Visual advanced geological information forecasting robot

Abstract

The invention relates to the technical field of geological information forecasting equipment, and discloses a visual advanced geological information forecasting robot which comprises an upper shell, a middle shell, a lower shell, a track and a positioning protrusion, the upper shell, the middle shell and the lower shell are sequentially and rotationally connected from top to bottom, a camera is arranged at the middle shell, and a camera is arranged at the lower shell. A sensor is arranged in the lower shell, the track is fixed to the top of the inner wall of one side of the tunnel and is consistent with the advancing path of the tunnel, the front section of the track is in an I shape, and positioning protrusions are symmetrically and fixedly connected to the upper end and the lower end in the track. By means of the stabilizing mechanism, the stability of connection between the robot and the track is further improved, it can be ensured that equipment can abut against the track under the action of the stabilizing assembly when displacement changes in the vertical direction and the horizontal direction are generated in the tunnel advancing process, the equipment is prevented from being collided or even falling off in the advancing process, and the working efficiency is improved. Therefore, the service life of equipment is effectively prolonged, and the maintenance and repair cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of geological information forecasting equipment, and in particular to a visual advanced geological information forecasting robot. Background Art

[0002] Visual advanced geological information prediction robots are widely used in various geological exploration and engineering construction fields, such as mineral resource development, tunnel construction, subway construction, etc. In these fields, robots can play an important role in providing workers with accurate geological information prediction and decision support, reducing construction risks and costs, and improving engineering quality and efficiency.

[0003] During the construction of long tunnels, obtaining geological information and environmental changes during the tunneling process is an important measure to ensure construction safety, quality and progress. Patrol robots can replace manual patrol operations in tunnels, so as to promptly discover safety hazards at the construction site, such as construction equipment failures, improper stacking of construction materials, etc., and take timely measures to rectify them, so as to avoid the occurrence of safety accidents. In addition, during the construction of tunnels, emergencies such as collapse and fire may occur. Patrol robots can promptly discover and report these incidents, so as to facilitate emergency response with relevant departments and reduce accident losses. Patrol robots can collect relevant information, such as geological conditions and hydrological conditions, to provide a basis for subsequent construction decisions.

[0004] When the rail-mounted robot moves in the tunnel, due to the influence of geological factors and other factors, the tunnel's travel path is not completely an extended straight line, and there are horizontal and vertical displacement changes. When faced with a more complex preset track, the traditional rail-mounted robot is prone to offset in nonlinear displacement areas such as turns, and even derailment in serious cases, which can cause damage to the robot, affect information acquisition, and increase the maintenance cost of the equipment.

[0005] In order to improve the stability of the prediction robot moving on the pre-installed track in the tunnel and increase the scanning range of the robot, a visual advanced geological information prediction robot is proposed. Summary of the invention

[0006] In order to solve the technical problem that the rail robot proposed in the background technology is prone to damage to the robot itself when facing a long and complex moving path when acquiring information in a tunnel, thereby increasing the maintenance frequency and cost and reducing the timeliness of tunnel information acquisition, the present invention provides a visual advanced geological information forecasting robot.

[0007] The present invention is implemented by the following technical scheme: a visualized advanced geological information forecasting robot, comprising an upper shell, a middle shell, a lower shell, a track and a positioning protrusion, wherein the upper shell, the middle shell and the lower shell are rotatably connected in sequence from top to bottom, wherein a camera is arranged at the middle shell, and a sensor is arranged in the lower shell, the track is fixed to the top of the inner wall on one side of the tunnel and is consistent with the tunnel travel path, the front view cross-section of the track is I-shaped, the upper and lower ends of the track are symmetrically fixedly connected with positioning protrusions, the positioning protrusion is triangular, a stabilizing mechanism is arranged at the connection between the track and the upper shell, and a scanning mechanism is arranged in the middle shell.

[0008] The stabilizing mechanism includes a stabilizing component and a displacement component. The stabilizing component includes side plates symmetrically fixedly connected to both sides of the top of the upper shell body. Specifically, the two side plates are located on both sides of the track. The tops of the two side plates are rotatably connected to a rotating rod one. The inner sides of the two rotating rods one are fixedly connected to positioning wheels. The middle parts of the two positioning tire surfaces are provided with grooves, which match the positioning protrusions. The two positioning wheels are respectively rotatably connected to the corresponding two positioning protrusions, and the positioning wheels also use the grooves to fit with the positioning protrusions.

[0009] As a further improvement of the above scheme, a protective frame plate is fixedly connected to the middle part of the top of the upper shell body, and vertical slide grooves are symmetrically opened in the middle parts of both sides of the protective frame plate, wherein two vertical slide grooves are staggered with the two side plates, and side slide plates are vertically slidably connected in the two vertical slide grooves, and limiting sleeves are symmetrically fixedly connected on both sides of the two side slides, and abutment wheels are rotatably connected in the limiting sleeves, and the top ends of multiple abutment wheels are slidably abutted against the bottom end of the track.

[0010] As a further improvement of the above scheme, the bottom ends of the two side slides are symmetrically fixedly connected with inner sliding tubes, the bottom ends of the two groups of inner sliding tubes are vertically slidably connected with outer sliding tubes, and the bottom ends of the two groups of outer sliding tubes are fixedly connected to the top of the upper shell body, the bottom ends of the two groups of inner sliding tubes are fixedly connected with springs, and the bottom ends of multiple springs are fixedly connected to the top of the upper shell body, and the multiple springs move vertically in the space formed by the inner sliding tubes and the outer sliding tubes.

[0011] As a further improvement of the above scheme, the displacement assembly includes a motor fixedly installed in the protective frame plate, the output end of the motor is fixedly connected to a gear, the top of the gear is meshedly connected to a bottom rack plate, and the bottom rack plate is fixedly connected to the bottom end of the track.

[0012] As a further improvement of the above scheme, the scanning mechanism includes a fixed rod, the top of the fixed rod is fixedly connected to the bottom of the inner wall of the upper shell, and the bottom of the fixed rod is fixedly connected to the inside of the lower shell, the bottom end of the upper shell is fixedly connected with a lower rotating block, the lower rotating block is rotatably connected to the top of the middle shell, and the top of the lower shell is fixedly connected with an upper rotating block, the upper rotating block is rotatably connected to the bottom of the middle shell. Since the fixed rod fixes the upper shell and the lower shell, only the middle shell supports the rotation of the camera.

[0013] As a further improvement of the above solution, an arc-shaped slot is provided on the inner wall of the middle shell away from the camera, and the arc-shaped slot is spiral, and the number of spiral turns of the arc-shaped slot is half a turn.

[0014] As a further improvement of the above scheme, a guide rod body is slidably connected in the arc-shaped groove, a fixing ring is fixedly connected to the other end of the guide rod body, the fixing ring is vertically slidably connected to the outer wall of the fixed rod, and a connecting ring is fixedly connected to the bottom end of the fixing ring, a positioning slider is fixedly connected to the bottom end of the connecting ring, and the positioning slider and the connecting ring are both vertically slidably connected to the outer wall of the fixed rod.

[0015] As a further improvement of the above scheme, a movable frame plate is fixedly connected to the other side of the positioning slider, and two vertical rack plates are symmetrically fixedly connected to the inner wall of the movable frame plate on both sides, and vertical sliding rods are fixedly connected to the upper and lower ends of the movable frame plate, respectively, wherein the vertical sliding rod at the upper end is vertically slidably connected to the top of the fixed rod, and the vertical sliding rod at the lower end is vertically slidably connected to the positioning plate, and the positioning plate is a fixed ring fixedly connected to the L-plate, wherein the fixed ring is fixedly connected to the outer wall of the fixed rod, and the fixed ring is located below the positioning slider.

[0016] As a further improvement of the above scheme, the L-plate is divided into a horizontal section and a vertical section. The horizontal section is vertically slidably connected to the vertical sliding rod at the lower end, and the inner side of the vertical section is rotatably connected to pulley 2. A belt is sleeved on the outer side of pulley 2, and a pulley 1 is sleeved on the other end of the belt. A rotating rod 2 is fixedly connected to the middle part of pulley 1, and one end of the rotating rod 2 is fixedly connected to the middle part of the outer side of the gear, and a groove is opened at the movable part of the belt and the upper shell.

[0017] As a further improvement of the above scheme, a sector gear is fixedly connected to the inner side of the second pulley, and the sector gear moves in the movable frame plate, and is intermittently meshed with the rack plates on both sides of the movable frame plate, so as to periodically drive the movable frame plate to move vertically back and forth, and drive the positioning slider and the fixed ring to move vertically synchronously under the displacement of the movable frame plate, and finally utilize the sliding connection between the guide rod body and the arc-shaped groove to drive the middle shell to rotate reciprocatingly at an angle of 180°.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] (1) The present invention utilizes a stabilizing mechanism to further improve the stability of the connection between the robot and the track, and can ensure that the device can abut against the track when the vertical and horizontal displacement changes occur during the tunnel travel, under the action of the stabilizing component, to avoid the device from bumping or even falling during the travel, thereby effectively increasing the service life of the equipment and reducing maintenance and repair costs.

[0020] (ii) The present invention utilizes the cooperation of the displacement component and the scanning mechanism to realize the movement along the tunnel path while uniformly scanning the interior of the tunnel in all directions, and cooperates with the sensors in the equipment to obtain information changes of the tunnel geology, thereby realizing timely early warning of geological information.

[0021] (III) The present invention uses a camera to send geological information to a terminal, so that humans can use the terminal to perform visual observation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the working connection state structure of a visual advanced geological information forecasting robot provided in Example 1 of the present invention;

[0023] Figure 2 For the present invention Figure 1 A schematic diagram of the structure of the track in the direction of the front view;

[0024] Figure 3 It is a schematic diagram of the structure of the stabilizing component of the present invention;

[0025] Figure 4 It is a schematic diagram of the structural connection state of the internal components of the stabilizing assembly of the present invention;

[0026] Figure 5 It is a schematic diagram of the overall structure of the present invention;

[0027] Figure 6 For the present invention Figure 5 A schematic diagram of the top view structure of ;

[0028] Figure 7 For the present invention Figure 6 Schematic diagram of the structural section along the AA direction;

[0029] Figure 8 For the present invention Figure 6 Schematic diagram of the structural cross section along the BB direction;

[0030] Fig. 9 It is a schematic diagram of the structure of the connection state of the internal components of the present invention;

[0031] Fig.10 It is a schematic diagram of the structural connection state of the scanning mechanism of the present invention;

[0032] Fig.11 It is a structural schematic diagram of the vertical reciprocating component of the present invention;

[0033] Fig.12 It is a structural schematic diagram of the arc groove connection state of the present invention.

[0034] Description of main symbols:

[0035] 1. Upper shell; 2. Middle shell; 3. Lower shell; 4. Track; 5. Positioning protrusion; 6. Side plate; 7. Turn bar 1; 8. Positioning wheel; 9. Protective frame plate; 10. Vertical slide groove; 11. Side slide plate; 12. Abutment wheel; 13. Inner slide tube; 14. Outer slide tube; 15. Spring; 16. Bottom rack plate; 17. Motor; 18. Gear; 19. Lower turn block; 20. Upper turn block; 21. Fixed rod; 22. Turn bar 2; 23. Pulley 1; 24. Belt; 25. Pulley 2; 26. Positioning plate; 27. Fan gear; 28. Movable frame plate; 29. ​​Vertical slide bar; 30. Positioning slider; 31. Connecting ring; 32. Fixed ring; 33. Guide rod body; 34. Arc notch. DETAILED DESCRIPTION

[0036] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0037] Example 1: Please combine Figure 1-Figure 9 A visualized advanced geological information forecasting robot of the present embodiment comprises an upper shell 1, a middle shell 2, a lower shell 3, a track 4 and a positioning protrusion 5. The upper shell 1, the middle shell 2 and the lower shell 3 are connected in rotation from top to bottom in sequence, wherein a camera is arranged at the middle shell 2, and a sensor is arranged in the lower shell 3. The sensor comprises: an acoustic wave sensor, a geological radar sensor, a seismic signal sensor and a temperature sensor. The track 4 is fixed to the top of the inner wall on one side of the tunnel and is consistent with the tunnel travel path. The front view cross section of the track 4 is I-shaped, and the upper and lower ends of the track 4 are symmetrically fixedly connected with positioning protrusions 5. The positioning protrusions 5 are triangular in shape. A stabilizing mechanism is arranged at the connection between the track 4 and the upper shell 1, and a scanning mechanism is arranged in the middle shell 2.

[0038] The stabilizing mechanism includes a stabilizing component and a displacement component. The stabilizing component includes side plates 6 symmetrically fixedly connected to both sides of the top of the upper shell 1. Specifically, the two side plates 6 are located on both sides of the track 4. The tops of the two side plates 6 are rotatably connected to a rotating rod 7. The inner sides of the two rotating rods 7 are fixedly connected to positioning wheels 8. The middle of the tread of the two positioning wheels 8 are provided with a notch, which matches the positioning protrusion 5, and the two positioning wheels 8 are respectively rotatably connected to the corresponding two positioning protrusions 5. The positioning wheels 8 also use the notch to fit the positioning protrusion 5. A protective frame plate 9 is fixedly connected to the middle of the top of the upper shell 1. Vertical slide grooves 10 are symmetrically opened in the middle of both sides of the protective frame plate 9, wherein the two vertical slide grooves 10 are staggered with the two side plates 6. Specifically, the two vertical slide grooves 10 are staggered with the two side plates 6. 0 middle connecting line is perpendicular to the middle connecting line of the two side plates 6, side slide plates 11 are vertically slidably connected in the two vertical slide grooves 10, and the two side slide plates 11 are symmetrically fixedly connected with the limiting sleeves on both sides, and the limiting sleeves are rotatably connected with abutment wheels 12, and the top ends of multiple abutment wheels 12 are slidably abutted with the bottom ends of the tracks 4, and the bottom ends of the two side slide plates 11 are symmetrically fixedly connected with inner slide tubes 13, and the bottom ends of the two groups of inner slide tubes 13 are vertically slidably connected with outer slide tubes 14, and the bottom ends of the two groups of outer slide tubes 14 are fixedly connected to the top of the upper shell 1, and the bottom ends of the two groups of inner slide tubes 13 are fixedly connected with springs 15, and the bottom ends of multiple springs 15 are fixedly connected to the top of the upper shell 1, and the multiple springs 15 move vertically in the space formed by the inner slide tubes 13 and the outer slide tubes 14.

[0039] The displacement assembly includes a motor 17 fixedly installed in the protective frame plate 9 , the output end of the motor 17 is fixedly connected to a gear 18 , the top of the gear 18 is meshedly connected to a bottom rack plate 16 , and the bottom rack plate 16 is fixedly connected to the bottom end of the track 4 .

[0040] The implementation principle of a visual advanced geological information forecasting robot in the embodiment of the present application is:

[0041] After the equipment is installed, the two positioning wheels 8 are slidably connected to the positioning protrusions 5 to ensure the initial connection between the equipment and the track 4, and the multiple abutment wheels 12 at the top of the upper shell 1 are pushed to stably roll and abut against the bottom of the track 4 under the elastic action of the corresponding springs 15, and the stability of the connection between the equipment and the track 4 can be ensured when the equipment faces changes in the horizontal and vertical displacements of the tunnel.

[0042] When patrol scanning operations are required, it is only necessary to start the motor 17, the camera and the sensor synchronously, so that the motor 17 drives the gear 18 to mesh with the bottom rack plate 16, so that the equipment can move stably along the track 4, and cooperate with the camera and the bottom sensor to collect wide-angle data of the environment in the tunnel, upload the collected information to the terminal in real time, and analyze the data in the terminal, so that corresponding plans and strategies can be adopted in time.

[0043] Example 2: Combination Figure 5 , Figure 7 , Figure 8 , Fig. 9 , vertical slide groove 10, side slide plate 11 and abutment wheel 12, this embodiment is further improved on the basis of embodiment 1 in that:

[0044] The scanning mechanism includes a fixed rod 21, the top of the fixed rod 21 is fixedly connected to the bottom of the inner wall of the upper shell 1, and the bottom of the fixed rod 21 is fixedly connected to the inside of the lower shell 3. The bottom end of the upper shell 1 is fixedly connected with a lower rotating block 19, and the lower rotating block 19 is rotatably connected to the top of the middle shell 2. The top of the lower shell 3 is fixedly connected with an upper rotating block 20, and the upper rotating block 20 is rotatably connected to the bottom of the middle shell 2. Since the fixed rod 21 fixes the upper shell 1 and the lower shell 3, only the middle shell 2 is supported to rotate with the camera. An arc-shaped slot 34 is opened on the inner wall of the middle shell 2 away from the camera. The arc-shaped slot 34 is spiral, and the number of spiral turns of the arc-shaped slot 34 is half a turn. A guide rod body 33 is slidably connected in the opening 34, and a fixing ring 32 is fixedly connected to the other end of the guide rod body 33. The fixing ring 32 is vertically slidably connected to the outer wall of the fixing rod 21, and the bottom end of the fixing ring 32 is fixedly connected to the connecting ring 31, and the bottom end of the connecting ring 31 is fixedly connected to a positioning slider 30, and the positioning slider 30 and the connecting ring 31 are both vertically slidably connected to the outer wall of the fixing rod 21. The other side of the positioning slider 30 is fixedly connected to a movable frame plate 28, and the upper and lower ends of the movable frame plate 28 are respectively fixedly connected to vertical sliding rods 29, wherein the upper end of the vertical sliding rod 29 is vertically slidably connected to the top of the fixing rod 21, and the lower end of the vertical sliding rod 29 is vertically slidably connected to the positioning plate 26, and the positioning plate 26 The fixed ring is fixedly connected to the L-plate, wherein the fixed ring is fixedly connected to the outer wall of the fixed rod 21, and the fixed ring is located below the positioning slider 30. The L-plate is divided into a horizontal section and a vertical section. The horizontal section is vertically slidably connected to the lower vertical slide rod 29, and the inner side of the vertical section is rotatably connected with a pulley 25. The outer side of the pulley 25 is sleeved with a belt 24, and the other end of the belt 24 is sleeved with a pulley 1 23. Specifically, the outer sides of the pulley 1 23 and the pulley 2 25 are both provided with protrusions, and the inner side of the belt 24 is provided with a groove, and the protrusion and the groove are matched and inserted with the rotation. The middle part of the pulley 1 23 is fixedly connected with a rotating rod 22, and one end of the rotating rod 22 is fixed to the middle part of the outer side of the gear 18. The belt 24 and the upper shell 1 are connected at a movable position, wherein a notch is provided at the movable position of the belt 24, a sector gear 27 is fixedly connected to the inner side of the pulley 25, the sector gear 27 moves in the movable frame plate 28, and is intermittently meshed with the rack plates on both sides of the movable frame plate 28, for periodically driving the movable frame plate 28 to move vertically back and forth, and driving the positioning slider 30 and the fixed ring 32 to move vertically synchronously under the displacement of the movable frame plate 28, and finally utilizing the sliding connection between the guide rod body 33 and the arc-shaped notch 34 to drive the middle shell 2 to rotate reciprocatingly at an angle of 180°, the whole equipment is used in two groups, which are respectively installed on both sides of the inner wall of the tunnel, so as to realize comprehensive and timely monitoring of the tunnel.

[0045] The implementation principle of a visual advanced geological information forecasting robot in the embodiment of the present application is:

[0046] As the motor 17 is started, the rotating rod 22 is fixedly connected to the middle part of the gear 18, and can synchronously drive the pulley 1 23, the belt 24 and the pulley 25 for transmission. The pulley 25 will synchronously drive the fan gear 27 fixedly connected thereto to rotate in the movable frame plate 28, and the fan gear 27 is intermittently meshed with the two rack plates in the movable frame plate 28, and cooperates with the vertical slide bar 29 to slide vertically with the fixed rod 21 and the positioning plate 26, so that the movable frame plate 28 can be vertically reciprocated, and drive the positioning slider 30 and the fixed ring 32 to synchronously displace along the outer wall of the fixed rod 21. With the vertical reciprocating movement of the fixed ring 32, the middle shell 2 can be connected to the upper shell 1 and the lower shell 3 under the sliding connection of the guide rod body 33 and the arc-shaped notch 34, so as to drive the camera to reciprocate and increase the breadth of information collection inside the tunnel.

[0047] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A visual advanced geological information forecasting robot, comprising an upper shell, a middle shell, a lower shell, a track and a positioning protrusion, wherein the upper shell, the middle shell and the lower shell are rotatably connected in sequence from top to bottom, wherein a camera is arranged at the middle shell, a sensor is arranged in the lower shell, the track is fixed to the top of the inner wall of one side of the tunnel and is consistent with the tunnel travel path, the front view cross section of the track is I-shaped, the upper and lower ends of the track are symmetrically fixedly connected with the positioning protrusion, the positioning protrusion is triangular, a stabilizing mechanism is arranged at the connection between the track and the upper shell, and a scanning mechanism is arranged in the middle shell; Features: The stabilizing mechanism includes a stabilizing component and a displacement component. The stabilizing component includes side plates symmetrically fixedly connected to both sides of the top of the upper shell body. Specifically, the two side plates are located on both sides of the track. The tops of the two side plates are rotatably connected to a rotating rod one. The inner sides of the two rotating rods one are fixedly connected to positioning wheels. The middle parts of the two positioning tire surfaces are provided with grooves, which match the positioning protrusions. The two positioning wheels are respectively rotatably connected to the corresponding two positioning protrusions, and the positioning wheels also use the grooves to fit with the positioning protrusions.

2. A visual advanced geological information forecasting robot as claimed in claim 1, characterized in that: A protective frame plate is fixedly connected to the middle of the top of the upper shell body, and vertical sliding grooves are symmetrically opened in the middle of both sides of the protective frame plate, wherein two vertical sliding grooves are staggered with the two side plates, and side sliding plates are vertically slidably connected in the two vertical sliding grooves, and limiting sleeves are symmetrically fixedly connected on both sides of the two side sliding plates, and abutment wheels are rotatably connected in the limiting sleeves, and the top ends of multiple abutment wheels are slidably abutted against the bottom ends of the tracks.

3. A visual advanced geological information forecasting robot as claimed in claim 2, characterized in that: The bottom ends of the two side slides are symmetrically fixedly connected with inner sliding tubes, the bottom ends of the two groups of inner sliding tubes are vertically slidably connected with outer sliding tubes, and the bottom ends of the two groups of outer sliding tubes are fixedly connected to the top of the upper shell body, the bottom ends of the two groups of inner sliding tubes are fixedly connected with springs, and the bottom ends of multiple springs are fixedly connected to the top of the upper shell body, and the multiple springs move vertically in the space formed by the inner sliding tubes and the outer sliding tubes.

4. A visual advanced geological information forecasting robot as claimed in claim 1, characterized in that: The displacement assembly includes a motor fixedly installed in the protective frame plate, the output end of the motor is fixedly connected to a gear, the top of the gear is meshedly connected to a bottom rack plate, and the bottom rack plate is fixedly connected to the bottom end of the track.

5. A visual advanced geological information forecasting robot as claimed in claim 1, characterized in that: The scanning mechanism includes a fixed rod, the top of the fixed rod is fixedly connected to the bottom of the inner wall of the upper shell, and the bottom of the fixed rod is fixedly connected to the inside of the lower shell, the bottom end of the upper shell is fixedly connected to a lower rotating block, the lower rotating block is rotatably connected to the top of the middle shell, the top of the lower shell is fixedly connected to an upper rotating block, the upper rotating block is rotatably connected to the bottom of the middle shell, and since the fixed rod fixes the upper shell and the lower shell, only the middle shell supports the rotation of the camera.

6. A visual advanced geological information forecasting robot as claimed in claim 5, characterized in that: An arc-shaped notch is provided on the inner wall of the middle shell away from the camera, and the arc-shaped notch is spiral, and the number of spiral turns of the arc-shaped notch is half a turn.

7. A visual advanced geological information forecasting robot as claimed in claim 6, characterized in that: A guide rod body is slidably connected in the arc-shaped groove, and a fixing ring is fixedly connected to the other end of the guide rod body. The fixing ring is vertically slidably connected to the outer wall of the fixing rod, and a connecting ring is fixedly connected to the bottom end of the fixing ring. A positioning slider is fixedly connected to the bottom end of the connecting ring, and the positioning slider and the connecting ring are both vertically slidably connected to the outer wall of the fixing rod.

8. A visual advanced geological information forecasting robot as claimed in claim 7, characterized in that: A movable frame plate is fixedly connected to the other side of the positioning slider, and two vertical rack plates are symmetrically fixedly connected to the inner wall of the movable frame plate on both sides, and vertical sliding rods are fixedly connected to the upper and lower ends of the movable frame plate, wherein the vertical sliding rod at the upper end is vertically slidably connected to the top of the fixed rod, and the vertical sliding rod at the lower end is vertically slidably connected to the positioning plate, and the positioning plate is a fixed ring fixedly connected to the L-plate, wherein the fixed ring is fixedly connected to the outer wall of the fixed rod, and the fixed ring is located below the positioning slider.

9. A visual advanced geological information forecasting robot as claimed in claim 8, characterized in that: The L-plate is divided into a horizontal section and a vertical section. The horizontal section is vertically slidably connected to the vertical sliding rod at the lower end. The inner side of the vertical section is rotatably connected to pulley 2. A belt is sleeved on the outer side of pulley 2. The other end of the belt is sleeved on pulley 1. The middle part of pulley 1 is fixedly connected to rotating rod 2. One end of rotating rod 2 is fixedly connected to the middle part of the outer side of the gear, and a slot is provided at the movable part between the belt and the upper shell.

10. A visual advanced geological information forecasting robot as claimed in claim 9, characterized in that: A sector gear is fixedly connected to the inner side of the second pulley, and the sector gear moves in the movable frame plate and is intermittently meshed with the rack plates on both sides of the movable frame plate, so as to periodically drive the movable frame plate to move vertically back and forth, and drive the positioning slider and the fixed ring to move vertically synchronously under the displacement of the movable frame plate, and finally utilize the sliding connection between the guide rod body and the arc-shaped groove to drive the middle shell to rotate reciprocatingly at an angle of 180°.

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