Umbrella-supported drilling robot and construction method thereof

Abstract

The present application provides an umbrella-supported drilling robot and a construction method thereof, which includes a drilling mechanism, a front umbrella-supported mechanism, a feed mechanism, and a rear umbrella-supported mechanism connected in sequence; the drilling mechanism is rotatably connected to one end of the front umbrella-supported mechanism for drilling; the feed mechanism has a driving end connected to the rear umbrella-supported mechanism, and a transmission end connected to the front umbrella-supported mechanism for transmission; when the driving end of the feed mechanism drives the rear umbrella-supported mechanism to expand and abut against the hole wall, the transmission end of the feed mechanism drives the front umbrella-supported mechanism to move forward and retract, so that the drilling mechanism advances the hole; when the transmission end of the feed mechanism drives the front umbrella-supported mechanism to expand and abut against the hole wall, the driving end of the feed mechanism drives the rear umbrella-supported mechanism to retract and move forward. The device and method achieve the goal of completing the drilling operation by relying solely on one power source, thereby reducing energy consumption, alleviating the workload of operators, saving time and effort, and improving drilling construction efficiency.

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 fundamental to geological exploration and underground resource development, and a prerequisite for understanding stratum information and conducting resource extraction. The development of deep-drilling robots with more flexible drilling control plays a crucial role in improving underground drilling efficiency and reducing engineering risks.

[0003] The current drilling method is primarily ducted drilling, where the drill bit is pushed through the drill pipe to break up the rock at the front end. This results in low efficiency and high costs for lateral and branch well drilling, as well as the risk of drill bit sticking due to drill pipe tilt. These issues are particularly prominent in deep drilling operations. In the field of ductless drilling, existing drilling mechanisms are primarily electrically driven and rely on long-distance power lines. The number of power conversion mechanisms is numerous and complex, making them prone to drill bit sticking and the risk of long-distance power transmission loss. For example, drill bit sticking caused by multi-degree-of-freedom electrode guidance and short circuits caused by the repeated rotation of long-distance power transmission lines in aquifers.

[0004] Therefore, the main problems with this type of technology are: 1. How to overcome the difficulty of applying reaction force to the drilling structure, realizing a torque and thrust transmission mechanism without a guide rod or drill rod, and generating drilling thrust and torque; 2. How to ensure the stable operation of the drilling mechanism's power mechanism and overcome the engineering risks such as drill sticking caused by the poor system redundancy of multi-degree-of-freedom and multi-power source mechanisms. Therefore, there is an urgent need to develop a robotic mechanism that can address the shortcomings of the above technologies and meet the requirements of deep drilling, so as to achieve efficient drilling exploration and resource development in 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 connected in sequence; the drilling mechanism is rotatably connected to one end of the front umbrella-supported mechanism for drilling holes; 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 retract, so that the drilling mechanism advances to drill holes; 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 retract and move forward.

[0008] As a technical solution of the present application, the drilling mechanism includes a tool holder, multiple cutting bits, a drive motor and a first coupling; one end of the front umbrella support mechanism is transmission-connected to the drive motor through the first coupling; the driving end of the drive 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 support 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 in a direction toward the drilling mechanism or contracted in a direction away from the drilling mechanism; a plurality of the first support tiles are arranged along the circumference of the two groups of the first umbrella-supporting structures, and one end of each of the first support 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 first secondary connecting rod are respectively hinged to the first three-hinge fixing frame and the corresponding first main connecting rod; the two ends of each first main connecting rod are respectively hinged to the corresponding first support tile and the first three-hinge frame.

[0011] As a technical solution of the present application, the first support shoe is in the shape of an arc plate, and two first positioning plates extending along the length direction are provided on the inner concave surface; two first connecting shafts arranged at intervals are connected between the two first positioning plates; 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 support mechanism includes a second main beam, at least two groups of second umbrella support structures and at least three second support tiles; one end of the second main beam is connected to the driving end of the feed mechanism; two groups of second umbrella support structures are sleeved on the second main beam at intervals, and are both arranged on the circumferential side of the second main beam in a direction toward the feed mechanism or contracted in a direction away from the feed mechanism; a plurality of second support tiles are arranged along the circumference of the two groups of second umbrella support structures, and one end of each second support tile is hinged to the end of one group of the second umbrella support structures, and the other end is hinged to the end of the other group of the second umbrella support 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 support pad and the second three-hinge frame.

[0015] As a technical solution of the present application, the second support shoe is in the shape of an arc-shaped plate, and two second positioning plates extending along the length direction are provided 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 a drilled hole, and pushing the piston rod in the feeding mechanism so that the second support shoe in the rear umbrella-supported mechanism contacts the hole wall;

[0018] S2, turning on the driving motor in 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 cause the front umbrella support mechanism to contract and move forward;

[0020] S4, repeating the operations from step S2 to step S3, so that the umbrella-supported drilling robot continuously drills 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 mutual cooperation between the front umbrella-supported mechanism, the feed mechanism and the rear umbrella-supported mechanism. The feed 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 feed 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 for an umbrella-supported drilling robot, which can achieve the application of thrust and torque during the drilling process through the mutual cooperation of various structures in the umbrella-supported drilling robot. 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 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 following is a brief introduction to the drawings required for use in the implementation methods. 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 relevant drawings can be obtained based on these drawings without paying any creative work.

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

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

[0027] Figure 3 A schematic diagram of the 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 in 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 tile; 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 tile; 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] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein 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 protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without making any creative efforts shall fall 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, it does not require further definition or explanation in subsequent drawings.

[0034] In the description of this application, it should be noted that the terms "upper" and "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 invented product is usually placed when in use. These are only for the convenience of describing this 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. Therefore, they should not be understood as limitations on this application.

[0035] In addition, in this application, unless otherwise expressly specified or limited, the phrase "a first feature is above or below a second feature" may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, the phrases "above, above, and above the second feature" may include the first feature being directly above and obliquely above the second feature, or simply indicate that the first feature is higher in level than the second feature. The phrases "below, below, and below the second feature" may include the first feature being directly below and obliquely below the second feature, or simply indicate that the first feature is lower in level than the second feature.

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

[0037] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0038] First embodiment:

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

[0040] Furthermore, the drilling mechanism 1 includes a tool holder 5, multiple cutting bits 6, a drive motor 7, and a first coupling. One end of the first main beam 8 in the front umbrella-supporting mechanism 2 is connected to the drive motor 7 via the first coupling. Simultaneously, the drive end of the drive motor 7 is connected to the tool holder 5, driving the multiple cutting bits 6 to rotate and drill. The multiple cutting bits 6 are integrally mounted on the tool holder 5, and each cutting bit 6 has multiple cutting teeth on its sidewall for drilling. Specifically, in this embodiment, there may 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 , thereby enabling the drilling mechanism 1 to be propelled 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 drive motor 7 through a first coupling, and its other end is connected to the transmission end of the hydraulic cylinder 15 in the feed mechanism 3 through a second coupling and a bolt; 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 first umbrella-supporting structures, and the other end is hinged to the end of the other group of first umbrella-supporting structures.

[0043] Furthermore, its first umbrella-supporting structure includes a first three-hinge fixing frame 10, a first three-hinge frame 11, a plurality of first secondary links 12, and a plurality of first main links 13; wherein, the first three-hinge fixing frame 10 is fixedly mounted on the first main beam 8, the first three-hinge frame 11 is movably mounted on the first main beam 8, and the first three-hinge fixing frame 10 is located between the first three-hinge frame 11 and the first coupling; the two ends of each first secondary link 12 are respectively hinged to the first three-hinge fixing frame 10 and the corresponding first main link 13 via pins; the two ends of each first main link 13 are respectively hinged to the corresponding first support shoe 9 and the first three-hinge frame 11 via pins. In addition, the first secondary link 12 is arranged at an angle to the first main beam 8. Specifically, in this embodiment, there are three first secondary links 12 and three first main links 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 provided on its inner concave surface; and two first connecting shafts set 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 feed 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 via 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 drivingly connected to the second three-hinged mounting bracket 19 in the rear umbrella support mechanism 4. This drives the rear umbrella support mechanism 4 to expand and contact the hole wall, or to move forward and retract. Activating the hydraulic cylinder 15 causes the piston rod 16 to retract and retract, causing the entire device to move forward.

[0046] At the same time, its rear umbrella-supporting mechanism 4 includes a second main beam 17, two groups of second umbrella-supporting structures and three second support 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, its 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 feed mechanism 3 or contracted in a direction away from the feed mechanism 3; in addition, its multiple second support tiles 18 are arranged along the circumference of the two groups of second umbrella-supporting structures, and one end of each second support tile 18 is hinged to the end of one group of second umbrella-supporting structures, and the other end is hinged to the end of the other group of second umbrella-supporting structures.

[0047] Furthermore, the second umbrella-supporting 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. The second three-hinge fixing frame 19 is fixedly mounted on the second main beam 17, and the second three-hinge frame 20 is movably mounted on the second main beam 17, with the second three-hinge fixing frame 19 positioned 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 to the second three-hinge fixing frame 19 and the corresponding second main connecting rod 22 via pins. The two ends of each second main connecting rod 22 are respectively hinged to the corresponding second support shoe 18 and the second three-hinge frame 20 via pins. Furthermore, the second secondary connecting rods 21 are arranged at an angle to 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 provided on the concave surface; and two second connecting shafts set 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, thereby reducing the angle between the second secondary link 21 and the second main link 22, so that the rear umbrella support mechanism 4 is fully opened, and 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 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 link 12 and the first main link 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] When the rear umbrella supporting mechanism 4 is fully opened, there will be a penetration depth between it and the hole wall, and the friction force between the second supporting tile 18 and the hole wall will reach the maximum. At this time, the rear umbrella supporting mechanism 4 is 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 supporting mechanism 4, and at this time, there will be a reverse force on the front umbrella supporting mechanism 2. 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 its stroke, it will shrink. At this time, the rear umbrella support mechanism 4 is fully expanded, 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 expanded 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 peristaltic forward movement of the entire device.

[0052] In summary, an umbrella-supported drilling robot is provided in this 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. 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 the friction is used to enable 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 its drilling construction efficiency, and reduces the labor of the workers. 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 clever 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, thereby achieving the effect of generating drilling thrust and torque in the absence of a 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, it can achieve stable operation of the drilling mechanism 1, and overcome the engineering risks such as drill sticking caused by the poor system redundancy brought about by the multi-degree-of-freedom and multi-power source mechanism in the existing drilling equipment.

[0053] Second embodiment:

[0054] This embodiment provides a construction method for drilling using the umbrella-type drilling robot of the first embodiment. The construction method mainly includes the following steps:

[0055] S1, placing the umbrella-supported drilling robot into the drilled hole, pushing the piston rod 16 in the feed mechanism 3 so that the second support shoe 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 to start the drilling operation;

[0057] S3, by pushing the piston rod 16, the angle between the second secondary link 21 and the second main link 22 in the rear umbrella support mechanism 4 is reduced, thereby increasing the friction between the second support tile 18 and the hole wall, causing the rear umbrella support mechanism 4 to expand and drive the second support tile 18 to abut against the hole wall; at the same time, the hydraulic cylinder 15 in the feed mechanism 3 receives a reverse force and transmits it to the front umbrella support mechanism 2, causing the angle between the first secondary link 12 and the first main link 13 to increase, thereby contracting the front umbrella support mechanism 2 and enabling it to move forward;

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

[0059] In summary, the 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 realize 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.

[0060] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Persons skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. An umbrella-type drilling robot, characterized in that: The drilling mechanism 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 a hole; 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 retract, so that the drilling mechanism advances forward to drill a hole; 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 retract and move forward; The front umbrella-supporting mechanism includes a first main beam, at least two groups of first umbrella-supporting structures, and at least three first support 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 in a direction that opens toward the drilling mechanism or contracts in a direction away from the drilling mechanism; a plurality of the first support tiles are arranged along the circumference of the two groups of the first umbrella-supporting structures, and one end of each of the first support 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; 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; The rear umbrella support mechanism includes a second main beam, at least two groups of second umbrella support structures and at least three second support tiles; one end of the second main beam is connected to the driving end of the feed mechanism; two groups of second umbrella support structures are sleeved on the second main beam at intervals, and are both arranged on the circumferential side of the second main beam in a direction toward the feed mechanism or contracted in a direction away from the feed mechanism; a plurality of second support tiles are arranged along the circumference of the two groups of second umbrella support structures, and one end of each second support tile is hinged to the end of one group of the second umbrella support structures, and the other end is hinged to the end of the other group of the second umbrella support structures.

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 drive motor, and a first coupling; one end of the front umbrella support mechanism is transmission-connected to the drive motor via the first coupling; the drive end of the drive motor is transmission-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 cutting bits are respectively mounted on the bit holders, and each cutting bit 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 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 first secondary connecting rod are respectively hinged to the first three-hinge fixing frame and the corresponding first main connecting rod; the two ends of each first main connecting rod are respectively hinged to the corresponding first supporting tile and the first three-hinge frame.

4. The umbrella-type drilling robot according to claim 3, 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 provided on the inner concave surface; two first connecting shafts arranged at intervals are connected between the two first positioning plates; one end of the first main connecting rod is hinged to the first connecting shaft.

5. The umbrella-type drilling robot according to claim 1, 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 tile and the second three-hinge frame.

6. The umbrella-type drilling robot according to claim 5, characterized in that: The second support shoe is in the shape of an arc plate, and two second positioning plates extending along the length direction are provided 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.

7. A construction method of an umbrella-supported drilling robot according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1, placing the umbrella-supported drilling robot into a drilled hole, and pushing the piston rod in the feeding mechanism so that the second support shoe in the rear umbrella-supported mechanism contacts the hole wall; S2, turning on the driving motor in 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 cause the front umbrella support mechanism to contract and move forward; S4, repeating the operations from step S2 to step S3, so that the umbrella-supported drilling robot continuously drills into the underground rock formation.

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