Unmanned aerial vehicle dangerous rock detection device for geological disaster investigation

Abstract

The invention provides an unmanned aerial vehicle dangerous rock detection device for geological disaster investigation, and relates to the geological disaster monitoring and early warning technology, in particular to an unmanned aerial vehicle body, a machine shell is installed on the unmanned aerial vehicle body, a guide cylinder communicated with the machine shell is arranged on the side wall of the machine shell, a drilling tool is arranged in the guide cylinder in a penetrating mode, and a drill bit is installed at the tail end of the drilling tool; a deslagging channel is formed in the outer side wall of the drilling tool, the guide cylinder is provided with a third driving mechanism for driving the drilling tool to rotate, a plurality of drill rods are installed on the machine shell and detachably connected with the drilling tool, and a position adjusting mechanism for driving the drill rods to be spliced with the drilling tool is arranged in the machine shell; a material guiding channel is installed in the machine shell, a plurality of sensors are arranged in the material guiding channel, a connecting rope is arranged between any two adjacent sensors, and cutting equipment used for cutting the connecting ropes is arranged on the outer side wall of the material guiding channel. According to the structure, the installation efficiency of the sensor for monitoring the dangerous rock mass is improved, and the dangerous rock mass is monitored in real time through automatic drilling and sensor installation.

Description

Technical Field

[0001] The present invention relates to the technical field of geological disaster monitoring and early warning, and in particular to an unmanned aerial vehicle dangerous rock detection device for geological disaster investigation. Background Art

[0002] In the field of geological disaster monitoring and early warning, the posture monitoring of dangerous rock masses is a very important task. Dangerous rock masses usually refer to those with steep inclinations and extremely broken surface rocks, which form structural surfaces that are not conducive to the stability of the rock mass. Such rock masses are very likely to become unstable and cause geological disasters, resulting in certain economic losses. Therefore, the monitoring and early warning of dangerous rock masses are very important for the prevention and control of geological disasters.

[0003] The geological disasters caused by dangerous rock bodies are process-based. Physical parameters such as inclination and acceleration that can reflect the posture of dangerous rock bodies are very important for the analysis of the mechanism of dangerous rock body disasters. Although the disaster process of dangerous rock bodies is sudden, its incubation period is relatively long. After the shape and size of the dangerous rock bodies are found out, they need to be observed through corresponding monitoring means. The inclination can reflect the degree of change of the angle of the dangerous rock body over time during the deformation process, and further obtain the degree of displacement of the center of gravity of the dangerous rock body. The displacement of the center of gravity of the dangerous rock body can easily cause instability and thus cause geological disasters. Therefore, the inclination is very important for the monitoring of dangerous rock bodies. Acceleration can reflect the degree of deformation activity of dangerous rock bodies. Dangerous rock bodies are prone to change in instantaneous deformation velocity in a certain direction during deformation. This degree of change can be captured by acceleration sensors, thereby reflecting the degree of deformation activity of dangerous rock bodies. If the rock body is highly active within a certain time range, it means that the probability of its instability will increase significantly. Therefore, acceleration sensors are very important for monitoring dangerous rock bodies.

[0004] In the current field of geological disaster monitoring and early warning, the installation method for monitoring the posture of dangerous rock bodies is still manual installation, and the data collection method is still fixed-frequency collection. Its main defects are as follows: 1) For dangerous rock monitoring equipment, manual installation is difficult, and the on-site construction conditions lead to a long installation period and high costs, which is not conducive to the rapid prevention and control of geological disasters caused by dangerous rock bodies under emergency rescue conditions. 2) The data collection method is equal interval, that is, fixed-frequency collection method, and its collection methods such as three-dimensional laser and images are extremely complex, which leads to an increase in the overall power consumption and cost of the system, making the equipment not conducive to universal geological disaster monitoring and early warning. Summary of the invention

[0005] The purpose of the present invention is to provide an unmanned aerial vehicle dangerous rock detection device for geological disaster investigation, which can solve the problems raised by the above-mentioned background technology in view of the shortcomings of the prior art.

[0006] The technical solution of the present invention is achieved in this way:

[0007] The invention provides an unmanned aerial vehicle dangerous rock detection device for geological disaster investigation, comprising an unmanned aerial vehicle main body, a casing installed on the unmanned aerial vehicle main body, a guide cylinder connected to the casing is provided on the side wall of the casing away from the unmanned aerial vehicle main body, a drilling tool is inserted in the guide cylinder, a drill bit is installed at the end of the drilling tool, a slag discharge channel is opened on the outer wall of the drilling tool, the guide cylinder is provided with a third driving mechanism for driving the drilling tool to rotate, a plurality of drill rods are installed in the casing, the drill rods are detachably connected to the drilling tool, and a positioning mechanism for driving the drill rods to be spliced ​​with the drilling tool is provided in the casing; a material guide channel is installed in the casing, the end of the material guide channel is connected to the drilling tool, a plurality of sensors are provided in the material guide channel, a connecting rope is provided between any two adjacent sensors, and a cutting device for cutting the connecting rope is provided on the outer wall of the material guide channel.

[0008] In some technical solutions of the present invention, a plurality of fixing seats corresponding to the drill rods are provided in the casing, a groove matching the drill rod is opened on the side wall of the fixing seat, a limiting mechanism for limiting the displacement of the drill rod is provided in the groove, and a fixing mechanism detachably connected to the fixing seat is provided on the inner wall of the casing.

[0009] In some technical solutions of the present invention, the fixing mechanism includes a first push rod installed on the inner wall of the casing, a socket is provided on the free end of the first push rod, a locking groove is opened on the side wall of the fixing seat opposite to the inner wall of the casing, and a part of the socket is embedded in the locking groove.

[0010] In some technical schemes of the present invention, the positioning mechanism includes a mounting ring installed in the casing, a side wall of the mounting ring is provided with an annular limiting groove, a ring body adapted thereto is installed in the limiting groove, a plurality of tooth blocks are arranged around the side wall of the ring body, a rotating seat is sleeved on the mounting ring, a plurality of internal tooth grooves adapted to the tooth blocks are provided on the inner wall of the rotating seat, the internal tooth grooves are obliquely arranged on the inner wall of the rotating seat, a first driving mechanism for driving the ring body to move is provided on the mounting ring; a mounting seat is provided on the outer side wall of the rotating seat, a locking mechanism detachably connected to the fixed seat is provided on the mounting seat; a second driving mechanism for driving the mounting ring to make circular motion is provided in the casing.

[0011] In some technical solutions of the present invention, the locking mechanism includes a second push rod installed on the mounting seat, a guide seat is installed on the telescopic end of the second push rod, a limit locking seat is detachably provided on the guide seat, and a limit channel adapted to the limit locking seat is opened at the bottom of the fixed seat.

[0012] In some technical schemes of the present invention, a guide groove is provided on the side wall of the guide seat along its extension direction, a displacement seat adapted to the guide groove is slidably provided in the guide groove, the displacement seat is connected to the limit clamping seat, an installation chamber is provided in the guide seat, a third push rod is installed in the installation chamber, a slideway connected to the installation chamber is provided at the bottom of the guide groove, and a connecting block connected to the displacement seat and the telescopic end of the third push rod is provided in the slideway.

[0013] In some technical schemes of the present invention, the first driving mechanism includes a second driving gear disc rotatably arranged on a mounting ring, a window connected to the limiting groove is provided on the outer wall of the mounting ring, a part of the second driving gear disc is embedded in the window, a plurality of tooth grooves adapted to the second driving gear disc are provided on the outer wall of the ring body, and a second driving motor transmission-connected to the second driving gear disc is provided on the outer wall of the mounting ring.

[0014] In some technical solutions of the present invention, the second driving mechanism includes an inner gear ring installed on the inner side wall of the mounting ring, a first driving gear disc meshing with the inner gear ring is provided on the bottom wall of the casing, and a first driving motor drivingly connected to the first driving gear disc is provided on the bottom wall of the casing.

[0015] In some technical schemes of the present invention, the third driving mechanism includes a second plate body installed in the guide cylinder, with an installation opening opened on it, a first limit piece rotatably provided in the installation opening, a plurality of limit strips are arranged around the outer wall of the drill rod, a first slot adapted to the limit strip is opened on the inner wall of the first limit piece, a third driving gear disc transmission-connected to the first limit piece is rotatably provided on the second plate body, a third driving motor transmission-connected to the third driving gear disc is installed on the second plate body, and a rotating mechanism for rotating two drill rods in the same direction or in opposite directions is provided in the guide cylinder.

[0016] In some technical schemes of the present invention, the rotating mechanism includes a third plate body, which is installed between the second plate body and the bottom of the guide cylinder, and a through hole is opened on the third plate body, in which a second limit piece is rotatably provided, and a second slot adapted to the limit strip is opened on the inner wall of the second limit piece; a plurality of first limit ratchets are arranged around the side walls opposite to the first limit piece and the second limit piece, a plurality of second limit ratchets are arranged around the side walls of the second limit piece, and any second limit ratchets are embedded between two adjacent first limit ratchets, a first plate body is arranged between the third plate body and the bottom of the guide cylinder, a plurality of adjusting springs connected to the third plate body are arranged around the first plate body, a ratchet is sleeved on the outer wall of the second limit piece, and a limit tooth is rotatably provided on the side wall of the third plate body, and a part of the limit tooth is embedded between the ratchet teeth of the ratchet.

[0017] Compared with the prior art, the present invention has at least the following advantages or beneficial effects:

[0018] The above structure can drive the drill bit to drill a hole on the surface of the dangerous rock mass. After drilling, the sensor can be installed in the borehole for real-time monitoring. The positioning mechanism is used to enable the drill rod to be detachably arranged in the casing, which can save the lifting space of the drone and avoid the problem that the ultra-high-sized drilling equipment cannot be lifted during the lifting process. The rotating mechanism arranged in the third driving mechanism can separate and splice the two drill rods spliced ​​to each other, drill a hole of appropriate depth on the surface of the dangerous rock mass, and improve the drilling efficiency of the structure. The design of the entire system aims to improve the installation efficiency of sensors for monitoring dangerous rock masses, and realize real-time monitoring of dangerous rock masses through automated drilling and sensor installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a front view structural schematic diagram of the present invention.

[0020] Figure 2 It is a schematic diagram of the expanded structure of the present invention.

[0021] Figure 3 It is a schematic diagram of the top view of the positioning mechanism in the present invention.

[0022] Figure 4 It is a schematic diagram of the three-dimensional structure of the positioning mechanism in the present invention.

[0023] Figure 5 It is a partial cross-sectional structural schematic diagram of the positioning mechanism in the present invention.

[0024] Figure 6 It is a schematic diagram of the three-dimensional structure of the rotating seat in the present invention.

[0025] Figure 7 It is a schematic diagram of the installation structure of the material guiding pipeline in the present invention.

[0026] Figure 8 It is a schematic diagram of the unfolded structure of the third driving mechanism in the present invention.

[0027] Fig. 9 It is a schematic cross-sectional structural diagram of the rotating mechanism in the present invention.

[0028] Fig.10 It is a schematic diagram of the installation structure of the second limiting member in the present invention.

[0029] Fig.11 It is a schematic diagram of the top structure of the second limiting member in the present invention.

[0030] Figure numerals: 1, drone body; 2, housing; 3, guide cylinder; 4, drilling tool; 5, end cover; 6, material guide pipe; 7, cutting equipment; 8, mounting ring; 9, drill bit; 10, guide ring; 11, holder; 12, drill rod; 13, fixed seat; 14, guide groove; 15, first push rod; 16, mounting chamber; 17, ring body; 18, gear block; 19, inner gear ring; 20, first drive gear disc; 21, rotating seat; 22, second drive gear disc; 23, installation Seat; 24, guide seat; 25, inner tooth groove; 26, second push rod; 27, limit clamp seat; 28, third push rod; 29, displacement seat; 30, sensor; 31, connecting rope; 32, first plate; 33, second plate; 34, cover plate; 35, second drive gear disc; 36, first limit member; 37, second limit member; 38, adjustment spring; 39, second limit ratchet; 40, ratchet; 41, limit tooth; 42, first limit ratchet; 43, third plate. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Specific implementation of the accompanying drawings Specific implementation of the accompanying drawings.

[0033] Example

[0034] The present invention provides an unmanned aerial vehicle dangerous rock detection device for geological disaster investigation, such as Figure 1-11As shown, it includes a drone body 1, and the drone body 1 adopts a four-rotor drone with large load-bearing capacity and strong endurance in the prior art. A housing 2 is installed at the bottom of the frame of the drone body 1 by bolts. The housing 2 is a cylindrical shell as a whole, and its inner wall has reinforcing ribs for increasing the load-bearing capacity of the housing 2. A guide cylinder 3 connected to the housing 2 is provided on the side wall of the housing 2 away from the drone body 1, and the guide cylinder 3 is connected to the bottom of the housing 2 by a threaded connection. A drilling tool 4 is inserted into the guide cylinder 3, and the drilling tool 4 is a tubular structure. A drill bit 9 is installed at the end of the drilling tool 4 by a threaded connection; the drill bit 9 is also a tubular structure, and a drilling tool with high strength and wear resistance is installed on the end face of the drill bit 9, and a spiral blade is provided on the outer wall of the drill bit 9, and the blade and the outer wall of the drill bit 9 are integrally formed. The above structure can improve the ability of the drill bit 9 to drill shallow soil attached to the surface of the dangerous rock body, and after the drilling of the hole is completed, the sensor 30 can be placed in the hole to facilitate real-time monitoring of the dangerous rock body. A slag discharge channel is provided on the outer wall of the drill tool 4. The number of slag discharge channels is 2-3, and the slag discharge channel is rectangular, which can improve the slag discharge capacity, discharge the soil and gravel accumulated in the drill tool 4 and the drill bit 9 into the drill tool 4, prevent the channel in the drill tool 4 from being blocked, and prevent the problem that the sensor 30 cannot be introduced into the borehole along the channel in the drill tool 4. The guide cylinder 3 is provided with a third driving mechanism for driving the drill tool 4 to rotate. The third driving mechanism can force the drill tool 4 and the drill bit 9 to quickly drill a borehole with a suitable depth in the soil layer on the dangerous rock body, install the sensor 30 at a predetermined depth in the dangerous rock body, and improve the monitoring accuracy of the dangerous rock body. The housing 2 is equipped with a plurality of drill rods 12, the number of drill rods 12 is at least 8, and the drill rods 12 are arranged in the housing 2 along the circumference of the circle where the housing 2 is located. The drill rods 12 are all detachably connected to the drill tool 4 by threaded connection. A positioning mechanism is provided in the housing 2, which can drive the drill rod 12 to splice with the drill tool 4. The positioning mechanism can flip the drill rod 12 radially arranged along the center of the circle where the casing 2 is located by 90° in the casing 2 so that it is coaxial with the center of the circle where the guide cylinder 3 is located. Subsequently, the drill rod 12 in a separated state is spliced ​​with the drilling tool 4 through the third driving mechanism and the positioning mechanism to form a whole, thereby extending the effective length of the drilling tool 4. A material guide channel 6 is installed in the casing 2, and the end of the material guide channel 6 is connected to the drilling tool 4. A plurality of sensors 30 are arranged in the material guide channel 6, and a connecting rope 31 is arranged between any two adjacent sensors 30. Through the above structure, at least 5 sensors 30 can be installed in the casing 2. When the above structure is used to drill a large number of holes in dangerous rock bodies, the sensors 30 can be respectively installed in the corresponding boreholes, thereby improving the installation efficiency of the sensors 30 for monitoring dangerous rock bodies. A cutting device 7 for cutting the connecting rope 31 is provided on the outer wall of the material guide channel 6.

[0035] The sensor 30 is an acceleration sensor 30 .

[0036] Preferably, an end cover 5 is installed on the top of the casing 2 by means of screws, and the material guide channel 6 is connected to the end cover 5 by bolts. A rotating disk is installed on the end cover 5, and a sensor 30 connected by a connecting rope 31 is wound on the rotating disk. A small motor connected to the rotating disk is installed on the casing 2, which is used to release the wire belt composed of the connecting rope 31 and the sensor 30 wound on the rotating disk into the material guide channel 6.

[0037] Preferably, the drill rod 12 is a tubular structure, an inner wall of one end of the drill rod 12 is provided with an internal thread, and the other end of the drill rod 12 is provided with a small diameter section, and the outer wall of the small diameter section is provided with an external thread; when any two drill rods 12 are spliced ​​together, the small diameter section of one drill rod 12 is inserted into the other drill rod 12, and the connection between the two is achieved by threaded connection.

[0038] In some technical solutions of the present invention, a plurality of fixing seats 13 corresponding to the drill rod 12 are provided in the housing 2. The fixing seats 13 are block-shaped structures. A groove adapted to the drill rod 12 is provided on the side wall of the fixing seat 13. The cross section of the groove is semicircular. A limiting mechanism is installed in the groove. The limiting mechanism is an electromagnetic lock. The magnetic end of the electromagnetic lock is connected to the outer wall of the drill rod 12. The electromagnetic lock can fix the drill rod 12 in the groove to prevent the drill rod 12 from moving laterally in the groove. A fixing mechanism is provided on the inner wall of the housing 2. The fixing mechanism is detachably connected to the fixing seat 13. In this way, when the positioning mechanism drives the drill rod 12 to flip 90° in the housing 2, it is ensured that the fixing seat 13 is fixed at a fixed position in the housing 2, which is convenient for the flipping end of the positioning mechanism to quickly adapt to the fixing seat 13, thereby improving the accuracy and movement efficiency of the structure during operation.

[0039] In some technical solutions of the present invention, the fixing mechanism includes a first push rod 15, and the body of the first push rod 15 is fixed to the inner wall of the housing 2 by bolts. A holder 11 is provided on the free end of the first push rod 15, a countersunk hole is provided on the side wall of the holder 11, and the telescopic end of the first push rod 15 is inserted into the countersunk hole. A locking groove is provided on the side wall of the fixing seat 13 opposite to the inner wall of the housing 2, and the cross section of the locking groove is rectangular. A part of the holder 11 is embedded in the locking groove, and the holder 11 and the locking groove are clearance-matched.

[0040] Preferably, a magnetic pole is embedded in the holder 11 , and the magnetic pole is magnetically connected to the fixing seat 13 .

[0041] In some technical solutions of the present invention, the positioning mechanism includes a mounting ring 8 installed in the housing 2, and an annular mounting groove is provided on the inner bottom wall of the housing 2. The cross section of the mounting groove is rectangular, and a part of the mounting ring 8 is embedded in the mounting groove. The mounting groove is used to guide and limit the mounting ring 8 to make a circular motion in the housing 2. An annular limiting groove is provided on the side wall of the mounting ring 8, and a ring body 17 adapted thereto is installed in the limiting groove. The ring body 17 is in a circular ring shape, and a guide ring 10 is provided in the limiting groove. A part of the guide ring 10 is embedded in the ring body 17. A plurality of tooth blocks 18 are arranged around the side wall of the ring body 17, and the tooth blocks 18 are cylindrical. The mounting ring 8 is provided with a rotating seat 21, which is arc-shaped as a whole. The rotating seat 21 can make a circular motion on the mounting ring 8 along the circumference of the mounting ring 8; the inner wall of the rotating seat 21 is provided with a plurality of inner tooth grooves 25 adapted to the tooth block 18, and the inner tooth grooves 25 are obliquely arranged on the inner wall of the rotating seat 21. The mounting ring 8 is provided with a first driving mechanism for driving the ring body 17 to move; the outer wall of the rotating seat 21 is provided with a mounting seat 23, and the mounting seat 23 is fixedly connected to the rotating seat 21 by welding. The mounting seat 23 is provided with a locking mechanism that is detachably connected to the fixed seat 13; the housing 2 is provided with a second driving mechanism for driving the mounting ring 8 to make a circular motion.

[0042] In some technical schemes of the present invention, the positioning mechanism includes a second push rod 26 installed on the mounting seat 23, the body of the second push rod 26 is fixedly connected to the mounting seat 23 by bolts, and a guide seat 24 is fixedly installed on the telescopic end of the second push rod 26 by bolts, and a limit clamping seat 27 is detachably provided on the guide seat 24, and the cross-section of the limit clamping seat 27 is rectangular. A limit channel adapted to the limit clamping seat 27 is opened at the bottom of the fixed seat 13. When the first driving mechanism drives the ring body 17 to perform a circular motion in the mounting ring 8, the tooth blocks 18 located on the ring body 17 will be successively embedded in the internal tooth grooves 25 provided on the inner wall of the rotating seat 21, so that the rotating seat 21 performs a flipping motion from the inside to the outside on the mounting ring 8, thereby flipping the drill rod 12 radially arranged along the circle where the casing 2 is located by 90° in the casing 2 and then coaxial with the center of the circle where the guide cylinder 3 is located, completing the position adjustment of the drill rod 12, facilitating the rapid splicing of the drill rod 12 and the drilling tool 4 in the later stage.

[0043] Preferably, a magnetic pole is provided in the limiting channel to strengthen the matching strength between the limiting clamping seat 27 and the fixing seat 13 to prevent the two from loosening and causing the limiting clamping seat 27 to separate from the fixing seat 13 .

[0044] In some technical solutions of the present invention, a guide groove 14 is provided on the side wall of the guide seat 24, the cross section of the guide groove 14 is wedge-shaped, a displacement seat 29 adapted thereto is slidably provided in the guide groove 14, and the displacement seat 29 is fixedly connected to the limit clamping seat 27 by screws or welding. The guide seat 24 is provided with an installation chamber 16, the installation chamber 16 is rectangular, a third push rod 28 is installed in the installation chamber 16, the body of the third push rod 28 is fixed to the inner bottom wall of the installation chamber 16 by screws, a slideway connected to the installation chamber 16 is provided at the bottom of the guide groove 14, and a connecting block connected to the displacement seat 29 and the telescopic end of the third push rod 28 is provided in the slideway. Through the above structure, when the limit clamping seat 27 is adapted to the upper limit channel located on the fixed seat 13, the relative position of the limit clamping seat 27 and the limit channel can be adjusted so that the two can be aligned more quickly.

[0045] In some technical solutions of the present invention, the first driving mechanism includes a second driving toothed disc 22 rotatably arranged on the mounting ring 8, and the second driving toothed disc 22 is a gear, which is rotatably arranged on the outer wall of the mounting ring 8 through a bracket. A window communicating with the limit groove is provided on the outer wall of the mounting ring 8, and the window is rectangular, and a part of the second driving toothed disc 22 is embedded in the window, and a plurality of tooth grooves adapted to the second driving toothed disc 22 are provided on the outer wall of the ring body 17, and a second driving motor drivingly connected to the second driving toothed disc 22 is provided on the outer wall of the mounting ring 8, and the second driving motor is fixed to the bracket by bolts, and the output shaft of the second driving motor is drivingly connected to the second driving toothed disc 22 through a coupling.

[0046] In some technical solutions of the present invention, the second driving mechanism includes an inner gear ring 19 mounted on the inner side wall of the mounting ring 8, the inner gear ring 19 is fixed to the inner wall of the mounting ring 8 by welding, and the outer diameter of the inner gear ring 19 is adapted to the inner diameter of the mounting ring 8. A first driving toothed disc 20 is provided on the bottom wall of the housing 2 through a rotating shaft, the first driving toothed disc 20 is gear-shaped, and the first driving toothed disc 20 is meshed with the inner gear ring 19, and a first driving motor is provided on the bottom wall of the housing 2 in transmission connection with the first driving toothed disc 20, and the output end of the first driving motor is in transmission connection with the rotating shaft of the first driving toothed disc 20 through a coupling.

[0047] In some technical schemes of the present invention, the third driving mechanism includes a second plate body 33 installed in the guide cylinder 3. The guide cylinder 3 has a cylindrical shape and a rectangular or square channel is opened inside the guide cylinder 3. The channel is used to prevent the second plate body 33, the third plate body 43 and the first plate body 32 from rotating in the guide cylinder 3, thereby limiting the movement of the above structure. The second plate body 33 is provided with an installation opening, and the cross-section of the installation opening is circular. A first limit piece 36 is rotatably provided in the installation opening. A plurality of limit strips are arranged around the outer wall of the drill rod 12. A first slot adapted to the limit strip is provided on the inner wall of the first limit piece 36. An outer tooth ring is integrally formed on the outer wall of the first limit piece 36. A third driving gear disc 35 is rotatably provided on the second plate body 33, and the outer tooth ring is meshed with the first limit piece 36. A third driving motor drivingly connected to the third driving gear disc 35 is installed on the second plate body 33. The output end of the third driving motor is connected to the shaft of the third driving gear disc 35 through a coupling. A rotating mechanism for rotating two drill rods 12 in the same direction or in opposite directions is provided in the guide cylinder 3.

[0048] A cover plate 34 for sealing the internal structure of the guide cylinder 3 is disposed on the top thereof, and a through hole is formed in the middle of the cover plate 34 .

[0049] In some technical solutions of the present invention, the rotating mechanism includes a third plate body 43, which is installed between the second plate body 33 and the bottom of the guide cylinder 3. A through hole is provided on the third plate body 43, and a second limit member 37 is rotatably provided in the through hole. A second card groove adapted to the limit bar is provided on the inner wall of the second limit member 37; a plurality of first limit ratchet teeth 42 are arranged around the side wall opposite to the first limit member 36 and the second limit member 37, and a plurality of first limit ratchet teeth 42 are arranged around the side wall of the second limit member 37. The second limiting ratchet 39, any one of the second limiting ratchet teeth 39 is embedded between two adjacent first limiting ratchet teeth 42, a first plate body 32 is provided between the third plate body 43 and the bottom of the guide cylinder 3, a plurality of adjustment springs 38 connected with the third plate body 43 are arranged around the first plate body 32, a ratchet 40 is sleeved on the outer wall of the second limiting member 37, a limiting tooth 41 is provided on the side wall of the third plate body 43 through rotation of a pin shaft, and a part of the limiting tooth 41 is embedded between the ratchet teeth of the ratchet 40.

[0050] The working principle of the present invention is as follows: an operator controls the drone body 1 to reach the upper side of the dangerous rock body, and then the operator controls the drone body 1 to descend to the surface of the dangerous rock body.

[0051] Before drilling, the initial state of the drill tool 4 and the drill bit 9 in the guide tube 3 is: the upper section of the drill tool 4 passes through the second limiter 37 and the first limiter 36 and is placed in the casing 2, and the drill bit 9 is exposed from the guide tube 3 and in contact with the ground.

[0052] When drilling a hole on the surface of a dangerous rock mass, the first drive motor in the second drive mechanism must be started first, so that the mounting ring 8 and the rotating seat 21, the ring body 17 and other components on the mounting ring 8 make a circular motion in the housing 2 until the positioning mechanism provided on the rotating seat 21 reaches the lower side of the corresponding fixed seat 13; at this time, the telescopic end of the second push rod 26 in the positioning mechanism pushes the limiting seat 27 on the guide seat 24 to be embedded in the limiting channel at the bottom of the fixed seat 13. At this time, the first push rod 15 in the fixing mechanism will pull the seat 11 to gradually withdraw from the locking groove provided on the fixed seat 13, without interfering with the subsequent movement of the fixed seat 13.

[0053] Subsequently, the first drive motor in the second drive mechanism causes the ring body 17 located in the mounting ring 8 to perform circular motion through the second drive gear disc 22, and the gear blocks 18 located on the ring body 17 will be successively embedded in the internal tooth grooves 25 provided on the inner wall of the rotating seat 21, so that the rotating seat 21 performs a flipping motion from the inside to the outside on the mounting ring 8 around the mounting ring 8, thereby flipping the horizontal drill rod 12 90° in the casing 2 and making it coaxial with the center of the circle where the guide cylinder 3 is located, and then completing the position adjustment of the drill rod 12. If the center of the drill rod 12 is not coaxial with the center of the drill tool 4, the telescopic end of the second push rod 26 in a horizontal state will continue to push the drill rod 12 on the fixed seat 13 to move in the radial direction of the circle where the drill tool 4 is located until the drill rod 12 and the drill tool 4 are coaxial; when the drill rod 12 and the drill tool 4 are coaxial, the two are immediately assembled. At this time, the third push rod 28 in the guide seat 24 causes the drill rod 12 on the fixed seat 13 to move in the vertical direction toward the drill tool 4 through the limit clamp 27, the displacement seat 29 and the guide groove 14.

[0054] The third driving motor in the third driving mechanism makes the first limiting member 36 and the second limiting member 37 jointly make the drill tool 4 do clockwise circular motion in the guide cylinder 3 through the third driving gear disc 35 and the outer gear ring. At this time, the drill rod 12 is fixed on the fixing seat 13 through the electromagnetic lock and gradually descends under the push of the third push rod 28. The small diameter section of the drill rod 12 is embedded in the drill tool 4, so that the two are threadedly connected. After the drill rod 12 and the drill tool 4 are spliced, the drill rod 12 and the drill tool 4 are gradually driven by the drill bit 9 and the third driving motor to penetrate the surface of the earth, and the drill bit 9 can also apply a pulling force to the drill tool 4 through the spiral blades during the rotation process, so as to speed up the drilling efficiency and drill a suitable hole, providing favorable conditions for installing the sensor 30; repeat the above actions to complete the subsequent splicing of the drill rod 12 and drill a deeper borehole. When the drilling is completed, the cutting tool in the cutting device 7 will release the connecting rope 31 in the material guide channel 6 to cut it, and the sensor 30 placed at the end will be introduced into the drill hole through multiple drill rods 12 and the channel in the drilling tool 4.

[0055] After the sensor 30 is released, the drill rod 12 needs to be removed from the drilling tool 4 by the rotating mechanism, and the removed drill rod 12 is placed on the corresponding fixing seat 13 by the adjusting mechanism. The process of separating two mutually spliced ​​drill rods 12 or separating a mutually spliced ​​drill rod 12 from the drilling tool 4 by the rotating mechanism is as follows:

[0056] First, the third driving motor in the third driving mechanism causes any drill rod 12 meshing with it in the first limit member 36 to make a counterclockwise circular motion in the guide cylinder 3 through the third driving gear disc 35 and the outer gear ring; any drill rod 12 meshing with it in the second limit member 37 stops rotating in the guide cylinder 3 under the restriction of the ratchet 40 and the limit tooth 41; and when performing the splitting action, the splicing point of the two spliced ​​drill rods 12 or the splicing point of the spliced ​​drill rods 12 and the drilling tool 4 is located in the space opposite to the first limit member 36 and the second limit member 37.

[0057] During the separation process of the drill rod 12 and the drilling tool 4, the first limiting ratchet 42 on the first limiting member 36 is disengaged from the second limiting ratchet 39 on the second limiting member 37, and the first limiting ratchet 42 on the first limiting member 36 applies a downward thrust in the vertical direction to the second limiting member 37, so that the first limiting member 36 and the second limiting member 37 can be separated more thoroughly at the moment of rotation, and will not hinder the counterclockwise rotation of the first limiting member 36, which can speed up the separation process of two mutually spliced ​​drill rods 12 or mutually spliced ​​drill rods 12 and drilling tool 4. The drill rod 12 connected to the drilling tool 4 partially enters the casing 2 and enters the groove on the fixing seat 13, and then the third push rod 28 controls the guide seat 24 to move downward in the vertical direction, so that the drill rod 12 completely enters the groove, and the drill rod 12 is locked in the groove by the limiting mechanism. Then the positioning mechanism drives the fixing seat 13 loaded with the drill rod 12 to flip 90°, and the fixing seat 13 remains horizontal in the casing 2, and the fixing seat 13 is fixed in the casing 2 by the fixing mechanism, in preparation for the next drilling, and the above actions are repeated to split all the subsequent drill rods 12.

[0058] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A dangerous rock detection device for unmanned aerial vehicle used for geological disaster investigation, characterized in that: The invention comprises an unmanned aerial vehicle (UAV) body (1), a housing (2) being mounted on the UAV body (1), a guide cylinder (3) being arranged on the side wall of the housing (2) facing away from the UAV body (1) and being connected to the housing, a drilling tool (4) being inserted into the guide cylinder (3), a drill bit (9) being mounted at the end of the drilling tool (4), a slag discharge channel being arranged on the outer side wall of the drilling tool (4), the guide cylinder (3) being provided with a third driving mechanism for driving the drilling tool (4) to rotate, a plurality of drill rods (12) being mounted on the housing (2), the plurality of drill rods (12) being arranged on the guide cylinder (3), and the plurality of drill rods (12) being arranged on the guide cylinder (3). The drill rods (12) are detachably connected to the drilling tool (4); a positioning mechanism for driving the drill rods (12) and the drilling tool (4) to be spliced ​​is provided in the housing (2); a material guide channel (6) is installed in the housing (2); the end of the material guide channel (6) is connected to the drilling tool (4); a plurality of sensors (30) are provided in the material guide channel (6); a connecting rope (31) is provided between any two adjacent sensors (30); and a cutting device (7) for cutting the connecting rope is provided on the outer wall of the material guide channel (6).

2. The unmanned aerial vehicle dangerous rock detection device for geological disaster investigation according to claim 1 is characterized in that: A plurality of fixing seats (13) corresponding to the drill rods (12) are arranged in the casing (2); a groove adapted to the drill rod (12) is provided on the side wall of the fixing seat (13); a limiting mechanism for limiting the displacement of the drill rod (12) is provided in the groove; and a fixing mechanism detachably connected to the fixing seat (13) is provided on the inner wall of the casing (2).

3. The unmanned aerial vehicle dangerous rock detection device for geological disaster investigation according to claim 2 is characterized in that: The fixing mechanism comprises a first push rod (15) mounted on the inner wall of the housing (2), a holder (11) being provided on the free end of the first push rod (15), a locking groove being provided on the side wall of the fixing seat (13) opposite to the inner wall of the housing (2), and a part of the holder (11) being embedded in the locking groove.

4. The unmanned aerial vehicle dangerous rock detection device for geological disaster investigation according to claim 2 or 3, characterized in that: The positioning mechanism comprises a mounting ring (8) mounted in the housing (2); a ring-shaped limiting groove is provided on the side wall of the mounting ring (8); a ring body (17) adapted thereto is installed in the limiting groove; a plurality of tooth blocks (18) are arranged around the side wall of the ring body (17); a rotating seat (21) is sleeved on the mounting ring (8); a plurality of inner tooth grooves (25) adapted to the tooth blocks (18) are provided on the inner wall of the rotating seat (21); the inner tooth grooves (25) are arranged obliquely on the inner wall of the rotating seat (21); a first driving mechanism for driving the ring body (17) to move is provided on the mounting ring (8); a mounting seat (23) is provided on the outer side wall of the rotating seat (21); a locking mechanism detachably connected to the fixing seat (13) is provided on the mounting seat (23); and a second driving mechanism for driving the mounting ring (8) to make a circular motion is provided in the housing (2).

5. The unmanned aerial vehicle dangerous rock detection device for geological disaster investigation according to claim 4 is characterized in that: The locking mechanism comprises a second push rod (26) mounted on the mounting seat (23); a guide seat (24) is mounted on the telescopic end of the second push rod (26); a limit locking seat (27) is detachably provided on the guide seat (24); and a limit channel adapted to the limit locking seat (27) is provided at the bottom of the fixed seat (13).

6. The unmanned aerial vehicle dangerous rock detection device for geological disaster investigation according to claim 5 is characterized in that: A guide groove (14) is provided on the side wall of the guide seat (24) along its extension direction, a displacement seat (29) adapted thereto is slidably provided in the guide groove (14), the displacement seat (29) being connected to the limit clamping seat (27), an installation chamber (16) is provided in the guide seat (24), a third push rod (28) is installed in the installation chamber (16), a slideway communicating with the installation chamber (16) is provided at the bottom of the guide groove (14), a connecting block connected to the displacement seat (29) and the telescopic end of the third push rod (28) is provided in the slideway.

7. The unmanned aerial vehicle dangerous rock detection device for geological disaster investigation according to claim 4 is characterized in that: The first driving mechanism comprises a second driving toothed disc (22) rotatably arranged on the mounting ring (8); a window communicating with the limiting groove is provided on the outer wall of the mounting ring (8); a part of the second driving toothed disc (22) is embedded in the window; a plurality of tooth grooves matching with the second driving toothed disc (22) are provided on the outer wall of the ring body (17); and a second driving motor drivingly connected with the second driving toothed disc (22) is provided on the outer wall of the mounting ring (8).

8. The unmanned aerial vehicle dangerous rock detection device for geological disaster investigation according to claim 4 is characterized in that: The second driving mechanism comprises an inner gear ring (19) mounted on the inner side wall of the mounting ring (8); a first driving toothed disc (20) meshing with the inner gear ring (19) is provided on the bottom wall of the housing (2); and a first driving motor drivingly connected to the first driving toothed disc (20) is provided on the bottom wall of the housing (2).

9. The unmanned aerial vehicle dangerous rock detection device for geological disaster investigation according to claim 6 is characterized in that: The third driving mechanism comprises a second plate body (33) installed in the guide cylinder (3), the second plate body (33) is provided with an installation opening, a first limit piece (36) is rotatably provided in the installation opening, a plurality of limit strips are arranged around the outer wall of the drill rod (12), a first clamping groove adapted to the limit strip is arranged on the inner wall of the first limit piece (36), a third driving gear disc (35) which is transmission-connected to the first limit piece (36) is rotatably provided on the second plate body (33), a third driving motor which is transmission-connected to the third driving gear disc (35) is installed on the second plate body (33), and a rotating mechanism which enables two drill rods (12) to rotate in the same direction or in different directions is provided in the guide cylinder (3).

10. The unmanned aerial vehicle dangerous rock detection device for geological disaster investigation according to claim 9, characterized in that: The rotating mechanism comprises a third plate body (43), the third plate body (43) is installed between the second plate body (33) and the bottom of the guide cylinder (3), the third plate body (43) is provided with a through hole, a second limiting member (37) is rotatably provided in the through hole, a second card slot adapted to the limiting strip is provided on the inner wall of the second limiting member (37); a plurality of first limiting ratchet teeth (42) are arranged around the side wall opposite to the first limiting member (36) and the second limiting member (37), and a plurality of second limiting ratchet teeth (42) are arranged around the side wall of the second limiting member (37). teeth (39), any one of the second limiting ratchet teeth (39) is embedded between two adjacent first limiting ratchet teeth (42), a first plate body (32) is provided between the third plate body (43) and the bottom of the guide cylinder (3), a plurality of adjustment springs (38) connected to the third plate body (43) are arranged around the first plate body (32), a ratchet (40) is sleeved on the outer wall of the second limiting member (37), a limiting tooth (41) is rotatably provided on the side wall of the third plate body (43), and a part of the limiting tooth (41) is embedded between the ratchet teeth of the ratchet (40).

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