Umbrella support type drilling robot and construction method thereof

Abstract

The invention provides an umbrella support type drilling robot and a construction method thereof. The umbrella support type drilling robot comprises a drilling mechanism, a front umbrella support type mechanism, a feeding mechanism and a rear umbrella support type mechanism which are connected in sequence. The drilling mechanism is rotatably connected to one end of the front umbrella support type mechanism in a drilling manner; the driving end of the feeding mechanism is connected to the rear umbrella supporting mechanism, and the transmission end of the feeding mechanism is in transmission connection with the front umbrella supporting mechanism. When the driving end of the feeding mechanism drives the rear umbrella support type mechanism to expand and abut against the hole wall, the transmission end of the feeding mechanism drives the front umbrella support type mechanism to move forwards and contract, so that the drilling mechanism is pushed forwards to drill holes. When the transmission end of the feeding mechanism drives the front umbrella support type mechanism to expand and abut against the hole wall, the driving end of the feeding mechanism drives the rear umbrella support type mechanism to contract and move forwards. According to the device and the method, the construction operation of drilling is completed by only providing one power source, the energy consumption is reduced, the working intensity of operators is relieved, time and labor are saved, and the construction efficiency of drilling can be improved.

Description

Technical Field

[0001] The present application relates to the field of resource exploration and development, and in particular to an umbrella-supported drilling robot and a construction method thereof. Background Art

[0002] Drilling technology is the basic link of geological exploration and underground resource development, and is a prerequisite for mastering stratum information and carrying out resource exploitation. Developing deep drilling robots with more flexible drilling control plays an important role in improving underground drilling efficiency and reducing engineering risks.

[0003] The current drilling method is mainly catheter drilling, which uses a drill pipe to push the drill bit to break and advance the front rock. There are problems with low efficiency and high cost in lateral and branch well opening, as well as the risk of drill sticking due to drill pipe tilt. These problems are particularly prominent in deep drilling operations. In the field of catheterless mining and drilling, the existing drilling mechanism is mainly powered by electricity and relies on long-distance power line supply. The number of power conversion mechanisms is large and the levels are complex, which makes it very easy to get stuck and lose electricity in long-distance transmission. For example: drill sticking caused by multi-degree-of-freedom electrode guidance, and short circuit caused by repeated rotation of long-distance power transmission lines in aquifers.

[0004] Therefore, the main problems of this type of technology are: 1. How to overcome the difficulty of applying the counterforce of the drilling structure, and realize the transmission torque and thrust mechanism without guide rods and drill rods, and generate drilling thrust and torque; 2. How to achieve the stable operation of the power mechanism of the drilling mechanism, and overcome the engineering risks such as stuck drill caused by the poor system redundancy of the multi-degree-of-freedom and multi-power source mechanism. Therefore, it is urgent to develop a robot mechanism that can solve the deficiencies in the above-mentioned technologies and meet the requirements of deep drilling, so as to realize efficient drilling exploration and resource development of deep reservoirs. Summary of the invention

[0005] One of the purposes of the present application is to provide an umbrella-supported drilling robot, which is suitable for efficient drilling exploration and resource development of deep reservoirs and can effectively improve the operating efficiency of deep formation drilling.

[0006] The technical solution of this application is:

[0007] An umbrella-supported drilling robot comprises a drilling mechanism, a front umbrella-supported mechanism, a feeding mechanism and a rear umbrella-supported mechanism which are connected in sequence; the drilling mechanism is rotatably connected to one end of the front umbrella-supported mechanism for drilling into a hole; the driving end of the feeding mechanism is connected to the rear umbrella-supported mechanism, and the transmission end is transmission-connected to the front umbrella-supported mechanism; when the driving end of the feeding mechanism drives the rear umbrella-supported mechanism to expand and abut against the hole wall, the transmission end of the feeding mechanism drives the front umbrella-supported mechanism to move forward and contract, so that the drilling mechanism advances forward to drill a hole; when the transmission end of the feeding mechanism drives the front umbrella-supported mechanism to expand and abut against the hole wall, the driving end of the feeding mechanism drives the rear umbrella-supported mechanism to contract and move forward.

[0008] As a technical solution of the present application, the drilling mechanism includes a tool holder, multiple cutting bits, a driving motor and a first coupling; one end of the front umbrella support mechanism is transmission connected to the driving motor through the first coupling; the driving end of the driving motor is transmission connected to the tool holder, and is used to drive the multiple cutting bits to rotate and drill through the tool holder; the multiple cutting bits are respectively installed on the tool holder, and each cutting bit has multiple cutting teeth for drilling holes.

[0009] As a technical solution of the present application, the front umbrella-supporting mechanism includes a first main beam, at least two groups of first umbrella-supporting structures and at least three first supporting tiles; the two ends of the first main beam are respectively connected to the transmission ends of the drilling mechanism and the feeding mechanism; the two groups of the first umbrella-supporting structures are sleeved on the first main beam at intervals, and are both arranged on the circumferential side of the first main beam to be opened toward the drilling mechanism or contracted away from the drilling mechanism; a plurality of the first supporting tiles are arranged along the circumference of the two groups of the first umbrella-supporting structures, and one end of each of the first supporting tiles is hinged to the end of one group of the first umbrella-supporting structures, and the other end is hinged to the end of the other group of the first umbrella-supporting structures.

[0010] As a technical solution of the present application, the first umbrella-supporting structure includes a first three-hinge fixing frame, a first three-hinge frame, a plurality of first secondary connecting rods and a plurality of first main connecting rods; the first three-hinge fixing frame is fixedly sleeved on the first main beam, the first three-hinge frame is movably sleeved on the first main beam, and the first three-hinge fixing frame is located between the first three-hinge frame and the drilling mechanism; the two ends of each of the first secondary connecting rods are respectively hinged to the first three-hinge fixing frame and the corresponding first main connecting rod; the two ends of each of the first main connecting rods are respectively hinged to the corresponding first supporting pad and the first three-hinge frame.

[0011] As a technical solution of the present application, the first support pad is in the shape of an arc plate, and two first positioning plates extending along the length direction are arranged on the inner concave surface; two first connecting shafts arranged at intervals are connected between the two first positioning plates; and one end of the first main connecting rod is hinged to the first connecting shaft.

[0012] As a technical solution of the present application, the feeding mechanism includes a second coupling, a hydraulic cylinder and a piston rod; one end of the hydraulic cylinder is connected to the front umbrella-supporting mechanism through the second coupling; one end of the piston rod is connected to the other end of the hydraulic cylinder, and the other end is transmission-connected to the rear umbrella-supporting mechanism, for driving the rear umbrella-supporting mechanism to expand and abut against the hole wall or move forward and contract.

[0013] As a technical solution of the present application, the rear umbrella-supporting mechanism includes a second main beam, at least two groups of second umbrella-supporting structures and at least three second supporting tiles; one end of the second main beam is connected to the driving end of the feeding mechanism; two groups of the second umbrella-supporting structures are sleeved on the second main beam at intervals, and are both arranged on the circumferential side of the second main beam to be opened toward the feeding mechanism or contracted away from the feeding mechanism; a plurality of the second supporting tiles are arranged along the circumference of the two groups of the second umbrella-supporting structures, and one end of each of the second supporting tiles is hinged to the end of one group of the second umbrella-supporting structures, and the other end is hinged to the end of the other group of the second umbrella-supporting structures.

[0014] As a technical solution of the present application, the second umbrella-supporting structure includes a second three-hinge fixing frame, a second three-hinge frame, a plurality of second secondary connecting rods and a plurality of second main connecting rods; the second three-hinge fixing frame is fixedly sleeved on the second main beam, the second three-hinge frame is movably sleeved on the second main beam, and the second three-hinge fixing frame is located between the second three-hinge frame and the feeding mechanism; the two ends of each second secondary connecting rod are respectively hinged to the second three-hinge fixing frame and the corresponding second main connecting rod; the two ends of each second main connecting rod are respectively hinged to the corresponding second supporting pad and the second three-hinge frame.

[0015] As a technical solution of the present application, the second support pad is in the shape of an arc plate, and two second positioning plates extending along the length direction are arranged on the inner concave surface; two second connecting shafts arranged at intervals are connected between the two second positioning plates; one end of the second main connecting rod is hinged to the second connecting shaft.

[0016] A construction method of the umbrella-supported drilling robot as described above comprises the following steps:

[0017] S1, placing the umbrella-supported drilling robot into the drilled hole, and pushing the piston rod in the feeding mechanism so that the second supporting pad in the rear umbrella-supported mechanism contacts the hole wall;

[0018] S2, turning on the driving motor in the drilling mechanism to enable the drilling mechanism to start drilling;

[0019] S3, pushing the piston rod to expand the rear umbrella support mechanism and drive the second support tile to abut against the hole wall, and to shrink the front umbrella support mechanism and move forward;

[0020] S4, repeating the operations from step S2 to step S3, so that the umbrella-supported drilling robot continues to drill into the underground rock formation.

[0021] Beneficial effects of this application:

[0022] (1) The present application provides an umbrella-supported drilling robot, which does not require conventional drilling guide rods and other mechanisms, and can achieve the application of thrust and torque during the drilling process through the cooperation between the front umbrella-supported mechanism, the feeding mechanism and the rear umbrella-supported mechanism. The feeding mechanism pushes the rear umbrella-supported mechanism to achieve its expansion or contraction, so that friction is formed between its outer wall and the hole wall, and then the friction enables it to move forward in a creeping manner, thereby completing the drilling task; the power source of the device is provided by only one set of feeding mechanisms, which realizes that only one power source is used to provide power and complete the drilling task, reducing energy consumption, saving time and effort, and also improving the control robustness of the umbrella-supported drilling robot, greatly improving its drilling construction efficiency, and reducing the labor intensity of the workers;

[0023] (2) The present application provides a construction method of an umbrella-supported drilling robot, which can achieve the application of thrust and torque during the drilling process through the mutual coordination of construction operations among various structures in the umbrella-supported drilling robot. The rear umbrella-supported mechanism is pushed by the feeding mechanism to achieve its expansion or contraction, so that friction is formed between its outer wall and the hole wall, and then the friction force enables it to move forward in a creeping manner, thereby completing the drilling task. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the implementation methods of the present application, the drawings required for use in the implementation methods will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1A schematic diagram of an umbrella-supported drilling robot provided in the first embodiment of the present application;

[0026] Figure 2 A schematic diagram of a front umbrella support mechanism provided in the first embodiment of the present application;

[0027] Figure 3 A schematic diagram of a rear umbrella support mechanism provided in the first embodiment of the present application;

[0028] Figure 4 A schematic diagram of a feeding mechanism provided in the first embodiment of the present application;

[0029] Figure 5 Schematic diagram of the drilling mechanism provided for the first embodiment of the present application.

[0030] Icons: 1-drilling mechanism; 2-front umbrella-supporting mechanism; 3-feeding mechanism; 4-rear umbrella-supporting mechanism; 5-tool holder; 6-cutting head; 7-driving motor; 8-first main beam; 9-first supporting pad; 10-first three-hinged fixing frame; 11-first three-hinged frame; 12-first secondary connecting rod; 13-first main connecting rod; 14-first positioning plate; 15-hydraulic cylinder; 16-piston rod; 17-second main beam; 18-second supporting pad; 19-second three-hinged fixing frame; 20-second three-hinged frame; 21-second secondary connecting rod; 22-second main connecting rod; 23-second positioning plate. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. The components of the embodiments of the present application 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 application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0033] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0034] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the inventive product is usually placed when in use. These are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0035] In addition, in the present application, unless otherwise clearly specified and limited, the first feature being above or below the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature between them. Moreover, the first feature being above, above, and above the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being below, below, and below the second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0036] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0037] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "disposed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0038] First embodiment:

[0039] Please refer to Figure 1 , with reference Figures 2 to 5In the present embodiment, an umbrella-supported drilling robot is provided, which mainly comprises a drilling mechanism 1, a front umbrella-supported mechanism 2, a feeding mechanism 3 and a rear umbrella-supported mechanism 4 which are connected in sequence; wherein the drilling mechanism 1 is rotatably connected to one end of the front umbrella-supported mechanism 2 for drilling a hole; at the same time, the driving end of the feeding mechanism 3 is connected to the rear umbrella-supported mechanism 4, and the transmission end is transmission-connected to the front umbrella-supported mechanism 2; the feeding mechanism 3 is started, and when the driving end of the feeding mechanism 3 drives the rear umbrella-supported mechanism 4 to expand and abut against the hole wall, the transmission end of the feeding mechanism 3 drives the front umbrella-supported mechanism 2 to move forward and contract, so that the drilling mechanism 1 is pushed forward for drilling; when the transmission end of the feeding mechanism 3 drives the front umbrella-supported mechanism 2 to expand and abut against the hole wall, the driving end of the feeding mechanism 3 drives the rear umbrella-supported mechanism 4 to contract and move forward.

[0040] Furthermore, the drilling mechanism 1 includes a tool holder 5, a plurality of cutting bits 6, a driving motor 7 and a first coupling; wherein one end of the first main beam 8 in the front umbrella support mechanism 2 is connected to the driving motor 7 by transmission through the first coupling; at the same time, the driving end of the driving motor 7 is connected to the tool holder 5 by transmission, and is used to drive the plurality of cutting bits 6 to rotate and drill through the tool holder 5; the plurality of cutting bits 6 are respectively installed on the tool holder 5 in an integral manner, and each cutting bit 6 has a plurality of cutting teeth on its side wall for drilling holes. Specifically, in this embodiment, there can be six cutting bits 6.

[0041] The rotation of the drilling mechanism 1 is powered by a driving motor 7 , and the feeding mechanism 3 acts on the rear umbrella support mechanism 4 , so that the drilling mechanism 1 can be pushed forward.

[0042] At the same time, its front umbrella-supporting mechanism 2 includes a first main beam 8, two groups of first umbrella-supporting structures and three first support tiles 9; wherein, one end of the first main beam 8 is transmission-connected to the driving motor 7 through a first coupling, and the other end thereof is connected to the transmission end of the hydraulic cylinder 15 in the feeding mechanism 3 through a second coupling and bolts; and, its two groups of first umbrella-supporting structures are respectively sleeved on the first main beam 8 at intervals, and are both arranged on the circumferential side of the first main beam 8 in a direction toward the drilling mechanism 1 or contracted in a direction away from the drilling mechanism 1; a plurality of first support tiles 9 are arranged along the circumference of the two groups of first umbrella-supporting structures, and one end of each first support tile 9 is hinged to the end of one group of the first umbrella-supporting structures, and the other end is hinged to the end of the other group of the first umbrella-supporting structures.

[0043] Furthermore, the first umbrella support structure includes a first three-hinge fixing frame 10, a first three-hinge frame 11, a plurality of first secondary connecting rods 12 and a plurality of first main connecting rods 13; wherein, the first three-hinge fixing frame 10 is fixedly sleeved on the first main beam 8, the first three-hinge frame 11 is movably sleeved on the first main beam 8, and the first three-hinge fixing frame 10 is between the first three-hinge frame 11 and the first coupling; the two ends of each first secondary connecting rod 12 are respectively hinged with the first three-hinge fixing frame 10 and the corresponding first main connecting rod 13 through pins; the two ends of each first main connecting rod 13 are respectively hinged with the corresponding first support pad 9 and the first three-hinge frame 11 through pins. In addition, the first secondary connecting rod 12 is set at an angle with the first main beam 8. Specifically, in this embodiment, there are three first secondary connecting rods 12 and three first main connecting rods 13.

[0044] At the same time, the first support shoe 9 is in the shape of an arc-shaped plate, with its inner concave surface facing the first main beam 8, and two first positioning plates 14 extending along the length direction are arranged on its inner concave surface; and two first connecting shafts arranged at intervals are connected between the two first positioning plates 14; one end of the first main connecting rod 13 is hinged to the corresponding first connecting shaft through a pin.

[0045] Furthermore, the feeding mechanism 3 includes a second coupling, a hydraulic cylinder 15 and a piston rod 16; one end of the hydraulic cylinder 15 is keyed to the first main beam 8 through the second coupling; one end of the piston rod 16 is connected to the other end of the hydraulic cylinder 15, and the other end is transmission-connected to the second three-hinged fixing frame 19 in the rear umbrella support mechanism 4, which is used to drive the rear umbrella support mechanism 4 to expand and abut against the hole wall or move forward and contract. When the hydraulic cylinder 15 is started, the device can be moved forward as a whole by the extension and contraction of the piston rod 16.

[0046] At the same time, the rear umbrella-supporting mechanism 4 includes a second main beam 17, two groups of second umbrella-supporting structures and three second supporting tiles 18; wherein, one end of the second main beam 17 is connected to the other end of the piston rod 16 through a second three-hinged fixing frame 19; and, the two groups of second umbrella-supporting structures are sleeved on the second main beam 17 at intervals, and are both arranged on the circumferential side of the second main beam 17 in a direction toward the feeding mechanism 3 or in a direction away from the feeding mechanism 3; in addition, the multiple second supporting tiles 18 are arranged along the circumference of the two groups of second umbrella-supporting structures, and one end of each second supporting tile 18 is hinged to the end of one group of the second umbrella-supporting structures, and the other end is hinged to the end of the other group of the second umbrella-supporting structures.

[0047] Furthermore, the second umbrella support structure includes a second three-hinge fixing frame 19, a second three-hinge frame 20, a plurality of second secondary connecting rods 21 and a plurality of second main connecting rods 22; wherein, the second three-hinge fixing frame 19 is fixedly sleeved on the second main beam 17, the second three-hinge frame 20 is movably sleeved on the second main beam 17, and the second three-hinge fixing frame 19 is between the second three-hinge frame 20 and the piston rod 16; the two ends of each second secondary connecting rod 21 are respectively hinged with the second three-hinge fixing frame 19 and the corresponding second main connecting rod 22 through pins; the two ends of each second main connecting rod 22 are respectively hinged with the corresponding second supporting pad 18 and the second three-hinge frame 20 through pins. In addition, the second secondary connecting rod 21 is set at an angle with the second main beam 17. Specifically, in this embodiment, there are three second secondary connecting rods 21 and three second main connecting rods 22.

[0048] At the same time, the second support shoe 18 is in the shape of an arc-shaped plate, with its concave surface facing the second main beam 17, and two second positioning plates 23 extending along the length direction are arranged on the concave surface; and two second connecting shafts arranged at intervals are connected between the two second positioning plates 23; one end of the second main connecting rod 22 is hinged to the second connecting shaft through a pin.

[0049] Therefore, the piston rod 16 in the feed mechanism 3 pushes the second three-hinge fixing frame 19 to move backward, so that the second main beam 17 in the rear umbrella support mechanism 4 is pushed backward, but because there is a large friction between the second support tile 18 and the hole wall at this time, the second support tile 18 will not move much or will not move at all. At this time, the second three-hinge frame 20 will move forward relative to the second main beam 17, so that the angle between the second secondary connecting rod 21 and the second main connecting rod 22 becomes smaller, so that the rear umbrella support mechanism 4 is fully opened, and then the friction between the second support tile 18 and the hole wall reaches the maximum, so that the second support tile 18 is fastened to the hole wall by friction; at the same time, the hydraulic cylinder 15 is subjected to a reaction force, pushing the front umbrella support mechanism 2 to move forward, so that the first three-hinge frame 11 moves forward relative to the first main beam 8, so that the angle between the first secondary connecting rod 12 and the first main connecting rod 13 becomes larger, and then the front umbrella support mechanism 2 contracts and moves forward together with the walking mechanism and the drilling mechanism 1.

[0050] The working principle of the device is:

[0051] In the initial state, the front umbrella support mechanism 2 and the rear umbrella support mechanism 4 are both in the state of being opened but not fully opened, and there is a state of virtual contact between the two and the hole wall; when there is virtual contact, friction will be generated, and since the piston rod 16 moves in the direction of the rear umbrella support mechanism 4 and pushes the second and third hinge fixing frame 19 to move backward, the second main beam 17 in the rear umbrella support mechanism 4 will be pushed backward, so the second and third hinge frame 20 will move forward relative to the second main beam 17, thereby reducing the angle between the second secondary connecting rod 21 and the second main connecting rod 22, so that the rear umbrella support mechanism 4 is fully opened; after the rear umbrella support mechanism 4 is fully opened, it will have a penetration depth with the hole wall, thereby making the friction between the second supporting tile 18 and the hole wall reach the maximum, and the rear umbrella support mechanism 4 is now fastened to the hole wall and will not continue to move backward, but at the same time the piston rod 16 is still moving in the direction of the rear umbrella support mechanism 4, and at this time it will have a reverse force on the front umbrella support mechanism 2, and the liquid The pressure cylinder 15 will push the first main beam 8 in the front umbrella support mechanism 2 forward. Due to the friction generated by the virtual contact between the first support tile 9 and the hole wall, the first three-hinge frame 11 will move backward relative to the first main beam 8, which will cause the front umbrella support mechanism 2 to shrink as a whole, but it will not shrink completely, thereby driving the front umbrella support mechanism 2 and the drilling mechanism 1 to move forward as a whole; when the hydraulic cylinder 15 completes the stroke, it will shrink. At this time, the rear umbrella support mechanism 4 is fully opened, and the friction between its second support tile 18 and the hole wall reaches the maximum, which will cause the first main beam 8 in the front umbrella support mechanism 2 to move backward, and the first three-hinge frame 11 will move forward relative to the first main beam 8 until the front umbrella support mechanism 2 is fully opened and abuts against the hole wall. At this time, the second support tile 18 in the rear umbrella support mechanism 4 will return to a state of virtual contact with the hole wall, thereby causing it to move forward together with the piston rod 16 of the rear umbrella support mechanism 4, thereby completing the creeping forward movement of the entire device.

[0052] In summary, an umbrella-supported drilling robot is provided in the present embodiment, which does not require conventional drilling guide rods and other mechanisms, and can achieve the application of thrust and torque during the drilling process through the mutual cooperation between the front umbrella-supported mechanism 2, the feeding mechanism 3 and the rear umbrella-supported mechanism 4. The feeding mechanism 3 pushes the rear umbrella-supported mechanism 4 to achieve its expansion or contraction, so that friction is formed between its outer wall and the hole wall, and then the friction enables it to move forward in a creeping manner, thereby completing the drilling task; the power source of the device is provided by only one set of feeding mechanisms 3, which realizes that only one power source is used to provide power and complete the drilling task, reduces energy consumption, saves time and effort, and can also improve the control robustness of the umbrella-supported drilling robot, greatly improves the operation efficiency of its drilling construction, and reduces the labor of the operators. strength; at the same time, through the mutual cooperation between the front umbrella support mechanism 2, the feeding mechanism 3 and the rear umbrella support mechanism 4, the whole device is more compact and flexible, more flexible to use, and can overcome the limitations of flexible directional drilling brought by the drill rod guide; in addition, through the ingenious cooperation between the feeding mechanism 3 and the rear umbrella support mechanism 4, it can overcome the difficulty of applying the excavation reaction force of the drilling mechanism 1, so that the effect of generating drilling thrust and torque can be achieved without the guide rod drill rod and other torque and thrust transmission mechanisms; in addition, through the mutual cooperation between the front umbrella support mechanism 2, the feeding mechanism 3 and the rear umbrella support mechanism 4, the stable operation of the drilling mechanism 1 can be achieved, and the engineering risks such as drill sticking caused by the poor system redundancy brought by the multi-degree-of-freedom and multi-power source mechanism in the existing drilling equipment can be overcome.

[0053] Second embodiment:

[0054] This embodiment provides a construction method for drilling using the umbrella-supported drilling robot in the first embodiment, and the construction method mainly includes the following steps:

[0055] S1, placing the umbrella-supported drilling robot into the drilled hole, and pushing the piston rod 16 in the feeding mechanism 3 so that the second supporting pad 18 in the rear umbrella-supported mechanism 4 contacts the hole wall;

[0056] S2, turning on the driving motor 7 in the drilling mechanism 1, so that the drilling mechanism 1 starts drilling;

[0057] S3, by pushing the piston rod 16, the angle between the second secondary connecting rod 21 and the second main connecting rod 22 in the rear umbrella supporting mechanism 4 becomes smaller, thereby increasing the friction between the second supporting tile 18 and the hole wall, so that the rear umbrella supporting mechanism 4 expands and drives the second supporting tile 18 to abut against the hole wall; at the same time, the hydraulic cylinder 15 in the feeding mechanism 3 will receive a reverse force and transmit it to the front umbrella supporting mechanism 2, so that the angle between the first secondary connecting rod 12 and the first main connecting rod 13 becomes larger, and the front umbrella supporting mechanism 2 can be contracted, so that it can move forward;

[0058] S4, repeating the operations from step S2 to step S3, so that the umbrella-supported drilling robot continues to drill into the underground rock formation.

[0059] In summary, it can be seen that a construction method of an umbrella-supported drilling robot in this embodiment can realize the application of thrust and torque during the drilling process through the mutual cooperation construction operation between the various structures in the umbrella-supported drilling robot. It pushes the rear umbrella-supported mechanism 4 through the feeding mechanism 3 to achieve its expansion or contraction, so that friction is formed between its outer wall and the hole wall, and then through the action of friction, it can move forward in a creeping manner, thereby completing the drilling task.

[0060] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An umbrella-type drilling robot, characterized in that: It comprises a drilling mechanism, a front umbrella support mechanism, a feeding mechanism and a rear umbrella support mechanism which are connected in sequence; the drilling mechanism is rotatably connected to one end of the front umbrella support mechanism for drilling holes; the driving end of the feeding mechanism is connected to the rear umbrella support mechanism, and the transmission end is transmission-connected to the front umbrella support mechanism; when the driving end of the feeding mechanism drives the rear umbrella support mechanism to expand and abut against the hole wall, the transmission end of the feeding mechanism drives the front umbrella support mechanism to move forward and contract, so that the drilling mechanism is pushed forward to drill holes; when the transmission end of the feeding mechanism drives the front umbrella support mechanism to expand and abut against the hole wall, the driving end of the feeding mechanism drives the rear umbrella support mechanism to contract and move forward.

2. The umbrella-type drilling robot according to claim 1, characterized in that: The drilling mechanism includes a tool holder, a plurality of cutting bits, a driving motor and a first coupling; one end of the front umbrella support mechanism is connected to the driving motor through the first coupling; the driving end of the driving motor is connected to the tool holder, and is used to drive the plurality of cutting bits to rotate and drill through the tool holder; A plurality of the cutting bits are respectively mounted on the bit holders, and each of the cutting bits is provided with a plurality of cutting teeth for drilling holes.

3. The umbrella-type drilling robot according to claim 1, characterized in that: The front umbrella-supporting mechanism includes a first main beam, at least two groups of first umbrella-supporting structures and at least three first supporting tiles; the two ends of the first main beam are respectively connected to the transmission ends of the drilling mechanism and the feeding mechanism; the two groups of the first umbrella-supporting structures are sleeved on the first main beam at intervals, and are both arranged on the circumferential side of the first main beam to be opened toward the drilling mechanism or contracted away from the drilling mechanism; a plurality of the first supporting tiles are arranged along the circumference of the two groups of the first umbrella-supporting structures, and one end of each of the first supporting tiles is hinged to the end of one group of the first umbrella-supporting structures, and the other end is hinged to the end of the other group of the first umbrella-supporting structures.

4. The umbrella-type drilling robot according to claim 3, characterized in that: The first umbrella-supporting structure includes a first three-hinge fixing frame, a first three-hinge frame, a plurality of first secondary connecting rods and a plurality of first main connecting rods; the first three-hinge fixing frame is fixedly sleeved on the first main beam, the first three-hinge frame is movably sleeved on the first main beam, and the first three-hinge fixing frame is located between the first three-hinge frame and the drilling mechanism; the two ends of each of the first secondary connecting rods are respectively hinged to the first three-hinge fixing frame and the corresponding first main connecting rod; the two ends of each of the first main connecting rods are respectively hinged to the corresponding first supporting tile and the first three-hinge frame.

5. The umbrella-type drilling robot according to claim 4, characterized in that: The first support shoe is in the shape of an arc plate, and two first positioning plates extending along the length direction are arranged on the inner concave surface; two first connecting shafts arranged at intervals are connected between the two first positioning plates; and one end of the first main connecting rod is hinged to the first connecting shaft.

6. The umbrella-type drilling robot according to claim 1, characterized in that: The feeding mechanism includes a second coupling, a hydraulic cylinder and a piston rod; one end of the hydraulic cylinder is connected to the front umbrella-supporting mechanism through the second coupling; one end of the piston rod is connected to the other end of the hydraulic cylinder, and the other end is transmission-connected to the rear umbrella-supporting mechanism, for driving the rear umbrella-supporting mechanism to expand and abut against the hole wall or move forward and contract.

7. The umbrella-type drilling robot according to claim 1, characterized in that: The rear umbrella-supporting mechanism includes a second main beam, at least two groups of second umbrella-supporting structures and at least three second supporting tiles; one end of the second main beam is connected to the driving end of the feeding mechanism; two groups of the second umbrella-supporting structures are sleeved on the second main beam at intervals, and are both arranged on the circumferential side of the second main beam to be opened toward the feeding mechanism or contracted away from the feeding mechanism; a plurality of the second supporting tiles are arranged along the circumference of the two groups of the second umbrella-supporting structures, and one end of each of the second supporting tiles is hinged to the end of one group of the second umbrella-supporting structures, and the other end is hinged to the end of the other group of the second umbrella-supporting structures.

8. The umbrella-type drilling robot according to claim 7, characterized in that: The second umbrella-supporting structure includes a second three-hinge fixing frame, a second three-hinge frame, a plurality of second secondary connecting rods and a plurality of second main connecting rods; the second three-hinge fixing frame is fixedly sleeved on the second main beam, the second three-hinge frame is movably sleeved on the second main beam, and the second three-hinge fixing frame is located between the second three-hinge frame and the feeding mechanism; the two ends of each second secondary connecting rod are respectively hinged to the second three-hinge fixing frame and the corresponding second main connecting rod; the two ends of each second main connecting rod are respectively hinged to the corresponding second supporting pad and the second three-hinge frame.

9. The umbrella-type drilling robot according to claim 8, characterized in that: The second supporting shoe is in the shape of an arc plate, and two second positioning plates extending along the length direction are arranged on the inner concave surface; two second connecting shafts arranged at intervals are connected between the two second positioning plates; one end of the second main connecting rod is hinged to the second connecting shaft.

10. A construction method of an umbrella-supported drilling robot as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: S1, placing the umbrella-supported drilling robot into the drilled hole, and pushing the piston rod in the feeding mechanism so that the second supporting pad in the rear umbrella-supported mechanism contacts the hole wall; S2, turning on the driving motor in the drilling mechanism to enable the drilling mechanism to start drilling; S3, pushing the piston rod to expand the rear umbrella support mechanism and drive the second support tile to abut against the hole wall, and to shrink the front umbrella support mechanism and move forward; S4, repeating the operations from step S2 to step S3, so that the umbrella-supported drilling robot continues to drill into the underground rock formation.

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