support frame form a parallelogram mechanism. The track drive device is mounted on the fixed connecting rods.

[0009] Furthermore, the adaptive structure also includes a third connecting rod, a baffle, a spring, a first platform, and a second platform. The first platform and the second platform are spaced apart along the length of the support frame. The baffle is sleeved on the support frame between the first platform and the second platform. The first platform, the baffle, and the second platform are sequentially connected by a first connecting member. The spring is wound around the first connecting member, and both ends of the spring are respectively connected to the first platform and the baffle. One end of the third connecting rod is hinged to one end of the second connecting rod, and the other end of the third connecting rod is hinged to the baffle.

[0010] Furthermore, each of the track drive devices includes a first synchronous pulley, a second synchronous pulley, a first track, a first connecting shaft, and a second connecting shaft. The output end of the drive device is connected to the first connecting shaft. One end of the first synchronous pulley, one end of the first connecting rod, and one end of the fixed connecting rod are mounted on the first connecting shaft. The other end of the second synchronous pulley, one end of the second connecting rod, and the other end of the fixed connecting rod are mounted on the second connecting shaft. The first track is wound around the first synchronous pulley and the second synchronous pulley.

[0011] Furthermore, the drive device includes a gear frame, a pushing motor, a drive shaft, a driving helical gear, several driven shafts, and several driven helical gears. The top of the gear frame is connected to the support frame, and the bottom of the gear frame is connected to the digging mechanism. Several driven shafts are rotatably arranged on the circumference of the gear frame. The pushing motor is mounted on the support frame, and the output shaft of the pushing motor is connected to the drive shaft. The driving helical gear is mounted on the drive shaft. Several driven helical gears are respectively mounted on several driven shafts, and several driven helical gears respectively mesh with the driving helical gear. Several driven shafts are respectively connected to several first connecting shafts for transmission. The two ends of the first connecting rod are respectively connected to the first connecting shaft and the driven shaft.

[0012] Furthermore, it also includes a third synchronous pulley, a fourth synchronous pulley, and a second track. The third synchronous pulley is fixedly mounted on the driven shaft, the fourth synchronous pulley is fixedly mounted on the first connecting shaft, and the second track is wound around the third synchronous pulley and the fourth synchronous pulley.

[0013] Furthermore, it also includes several auxiliary support devices, each set of auxiliary support devices including a support plate and several clamps, the clamps being fixedly mounted on the support frame, and the clamps being connected to the support plate.

[0014] Furthermore, the excavating mechanism includes a support device and a cutting device, wherein the support device is connected between the pushing mechanism and the cutting device.

[0015] Furthermore, the cutting device includes a digging motor and a cutter head. The cutter head is detachably connected to the bottom of the support device. The digging motor is mounted on the support device, and the output shaft of the digging motor is connected to the cutter head. The cutter head is a concave cone shape, and the size of the cutter head gradually decreases from one end near the support device to the other end away from the support device. The cutter head is provided with at least two blades, each blade having a serrated edge, and the edges of adjacent blades are arranged radially staggered.

[0016] Furthermore, the excavating mechanism also includes a chip removal device, which includes an air compressor, an air pipe, a nozzle, a vacuum cleaner, and a chip removal pipe. The air pipe and the chip removal pipe are installed inside the support device. The nozzle is installed at the front end of the air pipe. The air compressor is connected to the air pipe, and the vacuum cleaner is connected to the chip removal pipe. The cutter head has notches corresponding to the positions of the air pipe and the chip removal pipe.

[0017] Compared with the prior art, the beneficial effects of the submersible rock-drilling robot of the present invention are as follows:

[0018] By increasing the contact area between the pushing mechanism and the well wall through the track drive device, the stability of the operation is effectively maintained. At the same time, the power that can be provided to the excavating mechanism by utilizing the friction force of the well wall on the pushing mechanism is increased, thereby improving the drilling pressure capability of the robot to drill deeper.

[0019] The adaptive structure can automatically adjust the distance between the track drive and the support frame, keeping the track drive pressed against the well wall, so that the pushing mechanism can achieve the adaptive function.

[0020] The auxiliary support device further increases the friction between the well wall and the pushing mechanism, thereby providing drilling power to the excavating mechanism.

[0021] The drive unit uses a direct helical gear transmission method, which reduces the design and installation of gears. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the submersible rock-drilling robot in an embodiment of the present invention;

[0023] Figure 2 This is a perspective view of the pushing mechanism in an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the pushing mechanism in an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the gear carrier from a first-view perspective in an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the gear carrier from a second perspective in an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of the auxiliary support device in an embodiment of the present invention;

[0028] Figure 7 This is a schematic diagram of the excavation mechanism in an embodiment of the present invention;

[0029] Figure 8 This is a schematic diagram of the cutter head structure in an embodiment of the present invention;

[0030] Figure 9 This is a schematic diagram showing the connection between the pushing mechanism and the digging mechanism in an embodiment of the present invention.

[0031] In the attached diagram: 1-Pushing mechanism; 2-Support frame; 201-Connecting platform; 202-Protrusion; 2021-Second threaded hole; 3-Auxiliary support device; 301-Clamp; 302-Support plate; 303-Friction-enhancing structure; 4-Drive device; 401-Gear frame; 40101-Protrusion; 40102-First threaded hole; 40103-Slide rail; 40104-Second through hole; 402-Pushing motor; 403-Main... Driven shaft; 404-Driving helical gear; 405-Driven shaft; 406-Driven helical gear; 407-Ball bearing; 408-Deep groove ball bearing; 409-Side flange bearing; 4010-Snap ring; 4011-Third synchronous pulley; 4012-Fourth synchronous pulley; 4013-Second track; 4014-Tensioning column; 4015-First coupling; 5-Track drive device; 501-First synchronous pulley; 502-Second synchronous pulley Synchronous pulley; 503-First track; 504-First connecting shaft; 505-Second connecting shaft; 506-Tensioner; 6-Adaptive structure; 601-First connecting rod; 602-Fixed connecting rod; 603-Second connecting rod; 604-Third connecting rod; 605-Baffle; 606-Spring; 607-First platform; 608-Second platform; 609-Sleeve; 7-Digging mechanism; 8-Support device; 801-Connecting... 8011-Groove; 8012-First through hole; 8013-Spring pin; 8014-Nut; 802-Outer shell; 803-Connecting disc; 9-Cutting device; 901-Excavating motor; 902-Cutter head; 903-Blade; 904-Notch; 905-Second coupling; 10-Chip removal device; 1001-Air pipe; 1002-Nozzle; 1003-Chip discharge pipe; 1004-One-way pneumatic quick connector. Detailed Implementation

[0032] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only, representing schematic diagrams rather than actual physical objects, and should not be construed as limiting the scope of this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0033] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present 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. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0034] Example 1

[0035] A type of submersible tunneling robot, such as Figure 1 As shown, the device includes a digging mechanism 7 and a pushing mechanism 1 whose size can be adjusted according to the well wall. The envelope radius of the pushing mechanism 1 is larger than that of the digging mechanism 7. The digging mechanism 7 is located at the bottom of the pushing mechanism 1. The pushing mechanism 1 includes a support frame 2, a drive device 4, several track drive devices 5, and several adaptive structures 6. The bottom of the support frame 2 is connected to the digging mechanism 7. The drive device 4 is mounted on the support frame 2. The output end of the drive device 4 is connected to the track drive devices 5. Several adaptive structures 6 are arranged along the circumference of the support frame 2. The track drive devices 5 are mounted on the adaptive structures 6. The adaptive structures 6 are used to adjust the distance between the track drive devices 5 and the support frame 2.

[0036] The aforementioned submersible rock-drilling robot uses an excavating mechanism 7 to excavate rock, and a pushing mechanism 1 to drive the excavating mechanism 7 forward. In use, the pushing mechanism 1 is supported by a support frame 2, and the track drive device 5 is driven by a drive device 4. The track drive device 5 acts on the well wall to achieve the pushing action, thereby providing drilling pressure to the excavating mechanism 7. The track drive device 5 increases the contact area between the pushing mechanism 1 and the well wall, effectively maintaining the stability of the operation, and at the same time, it increases the drilling power that can be provided to the excavating mechanism 7 by utilizing the friction force of the well wall on the pushing mechanism 1, thereby improving the drilling pressure capability of the robot to drill deeper. Meanwhile, the adaptive structure 6 can automatically adjust the distance between the track drive device 5 and the support frame 2 to keep the track drive device 5 pressed against the well wall, so that the pushing mechanism 1 can achieve the adaptive function.

[0037] like Figure 2 , Figure 3As shown, each adaptive structure 6 includes a first connecting rod 601, a second connecting rod 603, and several fixed connecting rods 602. The two ends of the fixed connecting rods 602 are respectively hinged to one end of the first connecting rod 601 and one end of the second connecting rod 603. The other ends of the first connecting rod 601 and the other ends of the second connecting rod 603 are respectively hinged to the support frame 2. The first connecting rod 601, the fixed connecting rods 602, the second connecting rods 603 and the support frame 2 form a parallelogram mechanism. The track drive device 5 is installed on the fixed connecting rods 602. During implementation, as the drive unit 4 drives the track transmission device 5, since the track transmission device 5 is mounted on the fixed connecting rod 602, the distance between the track transmission device 5 and the support frame 2 needs to change accordingly when the inner diameter of the well wall changes. The first connecting rod 601, the fixed connecting rod 602, the second connecting rod 603, and the support frame 2 form a parallelogram mechanism. When the inner diameter of the well wall increases, the parallelogram mechanism, under its own action, causes the first connecting rod 601 and the second connecting rod 603 to rotate around their respective hinged positions with the support frame 2. The fixed connecting rod 602 follows the movement of the first connecting rod 601 and the second connecting rod 603. The rotation of the second connecting rod 603 causes it to move parallel to the direction of tunneling and closer to the well wall, thereby driving the track drive device 5 on the fixed connecting rod 602 to gradually approach and contact the well wall. When the inner diameter of the well wall decreases, the well wall squeezes the track drive device 5 on the fixed connecting rod 602, thereby pushing the fixed connecting rod 602 to move parallel to the direction of tunneling. The first connecting rod 601 and the second connecting rod 603 rotate in opposite directions as the fixed connecting rod 602 moves, reducing the distance between the fixed connecting rod 602 and its track drive device 5 and the support frame 2, thus realizing the adaptive function of the pushing mechanism 1.

[0038] like Figures 1 to 3As shown, the adaptive structure 6 also includes a third connecting rod 604, a baffle 605, a spring 606, a first platform 607 and a second platform 608. The first platform 607 and the second platform 608 are spaced apart along the length of the support frame 2. The baffle 605 is sleeved on the support frame 2 between the first platform 607 and the second platform 608. The first platform 607, the baffle 605 and the second platform 608 are sequentially connected by a first connecting member. The spring 606 is wound around the first connecting member, and the two ends of the spring 606 are respectively connected to the first platform 607 and the baffle 605. One end of the third connecting rod 604 is hinged to one end of the second connecting rod 603, and the other end of the third connecting rod 604 is hinged to the baffle 605. When spring 606 is in its initial position, baffle 605 is at its lower dead center. At this time, the distance between fixed link 602 and its track drive device 5 and support frame 2 is at its maximum. When the well wall decreases, fixed link 602 moves, and the distance between track drive device 5 and support frame 2 gradually decreases. Third connecting rod 604 moves accordingly, pushing baffle 605 upward along the first connecting member to compress spring 606. When the well wall increases, the elastic potential energy stored in spring 606 during compression can provide power for adaptive structure 6. Spring 606 pushes baffle 605 downward. During the movement of third connecting rod 604, it pushes fixed link 602 and its track drive device 5 to move, causing track drive device 5 to contact the well wall. Among them, second connecting rod 603, third connecting rod 604 and support frame 2 form a triangular structure to maintain the stability of the pushing mechanism 1 during adaptive movement.

[0039] like Figure 2 , Figure 3 As shown, each track drive device 5 includes a first synchronous pulley 501, a second synchronous pulley 502, a first track 503, a first connecting shaft 504, and a second connecting shaft 505. The output end of the drive device 4 is connected to the first connecting shaft 504. One end of the first synchronous pulley 501, one end of the first connecting rod 601, and one end of the fixed connecting rod 602 are mounted on the first connecting shaft 504. One end of the second synchronous pulley 502, one end of the second connecting rod 603, and the other end of the fixed connecting rod 602 are mounted on the second connecting shaft 505. The first track 503 is wound around the first synchronous pulley 501 and the second synchronous pulley 502. Specifically, as shown... Figure 6As shown, the support frame 2 is provided with a connecting platform 201. The other end of the second connecting rod 603 is hinged to the support frame 2 through the connecting platform 201. The connecting platform 201 is concave to avoid interference with the first track 503. In implementation, the drive device 4 drives the first connecting shaft 504 to rotate, which in turn drives the first synchronous pulley 501 to rotate. Through the meshing of the first synchronous pulley 501, the second synchronous pulley 502, and the first track 503, the first track 503 is driven to move and the second synchronous pulley 502 is driven to rotate. The first track 503 moves along the well wall, and the friction of the well wall on the first track 503 provides the drilling power for the excavating mechanism 7. Among them, the first connecting shaft 504 can simultaneously realize the hinge between the first connecting rod 601 and the fixed connecting rod 602, and the second connecting shaft 505 can simultaneously realize the hinge between the second connecting rod 603 and the fixed connecting rod 602, reducing the number of connecting structural components.

[0040] Specifically, such as Figure 2 As shown, each adaptive structure 6 can be equipped with two sets of first connecting rods 601, two sets of fixed connecting rods 602, two sets of second connecting rods 603, and two sets of springs 606. In this embodiment, the first connecting rods 601, fixed connecting rods 602, and second connecting rods 603 are symmetrically distributed through the first connecting shaft 504 and the second connecting shaft 505 to ensure uniform and balanced force on the circumference of the pushing mechanism 1, thereby enhancing the stability of the transmission and more effectively and stably realizing the adaptive function of the pushing mechanism 1 to the well wall. A sleeve 609 can be fixedly installed between the two sets of fixed connecting rods 602 to enhance the rigidity of the fixed connecting rods 602. Figure 1 , Figure 2 As shown, a tensioning wheel 506 is rotatably installed between the two sets of fixed connecting rods 602, which contacts the first track 503. The tensioning wheel 506 presses the first track 503, increasing the preload of the first track 503.

[0041] The drive device 4 includes a gear frame 401, a pusher motor 402, a drive shaft 403, a drive helical gear 404, several driven shafts 405, and several driven helical gears 406. The top of the gear frame 401 is connected to the support frame 2, and the bottom of the gear frame 401 is connected to the excavation mechanism 7. Several driven shafts 405 are rotatably arranged on the circumference of the gear frame 401. The pusher motor 402 is mounted on the support frame 2, and the output shaft of the pusher motor 402 is connected to the drive shaft 403. The drive helical gear 404 is mounted on the drive shaft 403. Several driven helical gears 406 are respectively mounted on several driven shafts 405, and several driven helical gears 406 mesh with the drive helical gear 404 respectively. Several driven shafts 405 are respectively connected to several first connecting shafts 504 for transmission. The two ends of the first connecting rod 601 are respectively connected to the first connecting shaft 504 and the driven shaft 405. In implementation, the pushing motor 402 drives the drive shaft 403 and its drive helical gear 404 to rotate via the first coupling 4015. Through meshing, this drives several driven helical gears 406 and driven shaft 405 to rotate. The rotation of the driven shaft 405 drives the first connecting shaft 504 to rotate, which in turn drives the first synchronous pulley 501 and the first track 503 to move, thus realizing the pushing of the excavating mechanism 7. It should be noted that the drive helical gear 404 can be integrally formed with the drive shaft 403. In this embodiment, the transmission between the helical gears reduces the design and installation of gears, simplifying the design and installation process.

[0042] It also includes a third synchronous pulley 4011, a fourth synchronous pulley 4012, and a second track 4013. The third synchronous pulley 4011 is fixedly mounted on the driven shaft 405, and the fourth synchronous pulley 4012 is fixedly mounted on the first connecting shaft 504. The second track 4013 is wound around the third synchronous pulley 4011 and the fourth synchronous pulley 4012. In implementation, the push motor 402 drives the drive shaft 403, the drive helical gear 404, the driven helical gear 406, and the driven shaft 405 to rotate, thereby driving the third synchronous pulley 4011 to rotate. Through the meshing of the third synchronous pulley 4011 and the fourth synchronous pulley 4012 with the second track 4013, the second track 4013 and the fourth synchronous pulley 4012 move. The fourth synchronous pulley 4012 drives the first connecting shaft 504 to rotate, thereby driving the first track 503 to move. For example, Figure 2 As shown, the first connecting plate is provided with a tensioning column 4014 that contacts the second track 4013. The tensioning column 4014 presses the second track 4013, increasing the preload of the second track 4013.

[0043] Driven shaft 405 can be a splined shaft, and is connected to driven helical gear 406 via a spline. To improve transmission stability, such as... Figures 3 to 5As shown, a ball bearing 407 is provided between the gear carrier 401 and the drive shaft 403. The driven shaft 405 is connected to the gear carrier 401 at both ends via a baffle bearing 605 and a deep groove ball bearing 408, respectively. A retaining ring 4010 is mounted on the outside of the retaining bearing 409, serving as a limit for the retaining bearing 409. First pin holes are provided at both ends of the driven shaft 405 for fixed connection to the third synchronous pulley 4011. The first connecting shaft 504 can be a splined shaft, connected to the first synchronous pulley 501 via a spline. Second pin holes are provided at both ends of the first connecting shaft 504 for fixed connection to the fourth synchronous pulley 4012.

[0044] In this embodiment, the first synchronous pulley 501, the second synchronous pulley 502, the third synchronous pulley 4011 and the fourth synchronous pulley 4012 are all non-standard designs, and the adjacent racks are staggered to reduce the wear of the sand on the first track 503 and the second track 4013, while reducing the possibility of being stuck by the sand.

[0045] Example 2

[0046] This embodiment is similar to Embodiment 1, except that, as Figure 1 , Figure 2 , Figure 3 and Figure 6 As shown, it also includes several auxiliary support devices 3. Each set of auxiliary support devices 3 includes a support plate 302 and several clamps 301. The clamps 301 are fixedly mounted on the support frame 2 and connected to the support plate 302. Specifically, each set of clamps 301 includes a locking member and two clamping plates. The two clamping plates are fixed to the outer wall of the support frame 2, and there is a gap between the two clamping plates. The support plate 302 can be inserted into the gap between the two clamping plates, and then the locking member is used to lock the two clamping plates to the support plate 302. In order to ensure the stable clamping of the support plate 302, each set of auxiliary support devices 3 includes at least two sets of clamps 301. The at least two sets of clamps 301 respectively lock different parts of the support plate 302 to prevent the support plate 302 from rotating or shifting. Among them, the outer wall of the support plate 302 can be provided with a friction-enhancing structure 303, such as a rack-and-pinion structure, to increase the friction with the well wall, further increasing the friction force of the well wall on the pushing mechanism 1 to provide the drilling power of the excavating mechanism 7. At the same time, this embodiment can also reserve space for the layout of the line, which is convenient for the robot's recovery work.

[0047] like Figure 5 , Figure 9 As shown, the top of the gear carrier 401 has several first threaded holes 40102, such as... Figure 6As shown, the bottom of the support frame 2 is provided with a plurality of protrusions 202, and the plurality of protrusions 202 are respectively provided with second threaded holes 2021 corresponding one-to-one with the first threaded holes 40102. The first threaded holes 40102 and the second threaded holes 2021 are connected by a second connector. The top of the gear frame 401 is also provided with a plurality of bosses 40101, and the plurality of first threaded holes 40102 can be respectively provided on the bosses 40101. The bosses 40101 can be embedded in the protrusions 202. Through the cooperation of the bosses 40101 and the protrusions 202, the gear frame 401 and the support frame 2 are positioned and installed.

[0048] Example 3

[0049] This embodiment is similar to Embodiment 2, except that, as Figure 1 As shown, the excavating mechanism 7 includes a support device 8 and a cutting device 9, with the support device 8 connecting the pushing mechanism 1 and the cutting device 9. The support device 8 provides radial support force to the excavating mechanism 7.

[0050] like Figure 1 , Figure 7 and Figure 8 As shown, the cutting device 9 includes a digging motor 901 and a cutter head 902. The cutter head 902 is detachably connected to the bottom of the support device 8. The digging motor 901 is mounted on the support device 8, and its output shaft is connected to the cutter head 902. The cutter head 902 is a concave cone shape, and its size gradually decreases from the end closer to the support device 8 to the end farther away from the support device 8. The cutter head 902 is provided with at least two blades 903, each blade 903 having a serrated edge. In practice, the digging motor 901 drives the cutter head 902 to rotate via a second coupling 905 to crush and cut the soil. The concave cone design of the cutter head 902 reduces drilling resistance, improves wall breaking and cutting effects, and enhances digging capacity. In addition, the serrated edges of the blades 903, with adjacent blades 903 arranged radially in an alternating pattern, further improve the soil crushing effect.

[0051] like Figure 1 , Figure 7 , Figure 8As shown, the excavating mechanism 7 also includes a chip removal device 10, which includes an air compressor, an air pipe 1001, a nozzle 1002, a vacuum cleaner, and a chip removal pipe 1003. The air pipe 1001 and the chip removal pipe 1003 are installed inside the support device 8. The nozzle 1002 is installed at the front end of the air pipe 1001. The air compressor is connected to the air pipe 1001, and the vacuum cleaner is connected to the chip removal pipe 1003. The cutter head 902 has notches 904 corresponding to the positions of the air pipe 1001 and the chip removal pipe 1003, respectively. Specifically, the inner diameter of the air pipe 1001 is smaller than the inner diameter of the chip removal pipe 1003 to ensure a high-pressure state of the gas in the air pipe 1001 and to prevent the chip removal pipe 1003 from becoming blocked. During implementation, high-pressure gas is delivered to the air pipe 1001 via an air compressor and ejected from the nozzle 1002, which can flush away chips near the cutter head 902. A vacuum cleaner then sucks the dust generated during cutting into the chip removal pipe 1003, achieving pneumatic chip removal and preventing drill blockage. Increasing the number of chip removal pipes 1003 can improve chip removal efficiency, enhance the chip removal effect, and extend the service life of the cutter head 902.

[0052] like Figure 7 , Figure 9 As shown, the support device 8 includes a housing 802, a connecting cover 801, and a connecting plate 803. The connecting cover 801 and the connecting plate 803 are respectively installed at both ends of the housing 802. The connecting cover 801 is connected to the gear frame 401, and the connecting plate 803 is connected to the cutter head 902. The excavating motor 901 is installed on the connecting plate 803. One end of the air pipe 1001 and one end of the chip removal pipe 1003 are respectively installed on the connecting plate 803 through a one-way pneumatic quick connector 1004.

[0053] like Figure 7 , Figure 9 As shown, the top of the connecting cover 801 is provided with a groove 8011, which mates with the bottom of the gear carrier 401. Several first through holes 8012 are provided within the groove 8011, such as... Figure 4 , Figure 5 As shown, the bottom of the gear frame 401 is provided with several slide rails 40103. The slide rails 40103 have a second through hole 40104. The spring pin 8013 and the nut 8014 are installed in the first through hole 8012. When connecting the digging mechanism 7 and the pushing mechanism 1, the gear frame 401 is first placed in the groove 8011 so that the slide rails 40103 on the gear frame 401 are located on the spring pins 8013. The gear frame 401 is rotated and the spring pins 8013 slide along the slide rails 40103 until the spring pins 8013 are aligned and engaged with the second through hole 40104, thus completing the connection between the pushing mechanism 1 and the digging mechanism 7.

[0054] In the specific implementation of the above embodiments, the technical features can be combined in any non-contradictory way. For the sake of brevity, not all possible combinations of the above technical features are described. However, as long as the combination of these technical features is not contradictory, it should be considered to be within the scope of this specification.

[0055] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A submersible drilling robot, comprising a digging mechanism (7) and a pushing mechanism (1) whose dimensions can be adjusted according to the well wall, wherein the radius of the pushing mechanism (1) is larger than the radius of the digging mechanism (7), and the digging mechanism (7) is located at the bottom of the pushing mechanism (1); characterized in that, The pushing mechanism (1) includes a support frame (2), a drive device (4), several track drive devices (5), and several adaptive structures (6). The bottom of the support frame (2) is connected to the digging mechanism (7). The drive device (4) is mounted on the support frame (2). The output end of the drive device (4) is connected to the track drive device (5). Several adaptive structures (6) are arranged along the circumference of the support frame (2). The track drive device (5) is mounted on the adaptive structure (6). The adaptive structure (6) is used to adjust the distance between the track drive device (5) and the support frame (2).

2. The subterranean asteroid mining robot of claim 1, wherein, Each of the adaptive structures (6) includes a first connecting rod (601), a second connecting rod (603), and a plurality of fixed connecting rods (602). The two ends of the fixed connecting rods (602) are respectively hinged to one end of the first connecting rod (601) and one end of the second connecting rod (603). The other ends of the first connecting rod (601) and the other ends of the second connecting rod (603) are respectively hinged to the support frame (2). The first connecting rod (601), the fixed connecting rods (602), the second connecting rods (603), and the support frame (2) form a parallelogram mechanism. The track drive device (5) is installed on the fixed connecting rods (602).

3. The subterranean asteroid mining robot of claim 2, wherein, The adaptive structure (6) further includes a third connecting rod (604), a baffle (605), a spring (606), a first platform (607), and a second platform (608). The first platform (607) and the second platform (608) are spaced apart along the length of the support frame (2). The baffle (605) is sleeved on the support frame (2) between the first platform (607) and the second platform (608). The first platform (607), the baffle (605), and the second platform (608) are sequentially connected by a first connecting member. The spring (606) is wound around the first connecting member, and both ends of the spring (606) are respectively connected to the first platform (607) and the baffle (605). One end of the third connecting rod (604) is hinged to one end of the second connecting rod (603), and the other end of the third connecting rod (604) is hinged to the baffle (605).

4. The subterranean asteroid mining robot of claim 2, wherein, Each of the track drive devices (5) includes a first synchronous pulley (501), a second synchronous pulley (502), a first track (503), a first connecting shaft (504), and a second connecting shaft (505). The output end of the drive device (4) is connected to the first connecting shaft (504). One end of the first synchronous pulley (501), one end of the first connecting rod (601), and one end of the fixed connecting rod (602) are mounted on the first connecting shaft (504). One end of the second synchronous pulley (502), one end of the second connecting rod (603), and the other end of the fixed connecting rod (602) are mounted on the second connecting shaft (505). The first track (503) is wound around the first synchronous pulley (501) and the second synchronous pulley (502).

5. The subterranean asteroid mining robot of claim 4, wherein, The drive device (4) includes a gear frame (401), a push motor (402), a drive shaft (403), a drive helical gear (404), several driven shafts (405), and several driven helical gears (406). The top of the gear frame (401) is connected to the support frame (2), and the bottom of the gear frame (401) is connected to the digging mechanism (7). Several driven shafts (405) are rotatably arranged on the circumference of the gear frame (401). The push motor (402) is mounted on the support frame (2). 2) The output shaft is connected to the drive shaft (403), the drive helical gear (404) is mounted on the drive shaft (403), a plurality of driven helical gears (406) are respectively mounted on a plurality of driven shafts (405), and the plurality of driven helical gears (406) mesh with the drive helical gear (404) respectively, the plurality of driven shafts (405) are respectively connected to a plurality of first connecting shafts (504) for transmission, and the two ends of the first connecting rod (601) are respectively connected to the first connecting shaft (504) and the driven shaft (405).

6. The subterranean asteroid mining robot of claim 5, wherein, It also includes a third synchronous pulley (4011), a fourth synchronous pulley (4012), and a second track (4013). The third synchronous pulley (4011) is fixedly mounted on the driven shaft (405), and the fourth synchronous pulley (4012) is fixedly mounted on the first connecting shaft (504). The second track (4013) is wound around the third synchronous pulley (4011) and the fourth synchronous pulley (4012).

7. The subsurface asteroid excavation robot of claim 1, wherein, It also includes several auxiliary support devices (3), each set of auxiliary support devices (3) includes a support plate (302) and several clamps (301), the several clamps (301) are fixedly installed on the support frame (2), and the clamps (301) are connected to the support plate (302).

8. The subterranean asteroid mining robot of any one of claims 1 to 7, wherein, The excavation mechanism (7) includes a support device (8) and a cutting device (9), wherein the support device (8) is connected between the pushing mechanism (1) and the cutting device (9).

9. The subterranean asteroid mining robot of claim 8, wherein, The cutting device (9) includes a digging motor (901) and a cutter head (902). The cutter head (902) is detachably connected to the bottom of the support device (8). The digging motor (901) is mounted on the support device (8). The output shaft of the digging motor (901) is connected to the cutter head (902). The cutter head (902) is a concave cone shape, and the size of the cutter head (902) gradually decreases from the end closer to the support device (8) to the end farther away from the support device (8). The cutter head (902) is provided with at least two blades (903). The blade edge of each blade (903) is serrated, and the blade edges of adjacent blades (903) are arranged radially in an alternating manner.

10. The subterranean asteroid mining robot of claim 9, wherein, The excavating mechanism (7) also includes a chip removal device (10), which includes an air compressor, an air pipe (1001), a nozzle (1002), a vacuum cleaner, and a chip removal pipe (1003). The air pipe (1001) and the chip removal pipe (1003) are installed in the support device (8). The nozzle (1002) is installed at the front end of the air pipe (1001). The air compressor is connected to the air pipe (1001), and the vacuum cleaner is connected to the chip removal pipe (1003). The cutter head (902) has notches (904) that correspond to the positions of the air pipe (1001) and the chip removal pipe (1003).

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