Intelligent Cable Trench Drilling Robot

Abstract

An embodiment of the present invention discloses an intelligent cable trench drilling robot. The intelligent cable trench drilling robot includes a moving module, a lifting module, a drilling module, a first sensor, a reflector, a second sensor, a third sensor, and a wheelbase adjustment module. The moving module is connected to the lifting module, and the lifting module is connected to the drilling module. The reflector is installed at one end of the cable trench. The first sensor is installed on the moving module to adjust the position of the drilling module in the first direction. The second sensor is installed on the drilling module to adjust the position of the drilling module in the second direction. The third sensor is installed on the drilling module to adjust the position of the drilling module in the third direction through the lifting module. The first direction, the second direction, and the third direction are arranged at an angle. The wheelbase adjustment module is used to adjust the wheel spacing of the moving module, so that during the drilling process, the degree of automation is relatively high, replacing the original manual drilling method, improving the work efficiency and drilling accuracy, and reducing potential safety hazards.

Description

Technical Field

[0001] The present invention relates to the technical field of cable trench drilling, and particularly to an intelligent cable trench drilling robot. Background Art

[0002] With the continuous increase of underground trench laying projects, the drilling work of cable trenches has become an important link in the project. The traditional operation method mainly uses an impact drill or a water drill to directly open holes. However, in the actual working process, when the drill bit of the water drill touches hard objects such as steel bars and stones in the concrete structure of the trench wall during hole opening, a huge torque will be generated instantly, making the manual drilling method not only inefficient and with low drilling accuracy, but also having potential safety hazards. Summary of the Invention

[0003] Based on this, it is necessary to provide an intelligent cable trench drilling robot, aiming to solve the technical problems that the traditional operation method mainly uses an impact drill or a water drill to directly open holes, but in the actual working process, when the drill bit of the water drill touches hard objects such as steel bars and stones in the concrete structure of the trench wall during hole opening, a huge torque will be generated instantly, making the manual drilling method not only inefficient and with low drilling accuracy, but also having potential safety hazards.

[0004] The present invention provides an intelligent cable trench drilling robot. The intelligent cable trench drilling robot includes a moving module, a lifting module, a drilling module, a first sensor, a reflector, a second sensor, a third sensor, and a wheelbase adjustment module. The moving module is connected to the lifting module and is used to drive the lifting module to move. The lifting module is connected to the drilling module and is used to drive the drilling module to lift. The reflector is installed at one end of the cable trench. The first sensor is installed on the moving module and is used to sense the reflector to adjust the position of the drilling module in the first direction. The second sensor is installed on the drilling module and is used to sense the wall to adjust the position of the drilling module in the second direction. The third sensor is installed on the drilling module and is used to sense the wall to adjust the position of the drilling module in the third direction through the lifting module. The first direction, the second direction, and the third direction are arranged at an angle to each other. The wheelbase adjustment module is used to adjust the wheelbase of the moving module.

[0005] In one embodiment, the moving module includes a moving body, a driving wheel and a driven wheel connected to the moving body. The driving wheel can drive the moving body to move. The wheelbase adjustment module includes a lead screw and a nut threadedly engaged with the lead screw. The lead screw is rotatably connected to the moving body, and the nut is connected to the driven wheel. By rotating the lead screw, the lead screw drives the nut to drive the driven wheel to approach or move away from the driving wheel.

[0006] In one embodiment, the track width adjustment module further includes a guide rail, the guide rail is installed on the moving body, the driven wheel is slidably connected to the guide rail and moves along the extension direction of the guide rail.

[0007] In one embodiment, the adjustment distance between the driven wheel and the driving wheel is 700 mm to 1400 mm.

[0008] In one embodiment, the driving wheel includes a seat body, a first driving motor and a wheel body, the seat body is installed on the moving body, the wheel body is installed on the seat body, the first driving motor is connected to the wheel body and is used to drive the wheel body to rotate.

[0009] In one embodiment, the driving wheel further includes a second driving motor, a first gear and a second gear, the first gear is rotatably connected to the seat body and is connected to the wheel body, the first gear is in transmission connection with the second gear, the second driving motor is connected to the second gear and is used to drive the first gear to drive the second gear to rotate.

[0010] In one embodiment, the lifting module includes a mounting plate, a third driving motor and a guiding member, the guiding member is installed on the moving module, the third driving motor is connected to the mounting plate and is used to drive the mounting plate to move along the extension direction of the guiding member, and the mounting plate is connected to the drilling module.

[0011] In one embodiment, the lifting module further includes a photoelectric switch, the photoelectric switch is installed on the guiding member and is used to limit the position of the drilling module.

[0012] In one embodiment, the drilling module includes a fourth driving motor and a drilling assembly, the fourth driving motor is connected to the drilling assembly and is used to drive the drilling assembly to move.

[0013] In one embodiment, the cable trench intelligent drilling robot further includes a water spraying module, the water spraying module is installed on the drilling module and is used to spray water on the drilling assembly.

[0014] Implementing the embodiments of the present invention will have the following beneficial effects:

[0015] Using the cable trench intelligent drilling robot of the present invention, the moving module of the cable trench intelligent drilling robot is connected to the lifting module and is used to drive the lifting module to move. The lifting module is connected to the drilling module and is used to drive the drilling module to lift. The reflecting member is installed at one end of the cable trench. The first sensor is installed on the moving module and is used to sense the reflecting member to adjust the position of the drilling module in the first direction. The second sensor is installed on the drilling module and is used to sense the wall to adjust the position of the drilling module in the second direction. The third sensor is installed on the drilling module and is used to sense the wall to adjust the position of the drilling module in the third direction through the lifting module. The wheelbase adjustment module is used to adjust the wheel spacing of the moving module, so that during the drilling process, the degree of automation is relatively high, replacing the original manual drilling method, improving work efficiency and drilling accuracy, and reducing potential safety hazards. Brief Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Among them:

[0018] Figure 1 Is an axonometric schematic diagram of the cable trench intelligent drilling robot in one embodiment.

[0019] Figure 2 Is Figure 1 A schematic diagram of the moving module, lifting module, drilling module, second sensor and wheelbase adjustment module in the shown cable trench intelligent drilling robot.

[0020] Figure 3 Is Figure 2 A partial enlarged schematic diagram of part A in the shown cable trench intelligent drilling robot.

[0021] Figure 4 Is Figure 2 A schematic diagram of the lifting module in the shown cable trench intelligent drilling robot.

[0022] Reference Numerals:

[0023] 1. Moving Module; 11. Moving Body; 12. Driving Wheel; 121. Seat Body; 122. First Driving Motor; 123. Wheel Body; 124. Second Driving Motor; 125. First Gear; 126. Second Gear; 13. Driven Wheel;

[0024] 2. Lifting Module; 21. Mounting Plate; 22. Third Driving Motor; 23. Guide Member; 24. Photoelectric Switch;

[0025] 3. Drilling module; 4. First sensor; 5. Reflective part; 6. Second sensor; 7. Depth camera;

[0026] 8. Wheelbase adjustment module; 81. Lead screw; 82. Guide rail;

[0027] 100. Cable trench. Detailed implementation manners

[0028] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0029] It should be noted that similar reference numerals and letters indicate similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0030] In the description of the present invention, it should be noted that if terms such as "upper", "lower", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present invention is usually placed during use, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0031] In addition, terms such as "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0032] It should be noted that, without conflict, the features in the embodiments of the present invention can be combined with each other.

[0033] Please also combine with Figures 1 to 4, the intelligent cable trench drilling robot provided by the present invention will now be described. The intelligent cable trench drilling robot includes a moving module 1, a lifting module 2, a drilling module 3, a first sensor 4, a reflector 5, a second sensor 6, a third sensor, and a wheelbase adjustment module 8. The moving module 1 is connected to the lifting module 2 and is used to drive the lifting module 2 to move. The lifting module 2 is connected to the drilling module 3 and is used to drive the drilling module 3 to lift. The reflector 5 is installed at one end of the cable trench 100. The first sensor 4 is installed on the moving module 1 and is used to sense the reflector 5 to adjust the position of the drilling module 3 in the first direction. The second sensor 6 is installed on the drilling module 3 and is used to sense the wall to adjust the position of the drilling module 3 in the second direction. The third sensor is installed on the drilling module 3 and is used to sense the wall to adjust the position of the drilling module 3 in the third direction through the lifting module 2. The first direction, the second direction, and the third direction are arranged at an angle to each other. The wheelbase adjustment module 8 is used to adjust the wheel spacing of the moving module 1.

[0034] It can be understood that the moving module 1 of the intelligent cable trench drilling robot is connected to the lifting module 2 and is used to drive the lifting module 2 to move. The lifting module 2 is connected to the drilling module 3 and is used to drive the drilling module 3 to lift. The reflector 5 is installed at one end of the cable trench 100. The first sensor 4 is installed on the moving module 1 and is used to sense the reflector 5 to adjust the position of the drilling module 3 in the first direction. The second sensor 6 is installed on the drilling module 3 and is used to sense the wall to adjust the position of the drilling module 3 in the second direction. The third sensor is installed on the drilling module 3 and is used to sense the wall to adjust the position of the drilling module 3 in the third direction through the lifting module 2. The wheelbase adjustment module 8 is used to adjust the wheel spacing of the moving module 1, so that during the drilling process, the degree of automation is relatively high, replacing the original manual drilling method, improving work efficiency and drilling accuracy, and reducing potential safety hazards.

[0035] It should be noted that according to the placement position of the intelligent cable trench drilling robot, the first direction can be the horizontal direction or the vertical direction. For the convenience of understanding, in the relevant embodiments, the first direction is the horizontal direction, and the second direction and the third direction are both perpendicular to the first direction.

[0036] It should be added that the first sensor 4, the second sensor 6, and the third sensor are all laser ranging sensors. After the first sensor 4 senses the reflector 5, the moving module 1 drives the drilling module 3 to move in the first direction to adjust the distance. After the second sensor 6 senses the wall, the moving module 1 drives the drilling module 3 to move in the second direction to adjust the distance. After the third sensor senses the wall, the moving module 1 drives the drilling module 3 to move in the third direction to adjust the distance.

[0037] In this embodiment, the mobile module 1 includes a mobile body 11, a driving wheel 12 and a driven wheel 13 connected to the mobile body 11. The driving wheel 12 can drive the mobile body 11 to move. The wheelbase adjustment module 8 includes a lead screw 81 and a nut threadedly engaged with the lead screw 81. The lead screw 81 is rotatably connected to the mobile body 11, and the nut is connected to the driven wheel 13. By rotating the lead screw 81, the lead screw 81 drives the nut to drive the driven wheel 13 to approach or move away from the driving wheel 12. By providing the driving wheel 12, the mobile body 11 can move under the drive of the driving wheel 12, so that the mobile body 11 can drive the drilling module 3 to move in the first direction and the second direction.

[0038] Specifically, the lead screw 81 can be driven by a fifth driving motor. The rotation of the lead screw 81 drives the nut to move, so that the nut drives the driven wheel 13 to approach or move away from the driving wheel 12, so that the distance between the driven wheel 13 and the driving wheel 12 can be adjusted.

[0039] Of course, in other embodiments, there are two nuts, which are respectively connected to the driven wheel 13 and the driving wheel 12, so that the driven wheel 13 and the driving wheel 12 approach or move away from each other to adjust the distance between the driven wheel 13 and the driving wheel 12.

[0040] Further, the wheelbase adjustment module 8 further includes a guide rail 82. The guide rail 82 is installed on the mobile body 11. The driven wheel 13 is slidably connected to the guide rail 82 and moves along the extension direction of the guide rail 82. In this way, the driven wheel 13 can move along a preset direction.

[0041] Of course, in other embodiments, the driving wheel 12 is slidably connected to the guide rail 82 and moves along the extension direction of the guide rail 82. In this way, the driving wheel 12 can move along a preset direction.

[0042] Further, the adjustable distance between the driven wheel 13 and the driving wheel 12 is 700 mm to 1400 mm. During implementation, the distance between the driven wheel 13 and the driving wheel 12 can be adjusted arbitrarily between 700 mm and 1400 mm to adapt to different cable trenches 100.

[0043] Further, there are two driving wheels 12, which are respectively arranged at the diagonal corners of the mobile body 11, and there are two driven wheels 13, which are respectively arranged at the diagonal corners of the mobile body 11. In this way, the power distribution of the mobile body 11 is uniform, so that the movement of the mobile body 11 is more flexible.

[0044] In one embodiment, as Figure 2 and Figure 3As shown in the figure, the driving wheel 12 includes a seat body 121, a first driving motor 122, and a wheel body 123. The seat body 121 is installed on the moving body 11, the wheel body 123 is installed on the seat body 121, the first driving motor 122 is connected to the wheel body 123, and is used to drive the wheel body 123 to rotate. The first driving motor 122 drives the wheel body 123 to rotate. The wheel body 123 frictions with the ground and moves, and drives the seat body 121 to move, and the seat body 121 drives the moving body 11 to move.

[0045] In this embodiment, the driving wheel 12 further includes a second driving motor 124, a first gear 125, and a second gear 126. The first gear 125 is rotatably connected to the seat body 121 and is connected to the wheel body 123. The first gear 125 is in transmission connection with the second gear 126. The second driving motor 124 is connected to the second gear 126 and is used to drive the first gear 125 to drive the second gear 126 to rotate. The second driving motor 124 drives the first gear 125 to rotate, the first gear 125 drives the second gear 126 to rotate, and the second gear 126 drives the first driving motor 122 and the wheel body 123 to rotate, so as to be able to steer the moving body 11.

[0046] In one embodiment, as Figures 2 to 4 shown, the lifting module 2 includes a mounting plate 21, a third driving motor 22, and a guiding member 23. The guiding member 23 is installed on the moving module 1. The third driving motor 22 is connected to the mounting plate 21 and is used to drive the mounting plate 21 to move along the extending direction of the guiding member 23. The mounting plate 21 is connected to the drilling module 3. The third driving motor 22 drives the mounting plate 21 to move. The mounting plate 21 moves along the extending direction of the guiding member 23, and the mounting plate 21 drives the drilling module 3 to move, so as to adjust the position of the drilling module 3 in the third direction.

[0047] In this embodiment, the lifting module 2 further includes a photoelectric switch 24. The photoelectric switch 24 is installed on the guiding member 23 and is used to limit the position of the drilling module 3. By setting the photoelectric switch 24, the drilling module 3 can move within a preset stroke, so as to avoid the drilling module 3 colliding with other components.

[0048] During implementation, there are two photoelectric switches 24, which are respectively arranged at two limit positions where the drilling module 3 moves on the guiding member 23.

[0049] In one embodiment, as Figure 2 shown, the drilling module 3 includes a fourth driving motor and a drilling component. The fourth driving motor is connected to the drilling component and is used to drive the drilling component to move. The fourth driving motor drives the drilling component to move, so as to be able to perform a drilling operation.

[0050] Specifically, the drilling module 3 further includes a coupling, a guide rail, and a lead screw. The fourth drive motor is connected to the lead screw through the coupling and is used to drive the lead screw to rotate. The drilling assembly is connected to the lead screw and is slidably connected to the guide rail, so that the lead screw drives the drilling assembly to move along the extension direction of the guide rail, thereby performing drilling.

[0051] The drilling assembly includes an electric drill, a locking hoop, and a drill bit. The drill bit is installed on the electric drill through the locking hoop.

[0052] In one embodiment, continuing as Figure 2 shown, the cable trench intelligent drilling robot further includes a water spraying module. The water spraying module is installed on the drilling module 3 and is used to spray water on the drilling assembly. By setting the water spraying module, it is possible to cool the drilling module 3 and lubricate the drilling module 3, thereby protecting the drill bit.

[0053] In one embodiment, as Figure 1 shown, the cable trench intelligent drilling robot further includes a depth camera 7. The depth camera 7 is installed on the moving module 1 and is used to navigate the moving module 1 to a predetermined position. By setting the depth camera 7, the automation degree of the moving module 1 is relatively high, and it can autonomously move to the preset position.

[0054] In some embodiments, the cable trench intelligent drilling robot further includes a first camera and a second camera. The first camera is installed on the moving module 1 and is used to monitor the surrounding environment. The second camera is installed at the bottom of the moving module 1 and is used to monitor the environment at the bottom of the moving module 1.

[0055] In still some other embodiments, the cable trench intelligent drilling robot further includes a power switch, a start switch, an emergency stop switch, a touch screen, and a status indicator light. The power switch is installed on the moving module 1 and is used to turn on and off the power supply. The start switch is installed on the moving module 1 and is used to start the cable trench intelligent drilling robot. The emergency stop switch is installed on the moving module 1 and is used to emergently stop the cable trench intelligent drilling robot. The touch screen is installed on the moving module 1 and is used to control the cable trench intelligent drilling robot. The status indicator light is installed on the moving module 1 and is used to display the working status of the cable trench intelligent drilling robot.

[0056] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0057] The above-disclosed are only the preferred embodiments of the present invention. Of course, the scope of the rights of the present invention cannot be limited thereby. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A cable trench intelligent drilling robot, characterized in that: The cable trench intelligent drilling robot includes a mobile module, a lifting module, a drilling module, a first sensor, a reflector, a second sensor, a third sensor and a wheelbase adjustment module. The mobile module is connected to the lifting module and is used to drive the lifting module to move. The lifting module is connected to the drilling module and is used to drive the drilling module to lift. The reflector is installed at one end of the cable trench. The first sensor is installed on the mobile module and is used to sense the reflector to adjust the position of the drilling module in the first direction. The second sensor is installed on the drilling module and is used to sense the wall to adjust the position of the drilling module in the second direction. The third sensor is installed on the The drilling module is used to sense the wall so as to adjust the position of the drilling module in a third direction through the lifting module. The first direction, the second direction and the third direction are arranged at an angle to each other. The wheel spacing adjustment module is used to adjust the wheel spacing of the mobile module. The mobile module includes a mobile body, and a power wheel and a driven wheel connected to the mobile body. The power wheel can drive the mobile body to move. The wheel spacing adjustment module includes a lead screw and a nut connected to the lead screw. The lead screw is rotatably connected to the mobile body, and the nut is connected to the driven wheel. When the lead screw is rotated, the lead screw drives the nut to drive the driven wheel close to or away from the power wheel.

2. The intelligent cable trench drilling robot according to claim 1, characterized in that: The wheelbase adjustment module further includes a guide rail, which is mounted on the mobile body. The driven wheel is slidably connected to the guide rail and moves along the extension direction of the guide rail.

3. The intelligent cable trench drilling robot according to claim 1, characterized in that: The adjustment distance between the driven wheel and the power wheel is 700mm to 1400mm.

4. The intelligent cable trench drilling robot according to claim 1, characterized in that: The power wheel includes a seat, a first drive motor and a wheel body. The seat is mounted on the mobile body, the wheel body is mounted on the seat, and the first drive motor is connected to the wheel body and is used to drive the wheel body to rotate.

5. The intelligent cable trench drilling robot according to claim 4, characterized in that: The power wheel also includes a second drive motor, a first gear and a second gear. The first gear is rotatably connected to the seat body and is connected to the wheel body. The first gear is transmission-connected to the second gear. The second drive motor is connected to the second gear and is used to drive the first gear to drive the second gear to rotate.

6. The intelligent cable trench drilling robot according to claim 1, characterized in that: The lifting module includes a mounting plate, a third driving motor and a guide member, the guide member is installed on the moving module, the third driving motor is connected to the mounting plate and is used to drive the mounting plate to move along the extension direction of the guide member, and the mounting plate is connected to the drilling module.

7. The intelligent cable trench drilling robot according to claim 6, characterized in that: The lifting module also includes a photoelectric switch, which is installed on the guide member and is used to limit the position of the drilling module.

8. The intelligent cable trench drilling robot according to claim 1, characterized in that: The drilling module includes a fourth driving motor and a drilling assembly. The fourth driving motor is connected to the drilling assembly and is used to drive the drilling assembly to move.

9. The intelligent cable trench drilling robot according to claim 8, characterized in that: The cable trench intelligent drilling robot also includes a water spray module, which is installed on the drilling module and is used to spray water on the drilling assembly.

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