A nuclear engineering intelligent drilling vehicle

Abstract

This invention pertains to work vehicles, specifically an intelligent drilling work vehicle for nuclear engineering. The intelligent drilling work vehicle for nuclear engineering includes a body system, a boom system, and an execution system. The boom system is mounted on the body system, and the execution system is located at the foremost end of the boom system. The significant advantages of this invention are: it enables control over the drilling mechanism's posture adjustment in six degrees of freedom in space, achieving drilling at any angle, expanding the types of drilling, improving the versatility of the work vehicle, and, in conjunction with the vision system, ensuring drilling accuracy; it also protects the lives of construction personnel; it is simple to operate; it is rationally designed, highly versatile, accurately positioned, safe, efficient, and convenient to operate.

Description

Technical Field

[0001] This invention pertains to work vehicles, specifically a smart drilling work vehicle for nuclear engineering. Background Technology

[0002] During the construction of nuclear island plant buildings, numerous supports and equipment need to be installed high on the walls, requiring the drilling of corresponding bolt holes at the installation locations. Traditional drilling tools mainly consist of impact drills and suction cup drills. These tools are heavy, and construction workers must lift them while drilling, leading to high work intensity and a risk of drill rigs falling and causing accidents. Throughout the drilling process, construction workers are near or even below the drill rig, inhaling large amounts of dust and debris, which can seriously harm their health. Drilling at high points requires scaffolding, which must be erected and dismantled after completion, a time-consuming and labor-intensive process that results in low drilling efficiency. Construction workers must manually adjust the drill rod for positioning, and the drilling quality is difficult to guarantee due to factors such as physical strength, environment, and drilling experience. Therefore, to solve these problems, it is necessary to develop an intelligent drilling vehicle for nuclear engineering. Summary of the Invention

[0003] This invention addresses the shortcomings of existing technologies by providing an intelligent drilling vehicle for nuclear engineering.

[0004] The present invention is implemented as follows: a nuclear engineering intelligent drilling vehicle, comprising a body system, a boom system and an execution system, wherein the boom system is mounted on the body system and the execution system is mounted at the foremost end of the boom system.

[0005] As described above, a nuclear engineering intelligent drilling vehicle includes a boom system comprising a pitching mechanism, a swinging mechanism, a connecting ring, a folding boom, a connecting rod, a telescopic boom, a basic boom, a turntable, a worm gear slewing support, a boom reversing valve, a lower luffing cylinder, an upper luffing cylinder, a boom control system, and a cross-joint frame. The connecting ring is movably connected to the horizontal end of the cross-joint frame via the pitching mechanism. The swinging mechanism is connected to the vertical end of the cross-joint frame. The front end of the folding boom is fixedly connected to the connecting ring, and the end is movably connected to the telescopic boom. The folding boom is movably connected to another part of the telescopic boom via a connecting rod. The basic boom is sleeved outside the telescopic boom, and its end is movably connected to the turntable. Each side of the turntable is equipped with a boom reversing valve and a boom control system. A worm gear slewing support is fixedly connected to the lower part of the turntable. The piston rod end of the lower luffing cylinder is movably connected to the basic boom, and the other end is movably connected to the turntable. The piston rod end of the upper luffing cylinder is movably connected to the folding boom, and the other end is movably connected to the telescopic boom.

[0006] As described above, in a nuclear engineering intelligent drilling vehicle, the folding arm can be extended and retracted via the telescopic arm, and the movement of the execution system in the vertical plane can be controlled by the luffing of the upper and lower luffing cylinders.

[0007] As described above, in a nuclear engineering intelligent drilling vehicle, the worm gear rotary support can rotate 120° to the left and right, enabling the execution system to move over a wide range in the horizontal plane.

[0008] As described above, in a nuclear engineering intelligent drilling vehicle, the boom control system can control the folding boom to complete actions such as luffing, telescopic, and slewing.

[0009] The intelligent drilling vehicle for nuclear engineering described above includes a vehicle chassis, charger, hydraulic oil tank, dust removal water tank, electrical control box, outrigger reversing valve, vacuum pump, battery, motor, travel controller, and vehicle body panels.

[0010] The intelligent drilling vehicle for nuclear engineering described above includes a steering wheel, a chassis, a connecting column, a leg interface, legs, and a leg deployment cylinder.

[0011] As described above, in a nuclear engineering intelligent drilling vehicle, the vacuum pump and the battery are on the same plane and located in the middle of the upper surface of the vehicle chassis. The vacuum pump is located to the left of the battery. The charger, hydraulic oil tank, and dust removal water tank are on the same plane and located above the vacuum pump and the battery. The charger is located in front of the hydraulic oil tank, and the dust removal water tank is located to the left of the hydraulic oil tank. The outrigger reversing valve and the travel controller are located on the left and right sides of the connecting column, and the electrical control box is located at the rear. The vehicle body cover covers the vehicle chassis and includes the main body of the cover and several metal support members embedded in the main body of the cover.

[0012] As described above, in a nuclear engineering intelligent drilling vehicle, the outrigger interface is located on the front and rear sides of the vehicle chassis, with one on each side at the left and right edges. The connecting column is located at the rear end of the upper surface of the vehicle chassis. The steering wheel is located at the lower part of the vehicle chassis. The outriggers are movably connected to the outrigger interface. The outrigger deployment cylinder is located between two parallel steering wheels, and the telescopic rod end is movably connected to the outrigger on the same side.

[0013] As described above, in a nuclear engineering intelligent drilling vehicle, the travel controller controls the movement of the steering wheel, and the outrigger reversing valve controls the extension and retraction of the outrigger by controlling the extension and retraction of the outrigger cylinder.

[0014] As described above, in a nuclear engineering intelligent drilling vehicle, the metal support component is integrated with the main body of the cover component through an insert injection molding process, and there are gaps between the metal support components. This reduces the weight of the vehicle body cover component while ensuring its strength.

[0015] As described above, in a nuclear engineering intelligent drilling vehicle, the battery is the power source of the nuclear engineering intelligent drilling vehicle; the motor provides power to the nuclear engineering intelligent drilling vehicle.

[0016] As described above, in a nuclear engineering intelligent drilling vehicle, the electrical control box can receive signals from an external remote controller and send them to the boom control system, boom reversing valve, travel controller, and outrigger reversing valve.

[0017] As described above, the intelligent drilling vehicle for nuclear engineering includes a dust removal water tank comprising a water pump, a dust extraction fan, an exhaust hood, an air duct, an air suction pipe, an air suction hood, a tank cover, a sealing ring, a water inlet pipe, a liquid level switch, a filter screen, a water tank body, and a water outlet.

[0018] The vacuum cleaner fan is connected to and positioned below the exhaust hood, both located on the front outer wall of the water tank. The water pump is positioned at the lower left corner of the same outer wall. The lower end of the air duct is connected to the exhaust hood, and the upper end is connected to the suction hood. The suction hood is positioned on the inner wall of the water tank. The sealing ring is positioned on the lower surface of the tank cover. One long side of the tank cover is movably connected to the water tank. The water inlet pipe penetrates and is installed on the rear outer wall of the water tank. The filter screen is positioned in the middle of the interior of the water tank. The liquid level switch and the filter screen are on the same plane, dividing the water tank into two layers. The water outlet is located on the bottom surface of the water tank.

[0019] As described above, in a nuclear engineering intelligent drilling vehicle, the dust removal water tank is designed with an automatic water circulation principle. The water pump sends water from inside the tank through the outlet to the drill rod end to flush away the dust and debris generated during drilling and reduce the temperature of the drill bit. The dust extraction fan can exhaust the air inside the tank to reduce the air pressure inside the tank. The wastewater after flushing the drill bit enters the tank through the inlet pipe and is separated by the filter screen. The dust and debris remain in the upper layer of the tank, while the water enters the lower layer of the tank for recycling.

[0020] As described above, in a nuclear engineering intelligent drilling vehicle, the sealing ring enables the formation of an independent closed space within the water tank, ensuring that the discharge of gas can effectively affect the internal air pressure of the water tank.

[0021] As described above, in a nuclear engineering intelligent drilling vehicle, the liquid level switch can monitor the liquid level in the tank in real time to prevent the liquid level in the tank from being too low or the filter screen from being clogged by dust and debris, thus ensuring the safety of the drilling operation.

[0022] As described above, an intelligent drilling vehicle for nuclear engineering includes a drilling mechanism, an adjustment mechanism, a support mechanism, a vision mechanism, a vacuum suction cup, a tilt sensor, and a laser sensor. The drilling mechanism is movably connected to the upper part of the adjustment mechanism and to the support mechanism at the lower part. The vacuum suction cup is located at the front. The vision mechanism is mounted on the adjustment mechanism and faces the drilling direction. The tilt sensor is mounted on the adjustment mechanism. Two sets of laser sensors are respectively located on both sides below the support mechanism.

[0023] As described above, in a nuclear engineering intelligent drilling vehicle, the adjustment mechanism can adjust the drilling mechanism in three directions: X, Y, and Z. The support mechanism bears most of the weight of the actuator and can move the adjustment mechanism in the X direction to ensure that the vacuum suction cup is in contact with the wall for easy adsorption.

[0024] As described above, in a nuclear engineering intelligent drilling vehicle, after the vacuum suction cup is pressed against the wall, the vacuum pump sucks away the air between it and the wall, causing it to adhere to the wall.

[0025] As described above, in a nuclear engineering intelligent drilling vehicle, the vision mechanism can transmit the real-time image of the front end of the drilling mechanism to an external display screen, allowing construction personnel to control the adjustment mechanism to adjust the position of the drilling mechanism based on the image.

[0026] As described above, in a nuclear engineering intelligent drilling vehicle, the tilt sensor can detect the tilt of the adjustment mechanism in real time, thereby understanding the overall machine and ensuring the effectiveness and safety of the drilling operation.

[0027] As described above, in a nuclear engineering intelligent drilling vehicle, the laser sensor can be used to monitor the distance between itself and the wall. Data measured by two sets of laser sensors can be compared to determine whether the actuator is parallel to the wall. During the drilling process, the laser sensor can also monitor the drilling depth and speed, and adjust the drilling feed force based on this information to reduce drill rod wear and rod jamming problems.

[0028] As described above, in a nuclear engineering intelligent drilling vehicle, the drilling mechanism and the dust removal water tank can form a dust removal and cooling water circulation system, which can effectively solve the problems of drill bit damage due to excessive temperature and the generation of a large amount of dust during drilling.

[0029] The significant advantages of this invention are: the intelligent drilling vehicle for nuclear engineering, through its adjustment mechanism and folding arm, can control the drilling mechanism's posture adjustment in six degrees of freedom in space, enabling drilling at any angle, expanding the types of drilling, and improving the vehicle's versatility. Combined with the vision system, it also ensures drilling accuracy. The intelligent drilling vehicle is equipped with multiple sensors to monitor its real-time status, preventing accidents and protecting the lives of construction personnel. It features a dust removal and cooling water circulation system, preventing the generation of large amounts of dust and debris during drilling, thus protecting the health of construction personnel and preventing excessive drill bit temperature, which could damage the drill bit, affect drilling efficiency, and cause additional economic losses. The control system and travel controller can be controlled by a single operator using a remote control, making operation simple. This invention boasts advantages such as reasonable design, high versatility, precise positioning, safety and efficiency, and convenient operation, providing a highly intelligent drilling vehicle for drilling operations in nuclear island plants. Attached Figure Description

[0030] Figure 1 Structural diagram of a nuclear engineering intelligent drilling vehicle;

[0031] Figure 2 : Figure 1 A schematic diagram of the three-dimensional structure;

[0032] Figure 3 : Boom system structural diagram;

[0033] Figure 4 : Figure 3 A schematic diagram of the three-dimensional structure;

[0034] Figure 5 Body system structure diagram;

[0035] Figure 6 : Figure 5 A schematic diagram of the structure rotated 180°;

[0036] Figure 7 : Structural diagram of the body panel;

[0037] Figure 8 : A top view of the body panel structure;

[0038] Figure 9 : Chassis structure diagram of the vehicle;

[0039] Figure 10 : Figure 9 A top-view structural diagram;

[0040] Figure 11 : Dust removal water tank structure diagram;

[0041] Figure 12 Execution system architecture diagram;

[0042] Figure 13 : Figure 12 Front view structural diagram;

[0043] Figure 14 Schematic diagram of water flow direction in dust removal and cooling water circulation system.

[0044] In the diagram: 1-Boom system; 2-Body system; 3-Actuation system; 101-Pitch mechanism; 102-Swing mechanism; 103-Connecting ring; 104-Folding boom; 105-Linkage; 106-Telescopic boom; 107-Basic boom; 108-Turntable; 109-Whirlwind slewing bearing; 110-Boom directional valve; 111-Lower luffing cylinder; 112-Upper luffing cylinder; 113-Boom control system; 114-Articulated crossarm; 2011-Steering wheel; 2012-Chassis; 2013-Connecting column; 2014-Outrigger interface; 2015-Outrigger; 20 16-Leg deployment cylinder; 20601-Water pump; 20602-Dust extraction fan; 20603-Exhaust hood; 20604-Air duct pipe; 20605-Suction pipe; 20606-Suction hood; 20607-Box cover; 20608-Sealing ring; 20609-Water inlet pipe; 20610-Level switch; 20611-Filter screen; 20612-Water tank body; 20613-Water outlet; 31-Drilling mechanism; 32-Adjusting mechanism; 33-Supporting mechanism; 34-Vacuum suction cup; 35-Vision mechanism; 36-Tilt sensor; 37-Laser sensor Detailed Implementation

[0045] An intelligent drilling vehicle for nuclear engineering is innovative in that it includes a boom system 1, a body system 2, and an execution system 3. One end of the boom system 1 is fixed above the body system 2, and the other end is movably connected to the execution system 3.

[0046] The boom system 1 includes a pitch mechanism 101, a swing mechanism 102, a connecting ring 103, a folding boom 104, a connecting rod 105, a telescopic boom 106, a basic boom 107, a turntable 108, a worm gear slewing support 109, a boom directional valve 110, a lower luffing cylinder 111, an upper luffing cylinder 112, a boom control system 113, and a crossarm 114. The connecting ring 103 is movably connected to the horizontal end of the crossarm 114 via the pitch mechanism 101, and the swing mechanism 102 is connected to the vertical end of the crossarm 114. The front end of the folding boom 104 is fixedly connected to the connecting ring 103, and its end is movably connected to the telescopic boom 106. The folding boom 104 is movably connected to the telescopic boom 106 at another point via the connecting rod 105. The basic boom 107 is sleeved outside the telescopic boom 106, and its end is movably connected to the turntable 108. The turntable 108 is equipped with a boom reversing valve 110 and a boom control system 113 on each of its two sides, and a worm gear slewing support 109 is fixedly connected to the lower part of the turntable 108. The piston rod end of the lower luffing cylinder 111 is movably connected to the basic boom 107, and the other end is movably connected to the turntable 108. The piston rod end of the upper luffing cylinder 111 is movably connected to the folding boom 104, and the other end is movably connected to the telescopic boom 106.

[0047] The folding arm 104 can be extended and retracted by the telescopic arm 106. The movement of the execution system 3 in the vertical plane can be controlled by the luffing cylinders 112 and 111.

[0048] The worm gear slewing support 109 can rotate 120° to the left and right, enabling the actuator 3 to move over a wide range in the horizontal plane.

[0049] The boom control system 113 can control the folding boom 104 to complete actions such as luffing, telescopic, and slewing.

[0050] The vehicle body system includes a chassis 201, a charger 202, a hydraulic oil tank 203, a dust removal water tank 204, an electrical control box 205, a outrigger reversing valve 206, a vacuum pump 207, a battery 208, a motor 209, a travel controller 210, and a body panel 211.

[0051] The vehicle chassis 201 includes a steering wheel 2011, a chassis 2012, a connecting column 2013, a support leg interface 2014, a support leg 2015, and a support leg deployment cylinder 2016.

[0052] The vacuum pump 207 and the battery 208 are on the same plane and located in the middle of the upper surface of the vehicle chassis 201, with the vacuum pump 207 positioned to the left of the battery 208. The charger 202, hydraulic oil tank 203, and dust removal water tank 204 are on the same plane and located above the vacuum pump 207 and the battery 208, with the charger 202 positioned in front of the hydraulic oil tank 203 and the dust removal water tank 204 positioned to the left of the hydraulic oil tank 203. The outrigger reversing valve 206 and the travel controller 210 are located on the left and right sides of the connecting column 2013, and the electrical control box 205 is located at the rear. The vehicle body panel 211 covers the vehicle chassis 201 and includes a panel body 2111 and several metal support members 2112 embedded in the panel body.

[0053] The outrigger interfaces 2014 are located on the front and rear sides of the vehicle chassis 201, with one on each side at the left and right edges. The connecting post 2013 is located at the rear end of the upper surface of the vehicle chassis 201. The steering wheel 2011 is located at the lower part of the vehicle chassis 201. The outriggers 2015 are movably connected to the outrigger interfaces 2014. The outrigger deployment cylinder 2016 is located between the two parallel steering wheels 2011, and the telescopic rod end is movably connected to the outrigger 2015 on the same side.

[0054] The walking controller 210 controls the steering wheel 2011 to move, and the outrigger reversing valve 206 controls the extension and retraction of the outrigger 2015 by controlling the extension and retraction of the outrigger extension cylinder 2016.

[0055] The metal support member 2112 is integrated with the body cover 2111 as an insert through an insert injection molding process, and there are gaps between each metal support member 2112. This reduces the weight of the body cover 2111 while ensuring its strength.

[0056] The battery 208 is the power source for the nuclear engineering intelligent drilling vehicle.

[0057] The motor 209 provides power to the nuclear engineering intelligent drilling vehicle.

[0058] The electrical control box 205 can receive signals sent from an external remote controller and send them to the boom control system 113, boom reversing valve 110, travel controller 210, and outrigger reversing valve 206.

[0059] The invention relates to an intelligent drilling vehicle for nuclear engineering, the innovation of which is that the dust removal water tank 206 includes a water pump 20601, a dust extraction fan 20602, an exhaust hood 20603, an air duct 20604, an air suction pipe 20605, an air suction hood 20606, a tank cover 20607, a sealing ring 20608, a water inlet pipe 20609, a liquid level switch 20610, a filter screen 20611, a water tank body 20612, and a water outlet 20613.

[0060] The vacuum cleaner fan 20602 is connected to and positioned below the exhaust hood 20603, both located on the front outer wall of the water tank 20612. The water pump 20601 is positioned at the lower left corner of the same outer wall. The lower end of the air duct 20604 is connected to the exhaust hood 20603, and the upper end is connected to the suction hood 20606. The suction hood 20606 is located on the inner wall of the water tank 20612. The sealing ring 20608 is located on the lower surface of the tank cover 20607, and one long side of the tank cover 20607 is movably connected to the water tank 20612. The water inlet pipe 20609 penetrates and is installed on the rear outer wall of the water tank 20612. The filter screen 20611 is located in the middle of the interior of the water tank 20612. The level switch 20610 and the filter screen 20611 are on the same plane, dividing the water tank 20612 into two layers. The water outlet 20613 is located on the bottom surface of the water tank 20612.

[0061] The dust removal water tank 206 is designed with an automatic water circulation principle. The water pump 20601 sends water from inside the water tank 20612 to the drill rod end through the outlet 20613 to flush away the dust and debris generated during drilling and reduce the temperature of the drill bit. The dust extraction fan 20602 can exhaust the air inside the water tank 20612, reducing the air pressure inside the tank. The wastewater after flushing the drill bit enters the tank through the inlet pipe 20609 and is separated by the filter screen 20611. The dust and debris remain in the upper layer of the water tank 20612, while the water enters the lower layer of the water tank 20612 for recycling.

[0062] The sealing ring 20608 can form an independent closed space inside the water tank 20612, ensuring that the gas discharge can effectively affect the internal air pressure of the water tank 20612.

[0063] The liquid level switch 20610 can monitor the liquid level in the tank in real time to prevent the liquid level in the tank from being too low or the filter screen 20611 from being blocked by dust and debris, thus ensuring the safety of the drilling operation.

[0064] The execution system 3 includes a drilling mechanism 31, an adjustment mechanism 32, a support mechanism 33, a vision mechanism 35, a vacuum suction cup 34, a tilt sensor 36, and a laser sensor 37. The upper part of the adjustment mechanism 32 is movably connected to the drilling mechanism 31, the lower part is movably connected to the support mechanism 33, and the vacuum suction cup 34 is located at the front. The vision mechanism 35 is mounted on the adjustment mechanism 32, facing the drilling direction. The tilt sensor 36 is mounted on the adjustment mechanism 32, and two sets of laser sensors 37 are respectively located on both sides below the support mechanism 33.

[0065] The adjustment mechanism 32 can adjust the drilling machine 31 in the X, Y, and Z directions. The support mechanism 33 bears most of the weight of the actuator 3 and allows the adjustment mechanism 32 to move in the X direction, ensuring that the vacuum suction cup 34 is in contact with the wall for easy adsorption.

[0066] After the vacuum suction cup 34 is pressed against the wall, the vacuum pump 207 sucks away the air between it and the wall, causing it to adhere to the wall.

[0067] The vision mechanism 35 can transmit the real-time image of the front end of the drilling mechanism 31 to an external display screen, so that construction personnel can control the adjustment mechanism 32 to adjust the position of the drilling mechanism 31 according to the image.

[0068] The tilt sensor 36 can detect the tilt of the adjustment mechanism 32 in real time, thereby understanding the overall machine and ensuring the effectiveness and safety of the drilling operation.

[0069] The laser sensor 37 can be used to monitor its distance from the wall. Data from two sets of laser sensors 37 can be compared to determine whether the actuator 3 is parallel to the wall. During drilling, the laser sensor 37 can also monitor drilling depth and speed, and adjust the drilling feed force based on this information to reduce drill rod wear and jamming problems.

[0070] The drilling mechanism 3 and the dust removal water tank 206 can form a dust removal and cooling water circulation system, which can effectively solve the problems of drill bit damage due to excessive temperature and the generation of a large amount of dust during drilling.

[0071] In practice, the intelligent drilling vehicle for nuclear engineering is driven by a remote control to the drilling position, and the outriggers 2015 are deployed. The boom system 1 is controlled by the remote control to bring the execution system 3 closer to the drilling point. The support mechanism 33 is controlled to push the adjustment mechanism 32 towards the wall, allowing the vacuum suction cup 34 to adhere to the wall. The drilling point position can be observed on the display screen. The adjustment mechanism 32 is controlled to align and bring the front end of the drilling mechanism 31 close to the drilling point. When drilling begins, the water circulation system is first activated, then the drilling mechanism 31 is activated and pushed towards the wall. After drilling is completed, the drilling mechanism is first shut down and pulled back, then the water circulation system is shut down. If the next drilling point is within the adjustment range of the adjustment mechanism 32, the adjustment mechanism 32 is controlled to align the drilling mechanism with the drilling point and continue drilling. If the drilling points are far apart, the vacuum suction cup 34 needs to be detached from the wall, and the intelligent drilling vehicle for nuclear engineering is moved to a suitable position, after which the above actions are repeated.

[0072] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A nuclear engineering intelligent puncher operation vehicle, characterized in that: The arm support system is arranged on the vehicle body system, and the execution system is arranged at the front end of the arm support system; The arm support system comprises a pitching mechanism, a swing mechanism, a connecting ring, a folding arm, a connecting rod, an extension arm, a basic arm, a rotary table, a worm gear rotary support, an arm support reversing valve, a lower amplitude changing cylinder, an upper amplitude changing cylinder, an arm support control system and a cross joint frame; the connecting ring is movably connected with the horizontal end of the cross joint frame through the pitching mechanism, the swing mechanism is connected with the vertical end of the cross joint frame, the front end of the folding arm is fixedly connected with the connecting ring, the tail end is movably connected with the extension arm, the folding arm is movably connected with the extension arm at another position through the connecting rod, the basic arm is sleeved on the extension arm, and the tail end of the basic arm is movably connected with the rotary table; the rotary table is provided with the arm support reversing valve and the arm support control system on the two sides, the worm gear rotary support is arranged at the lower part of the rotary table and is fixedly connected with the rotary table, the piston rod end of the lower amplitude changing cylinder is movably connected with the basic arm, and the other end is movably connected with the rotary table; the piston rod end of the upper amplitude changing cylinder is movably connected with the folding arm, and the other end is movably connected with the extension arm; The vehicle body system comprises a traveling chassis, a charger, a hydraulic oil tank, a dust removal water tank, an electric control box, a support leg reversing valve, a vacuum pump, a storage battery, a motor, a traveling controller and a vehicle body covering member. The traveling chassis comprises a rudder wheel, a chassis, a connecting column, a support leg interface, a support leg and a support leg unfolding cylinder. The execution system comprises a punching mechanism, an adjusting mechanism, a supporting mechanism, a visual mechanism, a vacuum chuck, an inclination sensor and a laser sensor; the adjusting mechanism is movably connected with the punching mechanism at the upper part, movably connected with the supporting mechanism at the lower part and provided with the vacuum chuck at the front part; the visual mechanism is arranged on the adjusting mechanism and faces the punching direction; the inclination sensor is arranged on the adjusting mechanism; and the two sets of laser sensors are arranged on the two sides below the supporting mechanism. The adjusting mechanism can realize the adjustment of the punching mechanism in X, Y and Z directions, the supporting mechanism bears most of the weight of the execution mechanism, can realize the movement of the adjusting mechanism in the X direction, ensures the contact of the vacuum chuck with the wall surface and facilitates the adsorption of the vacuum chuck.

2. The nuclear engineering smart puncher vehicle of claim 1, wherein: The folding arm can be telescoped through the extension arm, and the execution system can be controlled to move in the vertical plane through the amplitude changing of the upper amplitude changing cylinder and the lower amplitude changing cylinder.

3. The nuclear engineering smart puncher vehicle of claim 2, wherein: The worm gear rotary support can rotate by 120 degrees on the left and right sides, and realizes the large range movement of the execution system in the horizontal plane.

4. The nuclear engineering smart puncher vehicle of claim 3, wherein: The arm support control system can control the folding arm to complete the amplitude changing, telescoping and rotary action.

5. The nuclear engineering smart puncher vehicle of claim 4, wherein: The vacuum pump and the storage battery are arranged in the same plane and at the middle position on the upper surface of the traveling chassis, the vacuum pump is arranged on the left side of the storage battery, the charger, the hydraulic oil tank and the dust removal water tank are arranged in the same plane above the vacuum pump and the storage battery, the charger is arranged at the front part of the hydraulic oil tank, the dust removal water tank is arranged on the left side of the hydraulic oil tank, the support leg reversing valve and the traveling controller are arranged on the left and right sides of the connecting column, the electric control box is arranged at the rear side, the vehicle body covering member covers the traveling chassis and comprises a covering member body and a plurality of metal supporting members embedded in the covering member body.

6. A nuclear engineering smart puncher vehicle as claimed in claim 5, characterized in that: The leg interfaces are arranged on the front and rear sides of the chassis, one on each side, the connecting column is arranged on the tail end of the upper surface of the chassis, the rudders are arranged on the lower part of the chassis, the legs are respectively connected with the leg interfaces, the leg unfolding oil cylinder is arranged between the two parallel rudders, and the end of the telescopic rod is connected with the leg on the same side.

7. A nuclear engineering smart puncher vehicle as claimed in claim 6, characterized in that: The walking controller controls the rudders to walk, and the leg reversing valve controls the leg unfolding oil cylinder to extend and retract, so that the legs are unfolded and tightened.

8. The nuclear engineering smart puncher vehicle of claim 7, wherein: The metal supports are integrated with the cover body through the insert injection molding process, and gaps exist between the metal supports, so that the weight of the vehicle body cover is reduced, and the strength of the vehicle body cover is ensured.

9. The nuclear engineering smart puncher vehicle of claim 8, wherein: The accumulator is a power source of the nuclear engineering intelligent punching operation vehicle, and the motor provides power for the nuclear engineering intelligent punching operation vehicle.

10. The nuclear engineering smart puncher vehicle of claim 9, wherein: The electric control box can receive signals sent by an external remote controller, and send the signals to the arm support control system, the arm support reversing valve, the walking controller and the leg reversing valve.

11. A nuclear engineering smart puncher vehicle as claimed in claim 10, characterized in that: The dust removal water tank comprises a water pump, a dust suction fan, an exhaust hood, an air duct, an air suction pipe, an air suction hood, a tank cover, a sealing ring, a water inlet pipe, a liquid level switch, a filter screen, a water tank body and a water outlet. The dust suction fan is connected with the exhaust hood and arranged below the exhaust hood, both of which are arranged on the front outer wall of the water tank body, the water pump is arranged at the lower left corner of the same outer wall, the lower end of the air duct is connected with the exhaust hood, the upper end of the air duct is connected with the air suction hood, the air suction hood is arranged on the inner wall of the water tank body, the sealing ring is arranged on the lower surface of the tank cover, one long side of the tank cover is movably connected with the water tank body, the water inlet pipe is penetratingly arranged on the rear outer wall of the water tank body, the filter screen is arranged at the middle position inside the water tank body, the liquid level switch is in the same plane with the filter screen, the water tank body is divided into two layers, and the water outlet is arranged on the bottom surface of the water tank body.

12. The nuclear engineering smart puncher vehicle of claim 11, wherein: The dust removal water tank is designed based on the automatic water circulation principle, the water in the water tank body is sent to the dust and slag generated when the drill rod end flushes the drill hole through the water outlet by the water pump, the dust suction fan can exhaust the air in the water tank body to reduce the air pressure in the tank, the waste water after flushing the drill bit enters the tank body through the water inlet pipe and is separated through the filter screen, the dust and slag stays in the upper layer of the water tank body, and the water enters the lower layer of the water tank body and can be recycled.

13. The nuclear engineering smart puncher vehicle of claim 12, wherein: The sealing ring can form an independent closed space in the water tank body, and ensure that the exhaust of gas can effectively affect the air pressure in the water tank body.

14. The nuclear engineering smart puncher vehicle of claim 13, wherein: The liquid level switch can monitor the liquid amount in the tank in real time, prevent the liquid amount in the tank from being too low or the filter screen from being blocked by dust and slag, and ensure the safety of the punching operation.

15. A nuclear engineering smart puncher vehicle as claimed in claim 14, characterized in that: After the vacuum suction cup is attached to the wall surface, the vacuum pump sucks away the air between the vacuum suction cup and the wall surface, so that the vacuum suction cup is adsorbed on the wall surface.

16. A nuclear engineering smart puncher vehicle as claimed in claim 15, characterized in that: The visual mechanism can transmit the real-time image of the front end of the punching mechanism to the external display screen, so that the construction personnel can control the position of the punching mechanism through the image.

17. A nuclear engineering smart puncher vehicle as claimed in claim 16, characterized in that: The inclination sensor can detect the inclination of the adjusting mechanism in real time, and then understand the whole machine, so as to ensure the effectiveness and safety of the punching operation.

18. A nuclear engineering smart puncher vehicle as claimed in claim 17, characterized in that: The laser sensor can be used for monitoring the distance from the wall, and the data measured by the two sets of laser sensors can be compared to determine whether the actuator is parallel to the wall. During the punching process, the laser sensor can also monitor the punching depth and speed, and adjust the punching feed force according to such information, so as to reduce the drill rod wear and rod sticking problem.

19. A nuclear engineering smart puncher vehicle as claimed in claim 18, characterized in that: The punching mechanism and the dust removal water tank can form a dust removal and cooling water circulation system, which can effectively solve the problems of drill bit damage due to high temperature and a large amount of dust residue during punching.

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