Mountain glacier walking method of machine, mountain glacier robot and climbing device of mountain glacier robot

Abstract

The invention belongs to the technical field of glacier advancing, particularly discloses a robot mountain glacier walking method, a mountain glacier robot and a climbing device of the robot, and aims to solve the problem that an existing glacier robot is difficult to climb on a mountain glacier. According to the mountain glacier walking method of the machine, a first drill rod downwards drills into an ice layer and reaches a first depth, so that the machine can reach enough road holding force; the whole machine is driven by taking the first drill rod as a shaft to rotate around the first drill rod to a preset position, so that initial displacement can be realized; the second drill rod downwards drills into the ice layer and reaches a second depth, then the first drill rod is controlled to retreat from the ice layer, the second drill rod serves as a shaft to drive the whole machine to rotate around the second drill rod to a preset position, and then the machine can advance on the mountain glacier; due to the fact that the drill rod is adopted to drill into the specific position in the ice layer to provide the road holding force, the influence of the slope of the mountain glacier is small, walking and climbing on the mountain glacier are facilitated, and stability and reliability are achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of glacier movement, and particularly relates to a method for a machine to walk on mountain glaciers, a mountain glacier robot and its climbing device. Background Art

[0002] The glacier area in China accounts for 14.5% and 47.6% of the total area of mountain glaciers in the world and Asia respectively. Among them, there are 33 glaciers with an area of more than 100 square kilometers. The glacier area reaches 28,664 square kilometers, accounting for 48% of the total glacier area in China. Glaciers in China all belong to mountain glaciers, which often have large slopes and are difficult to climb. Most of the most difficult-to-climb mountain glaciers in the world are in China, and some are in neighboring countries on the western border of China.

[0003] At present, the research on glaciers mostly uses remote sensing, unmanned aerial vehicles, manual, glacier robots and other methods for data collection. The methods of using remote sensing and unmanned aerial vehicles for data collection are difficult to reach a specific ground location, and there are certain limitations in the scientific research projects carried out. The method of using manual carrying instruments for data collection is limited to very few locations where conditions permit, and the difficulty of high altitude and glacier climbing makes the locations that can be reached by this method very limited. The walking mechanisms of existing glacier robots are mostly tracked mechanisms, with limited climbing ability and difficult to climb on mountain glaciers, which limits the locations that glacier robots can reach. Summary of the Invention

[0004] The present invention provides a method for a machine to walk on mountain glaciers, a mountain glacier robot and its climbing device, aiming to solve the problem that existing glacier robots are difficult to climb on mountain glaciers.

[0005] The technical solution adopted by the present invention to solve its technical problems is: The method for a machine to walk on mountain glaciers includes the following steps:

[0006] Step 1: Drill down into the ice layer through the first drill rod and reach the first depth at which the whole machine can be fixed; when at the first depth, the torque required for the first drill rod to continue drilling down is greater than the first torque, and the first torque is the torque required to drive the whole machine to rotate around the first drill rod with the first drill rod as the axis;

[0007] Step 2: Drive the whole machine to rotate around the first drill rod to a predetermined position with the first drill rod as the axis;

[0008] Step 3: Drill down into the ice layer through the second drill rod and reach the second depth at which the whole machine can be fixed; when at the second depth, the torque required for the second drill rod to continue drilling down is greater than the second torque, and the second torque is the torque required to drive the whole machine to rotate around the second drill rod with the second drill rod as the axis;

[0009] Step 4: Control the first drill rod to withdraw from the ice layer;

[0010] Step 5: Using the second drill rod as an axis, drive the entire machine to rotate around the second drill rod to a predetermined position.

[0011] Furthermore, the machine mountain glacier walking method also includes:

[0012] Step 6, controlling the first drill rod to drill downward into the ice layer and reach a first depth capable of fixing the entire machine;

[0013] Step 7, controlling the second drill rod to exit the ice layer;

[0014] Step 8: Repeat steps 2 to 7 until the entire machine reaches the destination.

[0015] The present invention also provides a climbing device of a mountain glacier robot, which is used to implement the above-mentioned machine mountain glacier walking method;

[0016] The climbing device comprises a housing and at least two climbing mechanisms spaced apart on the housing;

[0017] The climbing mechanism includes a guide rod, a mounting plate, a motor, a drill rod, a detector and a telescopic guide mechanism;

[0018] The guide rod is arranged in the inner cavity of the housing along the height direction thereof;

[0019] The mounting plate is slidably arranged on the guide rod;

[0020] The motor is arranged on a mounting plate;

[0021] The drill rod is movably arranged and kept parallel to the guide rod, and comprises a polished rod section drivingly connected to the power output end of the motor and a drill bit located at the lower side of the casing;

[0022] The detector is used to detect whether the drill rod reaches the first depth and / or the second depth;

[0023] The telescopic guide mechanism is used to drive the drill rod to move along its axial direction.

[0024] Furthermore, the drill rod also has a main rod section, and the polished rod section, the main rod section and the drill bit are coaxially connected in sequence;

[0025] The detector is a torque limiter, which includes a limiter upper body fixedly arranged at the bottom of the housing, and a limiter lower body detachably connected to the limiter upper body through a torque protection structure;

[0026] The release torque of the torque limiter is greater than or equal to the first torque or the second torque;

[0027] The telescopic guiding mechanism includes an external thread provided on the main rod section and a torque nut fixedly provided at the bottom of the lower body of the limiter;

[0028] The drill pipe passes through the torque limiter, and its main rod section is threadedly connected to the torque nut through the external thread.

[0029] Further, the casing includes an upper casing having an opening at the bottom and a lower casing provided at the opening at the bottom;

[0030] The lower casing includes a main bottom plate, at least two side edges of the main bottom plate extend outward and bend upward to form at least two bottom plate side plates, the upper side edges of the bottom plate side plates extend upward and bend away from the main bottom plate to form side bottom plates, and the side edges of the side bottom plates extend outward and bend downward to form connecting flanges;

[0031] The lower casing is embedded and provided at the opening at the bottom, and its connecting flange is connected to the side wall of the opening at the bottom through a casing connecting member;

[0032] A casing expansion space is formed between the main bottom plate and the bottom plate side plates;

[0033] An external part installation position is formed between the bottom plate side plates and the side bottom plates, and both the torque limiter and the torque nut are provided at the external part installation position.

[0034] Further, the drill pipe also has a main rod section, and the polished rod section, the main rod section and the drill bit are coaxially connected in sequence;

[0035] The detector is a current sensor, and the current sensor is electrically connected to the motor;

[0036] The telescopic guiding mechanism includes an external thread provided on the main rod section, a push-pull member provided in the casing, a semi-circular body provided at the push-pull end of the push-pull member, and an internal thread provided on the concave arc surface of the semi-circular body;

[0037] The external thread on the main rod section is engaged with the internal thread on the semi-circular body.

[0038] Further, the climbing device further includes a sensor and a controller;

[0039] The sensor is provided on the casing and is used to detect the angle of rotation of the entire climbing device around the drill pipe after the drill pipe reaches the first depth and / or the second depth;

[0040] The controller is respectively communicatively connected to the motor and the sensor.

[0041] Further, the climbing device further includes a grating ruler, a vision device and a remote control console which are respectively communicatively connected to the controller;

[0042] The grating scale includes a scale grating disposed in the inner cavity of the housing along the length direction of the guide rod, and an indicating grating disposed on the mounting disk or the motor and corresponding to the scale grating;

[0043] The vision device is disposed on the housing.

[0044] The present invention also provides a mountain glacier robot, including the climbing device of the above-mentioned mountain glacier robot.

[0045] The present invention also provides a climbing method for a mountain glacier robot, used to control the above-mentioned mountain glacier robot; the climbing method includes the following steps:

[0046] S1, Place the mountain glacier robot on the glacier;

[0047] S2, Control the first climbing mechanism to work: Start the motor to drive the drill rod to rotate in the drilling direction and drill downward into the ice layer until reaching the first depth at which the entire mountain glacier robot can be fixed; then under the driving action of the motor, the mounting disk will drive the entire mountain glacier robot to rotate around the drill rod through the guide rod. When the second climbing mechanism rotates to a predetermined position with the mountain glacier robot, control the motor to pause;

[0048] S3, Control the second climbing mechanism to work: Start the motor to drive the drill rod to rotate in the drilling direction and drill downward into the ice layer; when the drill rod drills to a depth at which the entire mountain glacier robot can be fixed, control the motor to pause;

[0049] S4, Control the first climbing mechanism to work: Start the motor to drive the drill rod to rotate in the withdrawing direction. After the drill rod withdraws upward from the ice layer, control the motor to pause;

[0050] S5, Control the second climbing mechanism to work: When the drill rod reaches the second depth at which the entire mountain glacier robot can be fixed, then under the driving action of the motor, the mounting disk will drive the entire mountain glacier robot to rotate around the drill rod through the guide rod. When the first climbing mechanism rotates to a predetermined position with the mountain glacier robot, control the motor to pause;

[0051] S6, Control the first climbing mechanism to work: Start the motor to drive the drill rod to rotate in the drilling direction and drill downward into the ice layer; when the drill rod drills to a depth at which the entire mountain glacier robot can be fixed, control the motor to pause;

[0052] S7, Control the second climbing mechanism to work: Start the motor to drive the drill rod to rotate in the withdrawing direction. After the drill rod withdraws upward from the ice layer, control the motor to pause;

[0053] S8. Control the first climbing mechanism to work: After the drill pipe reaches the first depth at which the entire mountain glacier robot can be fixed, the installation plate will drive the entire mountain glacier robot to move in a circular motion around the drill pipe under the drive of the motor. When the second climbing mechanism rotates with the mountain glacier robot to a predetermined position, control the motor to pause.

[0054] S9. Repeat steps S3 to S8 until the mountain glacier robot climbs to the destination.

[0055] Among them, the first climbing mechanism and the second climbing mechanism are any two climbing mechanisms among the various climbing mechanisms.

[0056] The beneficial effects of the present invention are as follows:

[0057] 1) The method for the machine to walk on the mountain glacier drills the first drill pipe downward into the ice layer and reaches the first depth, which can enable the machine to achieve sufficient grip, ensuring that the entire machine can move and stay stably on the mountain glacier; by driving the entire machine to rotate around the first drill pipe to a predetermined position with the first drill pipe as the axis, initial displacement can be achieved; by drilling the second drill pipe downward into the ice layer and reaching the second depth, and then controlling the first drill pipe to withdraw from the ice layer, and driving the entire machine to rotate around the second drill pipe to a predetermined position with the second drill pipe as the axis, the machine can move forward on the mountain glacier; since the drill pipe is used to drill into a specific position in the ice layer to provide grip, it is hardly affected by the slope of the mountain glacier, facilitating walking and climbing on the mountain glacier, and being stable and reliable.

[0058] 2) The climbing device is provided with two or more climbing mechanisms on the machine shell. Through the drive of the motors of the climbing mechanisms and the functions of the detectors and the telescopic guiding mechanisms, it is ensured that the drill pipe can be drilled to the first depth and / or the second depth to achieve sufficient grip, so that the climbing device or the mountain glacier robot with this climbing device can move and stay stably on the mountain glacier; when the motor continues to drive, it will force the installation plate to drive the entire climbing device or the mountain glacier robot with this climbing device to move in a circular motion around its drill pipe to achieve displacement; when other climbing mechanisms rotate with the climbing device to a predetermined position, control other climbing mechanisms to drill to the first depth and / or the second depth in the same way, then control the previous climbing mechanism to withdraw from the ice layer, and control other climbing mechanisms to drill and drive the entire climbing device or the mountain glacier robot with this climbing device to move in a circular motion around its drill pipe in the same way to achieve displacement; by controlling two or more climbing mechanisms to work alternately, the climbing device or the mountain glacier robot with this climbing device can move forward on the mountain glacier, and since each climbing mechanism is relatively independent and provides grip by drilling the drill pipe into the ice layer, it is hardly affected by the slope of the mountain glacier, facilitating climbing on the mountain glacier.

[0059] 3) Select a torque limiter as the detector, and make the disengagement torque of the torque limiter greater than or equal to the first torque or the second torque. The disengagement torque of the torque limiter can be used to determine whether the drill pipe has reached the first depth and / or the second depth. At the same time, by setting a torque nut at the bottom of the lower body of the limiter and threading the main body rod section with the torque nut through external threads, when the torque required for the drill pipe to drill down is greater than or equal to the disengagement torque of the torque limiter, the upper body of the limiter can be separated from the lower body of the limiter, so that the torque nut is separated from the machine shell relatively, ensuring that when the motor continues to drive the drill pipe, it can force the mounting disk to drive the entire climbing device or the mountain glacier robot with this climbing device to move in a circular motion around the drill pipe. In this way, the detection of the drilling position and the overall rotational displacement are realized by using a pure mechanical structure, further improving the stability and reliability of the climbing device.

[0060] 4) Select a current sensor as the detector, which can detect the working current of the motor, and accordingly judge the output torque of the motor and the working torque of the drill pipe, so as to determine whether the drill pipe has reached the first depth and / or the second depth. At the same time, through the telescopic guiding mechanism mainly composed of the external threads on the main body rod section, the pushing and pulling component, the semi-circular body and the internal threads on the concave arc surface of the semi-circular body, while the drill pipe is being rotated downward or withdrawn upward by the cooperation of the internal and external threads, after reaching the first depth and / or the second depth, the semi-circular body is pulled by the pushing and pulling component to separate the internal and external threads, ensuring that when the motor continues to drive the drill pipe, it can force the mounting disk to drive the entire climbing device or the mountain glacier robot with this climbing device to move in a circular motion around the drill pipe. In this way, the working torque of the drill pipe can be judged more accurately and timely control can be made, which is beneficial to improving the climbing efficiency on mountain glaciers. Description of the Drawings

[0061] Figure 1 is a cross-sectional structural schematic diagram of an embodiment of the climbing device in the present invention;

[0062] Figure 2 is along Figure 1 the A-A line in

[0063] Figure 3 is a structural schematic diagram of the drill pipe in the present invention;

[0064] Figure 4 is a control flow chart of the climbing method of the mountain glacier robot in the present invention;

[0065] Figure 5 is a control flow chart of the climbing control method in Embodiment 2 of the present invention;

[0066] Figure 6 is a cross-sectional structural schematic diagram of another embodiment of the climbing device in the present invention;

[0067] Figure 7 is a schematic cross-sectional structure diagram of another embodiment of the climbing device in the present invention;

[0068] Figure 8 is a schematic top view structure diagram of the pushing and pulling component and the semi-circular body in the present invention;

[0069] Figure 9 is a control flow chart of the climbing control method in Embodiment 4 of the present invention;

[0070] The markings in the figure are: housing 100, upper housing 110, lower housing 120, main base plate 121, base plate side plate 122, side base plate 123, connecting folding edge 124, housing expansion space 125, installation position 126, housing connecting piece 130, climbing mechanism 200, guide rod 210, mounting disc 220, motor 230, torque limiter 240, upper body of the limiter 241, lower body of the limiter 242, torque nut 250, drill rod 260, optical rod section 261, main rod section 262, relief groove rod section 263, drill bit 264, coupling 270, pushing and pulling component 281, semi-circular body 282, current sensor 290, controller 300, grating scale 400, scale grating 410, indicating grating 420, vision device 500, remote control console 600. Detailed implementation manners

[0071] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0072] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "front", "rear", "left", "right", "upper", "lower", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention; the term "a plurality" refers to three or more; the term "parallel" means side by side and parallel; the term "communication connection" means that communication is formed between the connected devices through signal transmission and interaction, and can be divided into wired connection and wireless connection; wired connection is usually cable, optical fiber, etc.; wireless connection is usually radio communication, Bluetooth, infrared, NFC, etc.; the expression of the term "mainly composed of... or constituted by..." is interpreted as that it can also contain structural components not mentioned in this sentence; the term "and / or" is only a description of the association relationship of the associated objects, indicating that there can be three relationships, for example: A and / or B, which can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0073] Method for a machine to walk on mountain glaciers, comprising the following steps:

[0074] Step 1, drill downward into the ice layer through the first drill rod and reach a first depth at which the entire machine can be fixed; when at the first depth, the torque required for the first drill rod to continue drilling downward is greater than the first torque, and the first torque is the torque required to drive the entire machine to rotate around the first drill rod with the first drill rod as the axis;

[0075] Step 2, drive the entire machine to rotate around the first drill rod to a predetermined position with the first drill rod as the axis. The predetermined position is usually determined according to factors such as the relative direction between the starting point and the ending point, terrain, obstacles ahead, and the hardness of the ice layer; the predetermined position can be planned in advance, or relevant information can be implanted in the machine for the machine to judge by itself, or it can also be remotely controlled by remote control personnel according to image information;

[0076] Step 3, drill downward into the ice layer through the second drill rod and reach a second depth at which the entire machine can be fixed; the position where the second drill rod drills is spaced a certain distance from the position where the first drill rod drills, and this distance is the distance for the machine to walk or climb one step; when at the second depth, the torque required for the second drill rod to continue drilling downward is greater than the second torque, and the second torque is the torque required to drive the entire machine to rotate around the second drill rod with the second drill rod as the axis;

[0077] Step 4, control the first drill rod to withdraw from the ice layer;

[0078] Step 5, drive the entire machine to rotate around the second drill rod to a predetermined position with the second drill rod as the axis.

[0079] Among them, the machine can be a climbing device, a glacier robot, a glacier transportation device, a glacier mecha, etc. This method for a machine to walk on mountain glaciers drills downward into the ice layer through the first drill rod and reaches the first depth, which can enable the machine to achieve sufficient grip and ensure that the entire machine can move and stay stably on the mountain glacier; by driving the entire machine to rotate around the first drill rod to a predetermined position with the first drill rod as the axis, preliminary displacement can be achieved; by drilling downward into the ice layer through the second drill rod and reaching the second depth, then controlling the first drill rod to withdraw from the ice layer, and driving the entire machine to rotate around the second drill rod to a predetermined position, the machine can move forward on the mountain glacier; because the drill rod is used to drill into a specific position in the ice layer to provide grip, it is hardly affected by the slope of the mountain glacier and is convenient for walking and climbing on the mountain glacier, solving the problem that existing glacier robots are difficult to climb on mountain glaciers.

[0080] In some preferred embodiments of the present invention, the above method further includes:

[0081] Step 6, control the first drill rod to drill downward into the ice layer and reach a first depth at which the entire machine can be fixed;

[0082] Step 7: Control the second drill pipe to withdraw from the ice layer;

[0083] Step 8: Repeat Steps 2 to 7 until the entire machine reaches the destination.

[0084] This method for a machine to travel on a mountain glacier can achieve long-distance travel of the machine on the mountain glacier by controlling the first drill pipe and the second drill pipe to work alternately.

[0085] Combined with Figure 1 、 Figure 2 and Figure 3 as shown, or combined with Figure 7 and Figure 8 The climbing device of the mountain glacier robot is used to implement the above-mentioned method for a machine to travel on a glacier;

[0086] The climbing device includes a housing 100 and at least two climbing mechanisms 200 spaced apart on the housing 100;

[0087] The housing 100 is an external shell for installing, wrapping, and protecting the internal components of the climbing device, and is usually made of materials that can maintain performance and strength at the temperature of the glacier environment, such as special alloys or plastics that are durable at low temperatures, etc.;

[0088] The climbing mechanism 200 includes a guide rod 210, a mounting disk 220, a motor 230, a drill pipe 260, a detector, and a telescopic guiding mechanism;

[0089] The guide rod 210 is arranged in the inner cavity of the housing 100 along the height direction of the housing 100, and is mainly used for installing and guiding the mounting disk 220 and the components on the mounting disk 220; when there is one guide rod 210, it is usually provided with anti-rotation surfaces, guide grooves and other anti-rotation structures, or is a rod with a triangular, rectangular or polygonal cross-section; when there are two or more guide rods 210, they are usually arranged in parallel; Figure 1 and Figure 7 In the real-time mode, the guide rods 210 are two parallel ones, and their cooperation can achieve good guiding and anti-rotation functions, and the structure is simple and practical;

[0090] The mounting disk 220 is slidably arranged on the guide rod 210 and is mainly used for installing the motor 230 or the motor 230 and its accessories;

[0091] The motor 230 is arranged on the mounting disk 220 and is used to drive the drill pipe 260 to rotate relative to the entire climbing device to drill into and withdraw from the ice layer, and is also used to force the mounting disk 220 to drive the entire climbing device or the mountain glacier robot with the climbing device to make a circular motion around its drill pipe 260 when the torque required for the drill pipe 260 to continue drilling down is too large;

[0092] The drill pipe 260 is a component used to drill into ice or rock to provide sufficient grip; the drill pipe 260 is movably arranged and kept parallel to the guide rod 210, and it has a polished rod section 261 drivingly connected to the power output end of the motor 230 and a drill bit 264 on the lower side of the machine housing 100; there are various ways of driving connection, for example: connecting through a coupling 270 or a speed reducer, and for another example: connecting through a gear mechanism, a worm and worm gear mechanism, a belt drive mechanism, etc.; the drill bit 264 is mainly used to drill holes in ice or rock so that the drill pipe 260 can penetrate deeper into the glacier; the drill bit 264 can have various structures, preferably a conical drill bit, and more preferably a structure similar to an ice nail;

[0093] The detector is used to detect whether the drill pipe 260 reaches the first depth and / or the second depth, and it generally judges by detecting the working torque of the drill pipe 260, the drilling depth or other means; there can be various detectors, for example: a torque sensor, an elastic deformation type torque detector, a rangefinder, a current sensor 290, a grating scale 400, etc.;

[0094] The telescopic guiding mechanism is used to drive the drill pipe 260 to move along its axial direction to cooperate with the rotational driving action of the motor 230 to drive the drill pipe 260 to drill downward into the ice or withdraw upward from the ice; the telescopic guiding mechanism can be various, for example: a ball screw pair, an electric push rod, a threaded mating structure, etc.

[0095] This climbing device is convenient for walking and climbing on mountain glaciers, and is stable and reliable. When this climbing device is equipped with scientific research instruments, a vision device 500, etc., or applied to a glacier robot, it can overcome the difficulties such as cold, lack of oxygen, and climbing that are difficult for humans to adapt to, and has broad application prospects in scientific investigations, material transportation, mountain glacier tracking, etc.

[0096] As Figure 1 or Figure 6 shown, in some preferred embodiments of the present invention, the drill pipe 260 further has a main body rod section 262, and the polished rod section 261, the main body rod section 262 and the drill bit 264 are coaxially connected in sequence;

[0097] The detector is a torque limiter 240, which includes a limiter upper body 241 fixedly arranged at the bottom of the machine housing 100, and a limiter lower body 242 detachably connected to the limiter upper body 241 through a torque protection structure;

[0098] The separation torque of the torque limiter 240 is greater than or equal to the first torque or the second torque;

[0099] The torque protection structure can ensure that the upper limiter body 241 and the lower limiter body 242 of the torque limiter 240 are connected together when the torque borne by the torque limiter 240 is less than its separation torque, and can ensure that the upper limiter body 241 and the lower limiter body 242 are separated when the torque borne by the torque limiter 240 is greater than or equal to its separation torque; there can be various types of torque protection structures, such as: elastic torque protection structure, friction torque protection structure, magnetic adsorption torque protection structure, electric torque protection structure, hydraulic torque protection structure, etc.;

[0100] The telescopic guiding mechanism includes an external thread provided on the main body rod section 262 and a torque nut 250 fixedly arranged at the bottom of the lower limiter body 242; there can be various ways of fixed arrangement, such as: welding, connection by set screws, etc.;

[0101] The drill pipe 260 is arranged through the torque limiter 240, and its main body rod section 262 is threadedly connected with the torque nut 250 through the external thread;

[0102] The torque limiter 240 and the torque nut 250 cooperate with each other to ensure that when the torque required for the drill pipe 260 to drill downward is less than the separation torque of the torque limiter 240, the drill pipe 260 rotates and moves downward at the same time, so that the drill pipe 260 can effectively drill into the ice layer to achieve sufficient grip; and is used to make the upper limiter body 241 and the lower limiter body 242 of the limiter separate when the torque required for the drill pipe 260 to drill downward is greater than or equal to the separation torque of the torque limiter 240, so that the torque nut 250 is separated relative to the machine shell 100, ensuring that when the motor 230 continues to drive the drill pipe 260, it can force the mounting plate 220 to drive the entire climbing device or the mountain glacier robot with this climbing device to make a circular motion around the drill pipe 260.

[0103] By controlling two or more climbing mechanisms 200 to work alternately, the traveling of the climbing device or the mountain glacier robot with this climbing device on the mountain glacier can be realized. And because each climbing mechanism 200 is relatively independent and provides grip by drilling the drill pipe 260 into the ice layer, it is hardly affected by the slope of the mountain glacier, facilitating climbing on the mountain glacier, and being stable and reliable.

[0104] The drill pipe 260 usually also has a relief groove rod section 263, and the optical rod section 261, the main body rod section 262, the relief groove rod section 263 and the drill bit 264 are coaxially connected in sequence.

[0105] Another example is Figure 1As shown, in some preferred embodiments of the present invention, the housing 100 includes an upper housing 110 with a bottom opening, and a lower housing 120 disposed at the bottom opening. In the use scenario of a mountain glacier environment, the design of the bottom opening can, on the one hand, reduce the entry of snow and ice into the housing 100, reducing the adverse effects of ice and snow on the internal components of the climbing device, and on the other hand, facilitate the drainage inside the climbing device, reducing the possibility of internal freezing.

[0106] For another example Figure 1 As shown, in some preferred embodiments of the present invention, the lower housing 120 includes a main bottom plate 121. At least two side edges of the main bottom plate 121 extend outward and bend upward to form at least two bottom plate side plates 122. The upper side edges of the bottom plate side plates 122 extend upward and bend away from the main bottom plate 121 to form side bottom plates 123. The side edges of the side bottom plates 123 extend outward and bend downward to form connecting flanges 124. The lower housing 120 is embedded at the bottom opening, and its connecting flanges 124 are connected to the side walls of the bottom opening through housing connectors 130. A housing expansion space 125 is formed between the main bottom plate 121 and the bottom plate side plates 122. An external part installation position 126 is formed between the bottom plate side plates 122 and the side bottom plates 123. Both the torque limiter 240 and the torque nut 250 are disposed at the external part installation position 126. In this way, not only can the structure of the climbing device be made more compact, but also the structural strength of the lower housing 120 can be enhanced, and the load-bearing capacity of the lower housing 120 can be improved. In addition, the formed housing expansion space 125 can be used to carry more scientific instruments or other equipment components. By making the side edges of the side bottom plates 123 extend outward and bend downward to form connecting flanges 124, and then connecting the connecting flanges 124 to the side walls of the bottom opening through housing connectors 130, the connection can be facilitated, the connection holes can be avoided being opened in the inner cavity of the housing 100, no additional sealing structure is required, and the risk of seal failure in the glacier environment is also avoided.

[0107] Combined with Figure 7 and Figure 8 As shown, in some preferred embodiments of the present invention, the drill pipe 260 further has a main rod section 262, and the polished rod section 261, the main rod section 262, and the drill bit 264 are coaxially connected in sequence;

[0108] The detector is a current sensor 270. The current sensor 270 is electrically connected to the motor 230 and is used to detect the working current of the motor 230, and thereby judge the output torque of the motor 230 and the working torque of the drill pipe 260, so as to determine whether the drill pipe 260 reaches the first depth and / or the second depth; usually, the working current of the motor 230 when the drill pipe 260 reaches the first depth or the second depth is used as the basis for setting the threshold value;

[0109] The telescopic guiding mechanism includes an external thread provided on the main body rod section 262, a push-pull component 281 arranged inside the machine housing 100, a semi-circular body 282 provided on the push-pull end of the push-pull component 281, and an internal thread provided on the concave arc surface of the semi-circular body 282; the push-pull component 281 is mainly used to drive the internal and external threads to cooperate or separate, so as to ensure that the drill pipe 260 can move along its axial direction through the cooperating internal and external threads during the process of the drill pipe 260 drilling into or withdrawing from the ice layer, and can drive the entire climbing device when necessary to ensure that the internal and external threads are separated; the push-pull component 281 can be of various types, preferably an electric push rod, a ball screw pair, an electromagnetic push-pull component, etc.;

[0110] The external thread on the main body rod section 262 cooperates with the internal thread on the semi-circular body 282.

[0111] The above climbing device can drive the drill pipe 260 to rotate and drill downward or withdraw upward through the cooperation of the internal and external threads. After reaching the first depth and / or the second depth, the push-pull component 281 is used to pull the semi-circular body 282 to force the internal and external threads to separate, ensuring that when the motor 230 continues to drive the drill pipe 260, it can force the mounting plate 220 to drive the entire climbing device or the mountain glacier robot with this climbing device to make a circular motion around the drill pipe 260; in this way, the working torque of the drill pipe 260 can be judged more accurately and timely control can be made, which is beneficial to improving the climbing efficiency on the mountain glacier.

[0112] For another example Figure 6 As shown, in some preferred embodiments of the present invention, the climbing device further includes a sensor and a controller 300; the sensor is arranged on the machine housing 100 and is used to detect the angle of the entire climbing device rotating around the drill pipe 260 after the drill pipe 260 reaches the first depth and / or the second depth; the controller 300 is respectively communicatively connected with the motor 230 and the sensor. In this way, by inputting a preset command for control, or through a remote control device communicatively connected with the controller for remote control, it is convenient for the climbing device to accurately reach the destination. Among them, the controller 300 can be of various types, preferably a timing controller or a logic controller.

[0113] For another example Figure 6As shown, in some preferred embodiments of the present invention, the climbing device further includes a grating scale 400, a vision device 500, and a remote console 600 that are respectively communicatively connected to the controller 300; the grating scale 400 includes a scale grating 410 disposed in the inner cavity of the housing 100 along the length direction of the guide rod 210, and an indicating grating 420 disposed on the mounting disk 220 or the motor 230 and corresponding to the scale grating 410; the vision device 500 is disposed on the housing 100. Among them, the grating scale 400 can accurately obtain the depth of the drill pipe 260 during the drilling process, so as to record and master the data; the grating scale 400 can also be used to judge abnormal situations. When the drilling depth of the drill pipe 260 is significantly less than the first depth or the second depth, the drill pipe 260 can be reversed in advance, and then the entire climbing device can be rotated to find a new position for drilling; when the drilling depth of the drill pipe 260 is significantly greater than the first depth or the second depth, a new position can also be found for drilling. The vision device 500 is mainly used to observe the environment such as terrain and landform, and it can be various devices such as an industrial camera capable of image transmission, a 360° camera, etc.

[0114] The present invention also provides a mountain glacier robot, which includes the climbing device of the mountain glacier robot described above. This mountain glacier robot is convenient for walking and climbing on mountain glaciers, and it usually also houses scientific research instruments, living supplies, tracking equipment, etc. in the housing 100.

[0115] Combined with Figures 1 to 4 As shown, the present invention also provides a climbing method for a mountain glacier robot, which is used to control the above-mentioned mountain glacier robot; this climbing method includes the following steps:

[0116] S1, Place the mountain glacier robot on the mountain glacier;

[0117] S2, Control the first climbing mechanism to work: Start the motor 230 to drive the drill pipe 260 to rotate in the drilling direction and drill downward into the ice layer until reaching the first depth at which the entire mountain glacier robot can be fixed; then under the driving action of the motor 230, the mounting disk 220 will drive the entire mountain glacier robot to make a circular motion around the drill pipe 260 through the guide rod 210. When the second climbing mechanism rotates to a predetermined position with the mountain glacier robot, control the motor 230 to pause.

[0118] S3, Control the second climbing mechanism to work: Start the motor 230 to drive the drill pipe 260 to rotate in the drilling direction and drill downward into the ice layer; when the drill pipe 260 drills to a depth at which the entire mountain glacier robot can be fixed, control the motor 230 to pause.

[0119] S4, Control the first climbing mechanism to work: Start the motor 230 to drive the drill pipe 260 to rotate in the withdrawal direction. After the drill pipe 260 withdraws upward from the ice layer, control the motor 230 to pause.

[0120] S5. Control the second climbing mechanism to work: When the drill pipe 260 reaches the second depth at which the entire mountain glacier robot can be fixed, then under the driving action of the motor 230, the mounting plate 220 will drive the entire mountain glacier robot to make a circular motion around the drill pipe 260 through the guide rod 210. When the first climbing mechanism rotates to a predetermined position with the mountain glacier robot, control the motor 230 to pause.

[0121] S6. Control the first climbing mechanism to work: Start the motor 230 to drive the drill pipe 260 to rotate in the drilling direction and drill downward into the ice layer; When the drill pipe 260 drills down to the depth at which the entire mountain glacier robot can be fixed, control the motor 230 to pause.

[0122] S7. Control the second climbing mechanism to work: Start the motor 230 to drive the drill pipe 260 to rotate in the withdrawal direction. After the drill pipe 260 withdraws upward from the ice layer, control the motor 230 to pause.

[0123] S8. Control the first climbing mechanism to work: When the drill pipe 260 reaches the first depth at which the entire mountain glacier robot can be fixed, then under the driving action of the motor 230, the mounting plate 220 will drive the entire mountain glacier robot to make a circular motion around the drill pipe 260 through the guide rod 210. When the second climbing mechanism rotates to a predetermined position with the mountain glacier robot, control the motor 230 to pause.

[0124] S9. Repeat steps S3 to S8 until the mountain glacier robot climbs to the destination.

[0125] Among them, the first climbing mechanism and the second climbing mechanism are any two climbing mechanisms 200 among the respective climbing mechanisms 200.

[0126] Embodiment 1

[0127] Combined with Figures 1 to 3 As shown, the climbing device of the mountain glacier robot includes a housing 100, two climbing mechanisms 200 arranged at intervals on the housing 100, a sensor, and a controller 300;

[0128] The climbing mechanism 200 includes a guide rod 210, a mounting plate 220, a motor 230, a drill pipe 260, a detector, and a telescopic guiding mechanism;

[0129] The guide rod 210 is arranged in the inner cavity of the housing 100 along the height direction of the housing 100;

[0130] The mounting plate 220 is slidably arranged on the guide rod 210;

[0131] The motor 230 is arranged on the mounting plate 220;

[0132] The drill pipe 260 is movably arranged and kept parallel to the guide rod 210. It has a polished rod section 261 drivingly connected to the power output end of the motor 230 and a drill bit 264 located on the lower side of the machine housing 100. The drill pipe 260 also has a main body rod section 262 and a relief groove rod section 263. The polished rod section 261, the main body rod section 262, the relief groove rod section 263, and the drill bit 264 are coaxially connected in sequence.

[0133] The detector is a torque limiter 240, which includes a limiter upper body 241 fixedly arranged at the bottom of the machine housing 100, and a limiter lower body 242 detachably connected to the limiter upper body 241 through a torque protection structure.

[0134] The separation torque of the torque limiter 240 is greater than or equal to the first torque or the second torque.

[0135] The telescopic guiding mechanism includes an external thread provided on the main body rod section 262 and a torque nut 250 fixedly arranged at the bottom of the limiter lower body 242.

[0136] The drill pipe 260 is arranged through the torque limiter 240, and its main body rod section 262 is threadedly connected to the torque nut 250 through the external thread.

[0137] The sensor is arranged on the machine housing 100 and is used to detect the angle of rotation of the entire climbing device around the drill pipe 260 after the drill pipe 260 reaches the first depth and / or the second depth.

[0138] The controller 300 is respectively in communication connection with the motor 230 and the sensor.

[0139] A climbing control method for controlling the climbing device of the above-mentioned mountain glacier robot includes the following steps:

[0140] S1. Place the climbing device on the mountain glacier.

[0141] S2. Control the first climbing mechanism to work:

[0142] S21. Start the motor 230 to drive the drill pipe 260 to rotate in the drilling direction and drill downward into the ice layer. At this time, the torque required for the drill pipe 260 to drill downward is less than or equal to the separation torque of the torque limiter 240. The limiter upper body 241 and the limiter lower body 242 are connected together. It can ensure that the drill pipe 260 moves downward while rotating through the torque nut 250 threadedly connected to the drill pipe 260. At the same time, the motor 230 and the mounting plate 220 move downward along the guide rod 210 together with the drill pipe 260.

[0143] S22. The deeper the drill pipe 260 drills downward, the greater the required torque. When the torque required for the drill pipe 260 to continue drilling downward is greater than the separation torque of the torque limiter 240, the upper body 241 of the limiter separates from the lower body 242 of the limiter. At this time, the drill pipe 260 is fixed on the mountain glacier, and together with the lower body 242 of the limiter and the torque nut 250, they are all stationary relative to the mountain glacier.

[0144] S23. Let the motor 230 continue to work. Under the driving action of the motor 230, it will rotate around the drill pipe 260. Due to the restrictions of the mounting plate 220 and the guide rod 210, it will force the mounting plate 220 to drive the entire climbing device to make a circular motion around the drill pipe 260 through the guide rod 210. When the second climbing mechanism rotates to a predetermined position with the climbing device, control the motor 230 to pause.

[0145] S3. Control the second climbing mechanism to work: Start the motor 230 to drive the drill pipe 260 to rotate in the drilling direction and drill downward into the ice layer. When the drill pipe 260 drills to a depth where it can fix the entire climbing device, control the motor 230 to pause.

[0146] S4. Control the first climbing mechanism to work: Start the motor 230 to drive the drill pipe 260 to rotate in the withdrawal direction. At this time, the torque required for the drill pipe 260 is less than or equal to the separation torque of the torque limiter 240, and the upper body 241 of the limiter and the lower body 242 of the limiter are connected together. It can ensure that the drill pipe 260 moves upward relative to the surface of the mountain glacier while rotating through the torque nut 250 threadedly connected to the drill pipe 260. At the same time, the motor 230 and the mounting plate 220 move upward along the guide rod 210 with the drill pipe 260. After the drill pipe 260 withdraws upward from the ice layer, control the motor 230 to pause. If in step S2, the motor 230 rotates forward to drive the drill pipe 260 to rotate in the drilling direction, and in this step, the motor 230 drives the drill pipe 260 to rotate in the withdrawal direction, then the motor 230 needs to rotate in reverse.

[0147] S5. Control the second climbing mechanism to work: When the torque required for the drill pipe 260 to continue drilling downward is greater than the separation torque of the torque limiter 240, the upper body 241 of the limiter separates from the lower body 242 of the limiter. Then, under the driving action of the motor 230, the mounting plate 220 will drive the entire climbing device to make a circular motion around the drill pipe 260 through the guide rod 210. When the first climbing mechanism rotates to a predetermined position with the climbing device, control the motor 230 to pause.

[0148] S6. Control the first climbing mechanism to work: Start the motor 230 to drive the drill pipe 260 to rotate in the drilling direction and drill downward into the ice layer. When the drill pipe 260 drills to a depth where it can fix the entire climbing device, control the motor 230 to pause. This step is similar to step S3.

[0149] S7. Control the second climbing mechanism to operate: Start the motor 230 to drive the drill pipe 260 to rotate in the retracting direction. After the drill pipe 260 is retracted upward from the ice layer, control the motor 230 to pause; this step is similar to step S4.

[0150] S8. Control the first climbing mechanism to operate: When the torque required for the drill pipe 260 to continue drilling is greater than the separation torque of the torque limiter 240, the upper body 241 of the limiter is separated from the lower body 242 of the limiter. Then, under the driving action of the motor 230, the mounting plate 220 will drive the entire climbing device to make a circular motion around the drill pipe 260 through the guide rod 210. When the second climbing mechanism rotates to the predetermined position with the climbing device, control the motor 230 to pause; this step is similar to step S5.

[0151] S9. Repeat steps S3 to S8 until the climbing device moves to the destination.

[0152] Among them, the first climbing mechanism and the second climbing mechanism are any two climbing mechanisms 200 among the respective climbing mechanisms 200.

[0153] Embodiment 2

[0154] This embodiment provides a climbing device for a mountain glacier robot. On the basis of Embodiment 1, a timing controller is selected as the controller 300.

[0155] According Figure 5 to the flow actions, the climbing device can continuously move forward to the destination. Specifically:

[0156] S1. Place the climbing device on the mountain glacier.

[0157] S2. Control the first climbing mechanism to operate: The motor 230 rotates forward to drive the drill pipe 260 to drill downward into the ice layer; after t1 time, the torque required for the drill pipe 260 to continue drilling is greater than the separation torque of the torque limiter 240.

[0158] S3. Control the first climbing mechanism to operate: Then, under the driving action of the motor 230, the mounting plate 220 drives the entire climbing device to make a circular motion around the drill pipe 260 through the guide rod 210. After t2 time, the second climbing mechanism rotates to the predetermined position with the climbing device, and control the motor 230 to pause.

[0159] S4. Control the second climbing mechanism to operate: The motor 230 rotates forward to drive the drill pipe 260 to drill downward into the ice layer; after t1 time, the torque required for the drill pipe 260 to continue drilling is greater than the separation torque of the torque limiter 240, and control the motor 230 to pause.

[0160] S5. Control the first climbing mechanism to operate: The motor 230 rotates in reverse. After a time t3, the drill pipe 260 withdraws from the ice layer, and then control the motor 230 to pause.

[0161] S6. Control the second climbing mechanism to operate: Then, under the driving action of the motor 230, the mounting plate 220 drives the entire climbing device to make a circular motion around the drill pipe 260 through the guide rod 210. After a time t2, the first climbing mechanism rotates to a predetermined position with the climbing device, and then control the motor 230 to pause.

[0162] S7. Control the first climbing mechanism to operate: The motor 230 rotates forward to drive the drill pipe 260 to drill downward into the ice layer. After a time t1, the torque required for the drill pipe 260 to continue drilling downward is greater than the separation torque of the torque limiter 240.

[0163] S8. Control the second climbing mechanism to operate: The motor 230 rotates in reverse. After a time t3, the drill pipe 260 withdraws from the ice layer, and then control the motor 230 to pause.

[0164] S9. Repeat steps S3 to S8 until the climbing device moves to the destination.

[0165] Among them, the first climbing mechanism and the second climbing mechanism are any two of the climbing mechanisms 200 in each climbing mechanism 200.

[0166] This embodiment is suitable for the situation where the ice layer conditions of the walking path are similar, the drilling torques required for the fixing devices are not very different, and the ice surface conditions are relatively well understood. It is a simple and inexpensive application of the present invention.

[0167] In this embodiment, the torque limiter 240 can adopt a friction type torque limiter, and its allowable value should enable the entire climbing device to hang on the maximum slope of the walking path or meet other most extreme working conditions. Among them, t1, t2, and t3 represent the rotation time of the motor 230. The times t1 and t3 can be determined according to the on-site ice surface conditions. After the drilling time t1, the drilling torque should be greater than the separation torque of the torque limiter 240. That is to say, when the torque limiter 240 separates, the motor 230 will still idle for a certain time. t3 is the time for the drill pipe 260 to retract to the initial position, which is approximately equal to t1. t2 is a time sequence, and each value roughly determines the rotation angle of the climbing device, and can roughly determine the movement trajectory of the climbing device, bypassing necessary obstacles and reaching the destination.

[0168] The timing controller controls the forward and reverse rotation time of the motor 230 through the above time sequence (including t1, t2, t3), so that the climbing device can walk autonomously and roughly reach the determined location. Due to the emptiness of the glacier, this simple and inexpensive device also has a certain application scenario.

[0169] The visual device 500 can also be installed and transmitted to the remote console 600 of the remote control personnel to observe the terrain. Through the control of the remote control personnel t1, t2, t3, especially t2, a free trajectory can be achieved.

[0170] Embodiment 3

[0171] As Figure 6 As shown, the climbing device of the mountain glacier robot provided in this embodiment adds a controller 300, a grating scale 400, a visual device 500 and a remote console 600 on the basis of Embodiment 1, and its controller 300 is a climbing controller.

[0172] This climbing device is suitable for working conditions where the ice layer conditions change greatly and the terrain is relatively complex.

[0173] Among them, the scale grating 410 of the grating scale 400 is arranged in the inner cavity of the machine shell 100 along the length direction of the guide rod 210, and the indicating grating 420 is installed on the motor 230 and corresponds to the scale grating 410. When the drill pipe 260 drills down or withdraws, the motor 230 will move up and down along the guide rod 210. The depth of the drill pipe 260 drilling down can be accurately obtained by the grating scale 400 and transmitted to the remote console 600 for the remote operator to obtain. When a forward rotation signal is given to the motor 230 and the depth of the drill pipe 260 drilling down does not change, it can be judged that the torque limiter 240 has reached the allowable value at this time, and the upper body 241 and the lower body 242 of the limiter are in a separated state, and the withdrawal action of another drill pipe 260 can be executed.

[0174] The visual device 500 is arranged on the machine shell 100, and the topographic image obtained by it can also be transmitted to the remote console 600 through the controller 300 for the remote operator to obtain.

[0175] When the depth of the drill pipe 260 drilling down reaches the depth expected by the remote operator, the remote operator decides the rotation angle of the entire climbing device according to the topographic image, so as to decide the walking path of the climbing device or the mountain glacier robot with this climbing device, and can avoid obstacles such as ice bumps and ice holes. The start-stop, forward and reverse rotation, and angle control of the rotation of the entire climbing device can be realized by using a servo motor widely used in industry.

[0176] At the same time, the grating scale 400 can also be used to judge abnormal situations. When the depth of the drill pipe 260 drilling down is significantly less than the first depth or the second depth, the drill pipe 260 can be reversed in advance, and then the entire climbing device can be rotated to find a new position to execute the drilling down; when the depth of the drill pipe 260 drilling down is significantly greater than the first depth or the second depth, a new position can also be found to execute the drilling down.

[0177] In addition, the obstacle type can be preset in the controller 300 for cooperating with the visual device 500 for image recognition, thereby realizing automatic recognition of obstacles, determining the rotation angle of the entire climbing device, and realizing automatic walking.

[0178] Example 4

[0179] Combination Figure 7 and Figure 8 As shown, the mountain glacier robot, its climbing device includes a housing 100 and two climbing mechanisms 200 spaced apart and arranged on the housing 100;

[0180] The climbing mechanism 200 includes a guide rod 210, a mounting plate 220, a motor 230, a drill rod 260, a detector and a telescopic guide mechanism;

[0181] The guide rod 210 is arranged in the inner cavity of the housing 100 along the height direction thereof;

[0182] The mounting plate 220 is slidably disposed on the guide rod 210;

[0183] The motor 230 is disposed on the mounting plate 220;

[0184] The drill rod 260 is movably arranged and maintained parallel to the guide rod 210, and comprises a polished rod section 261 drivingly connected to the power output end of the motor 230 and a drill bit 264 located at the lower side of the housing 100; the drill rod 260 also comprises a main rod section 262 and a cutter groove rod section 263, and the polished rod section 261, the main rod section 262, the cutter groove rod section 263 and the drill bit 264 are coaxially connected in sequence;

[0185] The detector is a current sensor 290 , and the current sensor 290 is electrically connected to the motor 230 ;

[0186] The telescopic guide mechanism includes an external thread provided on the main rod section 262, a push-pull component 281 provided in the housing 100, a semicircular arc body 282 provided on the push-pull end of the push-pull component 281, and an internal thread provided on the concave arc surface of the semicircular arc body 282;

[0187] The external thread on the main rod section 262 cooperates with the internal thread on the semicircular arc body 282;

[0188] The two climbing mechanisms 200 are respectively a first climbing mechanism and a second climbing mechanism, and the components included in each of them are distinguished by first and second as prefixes.

[0189] Combination Figure 9 As shown, the movement process of the mountain glacier robot in this embodiment is as follows:

[0190] There are three typical actions of the robot, namely: the drill pipe 260 is lowered, the robot rotates, and the drill pipe 260 is screwed out.

[0191] 1.1 First drill pipe lowering

[0192] (1) Place the robot stationary on the surface of the mountain glacier.

[0193] (2) First drill pipe lowering: Start the first motor to rotate forward. At this time, the internal thread on the first semi-circular body mates with the external thread of the first drill pipe. Because it is a threaded connection and the first drill pipe is rotating at this time, the first drill pipe will move both rotationally and downward. The drill bit 264 at the lower part of the first drill pipe adopts the same structure as an ice nail and will drill into the ice to play a fixing role.

[0194] 1.2 Robot rotation (with the first drill pipe as the rotation center)

[0195] (1) The first push-pull component drives the first semi-circular body to retract: The deeper the first drill pipe drills down, the greater the required torque. When the first drill pipe drills down to the required depth, the torque reaches the required value, which will be manifested in the current value of the first motor. The logic controller judges and reads the current value of the first current sensor, transmits a signal to the first push-pull component, and controls it to retract.

[0196] (2) Analysis of part states: When the first push-pull component retracts, the first drill pipe is fixed on the mountain glacier and is stationary relative to the mountain glacier. Also, because the first coupling connects the shafts of the first drill pipe and the first motor, the shaft of the first motor will be stationary.

[0197] (3) Robot rotation: Let the first motor continue to rotate forward, and the body of the first motor will rotate around the shaft of the first motor, thereby driving the entire robot to make a circular motion around the first drill pipe.

[0198] 1.3 Second drill pipe lowering

[0199] (1) Determination of the second drill pipe lowering position: When the entire robot makes a circular motion around the first drill pipe and the second drill pipe rotates to the ideal position, the first motor stops and the first push-pull component extends.

[0200] (2) Second drill pipe lowering: Start the second motor to rotate forward, and the second drill pipe will lower. The process of the second drill pipe lowering is the same as that of the first drill pipe lowering. When the working current of the second motor reaches the set value, the logic controller outputs a signal to the second push-pull component to make it retract and controls the second motor to stop.

[0201] 1.4 First drill pipe screwing out

[0202] At this time, the second drill pipe has been fixed on the mountain glacier. Start the first motor to reverse. The reverse rotation of the first drill pipe will move upward relative to the surface of the mountain glacier, thereby screwing out the first drill pipe.

[0203] 1.5 Robot rotation (with the second drill pipe as the rotation center)

[0204] Stop the first motor and start the second motor to rotate forward. At this time, it will drive the robot to rotate around the second drill pipe. Similar to step 1.2.

[0205] 1.6 Screw out the second drill pipe

[0206] Stop the first motor and start the second motor to reverse to screw out the second drill pipe. Similar to step 1.4.

[0207] Repeat steps 1.2 to 1.6 until the robot climbs to the destination.

Claims

1. Method for a machine to walk on mountain glaciers, characterized in that, The following steps are involved: Step 1: Drilling downward into the ice layer through a first drill rod to a first depth at which the entire machine can be fixed; at the first depth, the torque required for the first drill rod to continue drilling is greater than a first torque, and the first torque is the torque required to drive the entire machine to rotate around the first drill rod with the first drill rod as the axis; Step 2: Using the first drill rod as an axis, the entire machine is driven to rotate around the first drill rod to a predetermined position; Step 3, drilling downward into the ice layer through the second drill rod and reaching a second depth at which the entire machine can be fixed; at the second depth, the torque required for the second drill rod to continue drilling is greater than the second torque, and the second torque is the torque required to drive the entire machine to rotate around the second drill rod with the second drill rod as the axis; Step 4, controlling the first drill rod to exit the ice layer; Step 5: Using the second drill rod as an axis, drive the entire machine to rotate around the second drill rod to a predetermined position.

2. The method for a machine to walk on mountain glaciers according to claim 1, characterized in that, Also includes: Step 6, controlling the first drill rod to drill downward into the ice layer and reach a first depth capable of fixing the entire machine; Step 7, controlling the second drill rod to exit the ice layer; Step 8: Repeat steps 2 to 7 until the entire machine reaches the destination.

3. Climbing device of a mountain glacier robot, characterized in that: Used to implement the machine mountain glacier walking method described in claim 1 or 2; The climbing device comprises a housing (100) and at least two climbing mechanisms (200) arranged on the housing (100) at intervals; The climbing mechanism (200) comprises a guide rod (210), a mounting plate (220), a motor (230), a drill rod (260), a detector and a telescopic guide mechanism; The guide rod (210) is arranged in the inner cavity of the housing (100) along the height direction thereof; The mounting plate (220) is slidably disposed on the guide rod (210); The motor (230) is arranged on the mounting plate (220); The drill rod (260) is movably arranged and maintained parallel to the guide rod (210), and comprises a polished rod section (261) drivingly connected to the power output end of the motor (230) and a drill bit (264) located at the lower side of the housing (100); The detector is used to detect whether the drill rod (260) reaches the first depth and / or the second depth; The telescopic guide mechanism is used to drive the drill rod (260) to move along its axial direction.

4. The climbing device of the mountain glacier robot according to claim 3, characterized in that: The drill rod (260) further comprises a main rod section (262), and the polished rod section (261), the main rod section (262) and the drill bit (264) are coaxially connected in sequence; The detector is a torque limiter (240), which comprises a limiter upper body (241) fixedly arranged at the bottom of the housing (100), and a limiter lower body (242) detachably connected to the limiter upper body (241) via a torque protection structure; The separation torque of the torque limiter (240) is greater than or equal to the first torque or the second torque; The telescopic guide mechanism comprises an external thread provided on the main rod section (262) and a torque nut (250) fixedly provided at the bottom of the limiter lower body (242); The drill rod (260) is disposed through the torque limiter (240), and its main rod section (262) is threadedly connected to the torque nut (250) via an external thread.

5. The climbing device of the mountain glacier robot according to claim 4, wherein: The housing (100) includes an upper housing (110) with an opening at the bottom, and a lower housing (120) provided at the bottom opening; The lower housing (120) includes a main bottom plate (121), at least two side edges of the main bottom plate (121) extend outward and bend upward to form at least two bottom plate side plates (122), the upper side edges of the bottom plate side plates (122) extend upward and bend away from the main bottom plate (121) to form side bottom plates (123), and the side edges of the side bottom plates (123) extend outward and bend downward to form connecting flanges (124); The lower housing (120) is embedded and provided at the bottom opening, and its connecting flange (124) is connected to the side wall of the bottom opening through a housing connecting member (130); A housing expansion space (125) is formed between the main bottom plate (121) and the bottom plate side plates (122); An external part installation position (126) is formed between the bottom plate side plates (122) and the side bottom plates (123), and both the torque limiter (240) and the torque nut (250) are provided at the external part installation position (126).

6. The climbing device of the mountain glacier robot according to claim 3, characterized in that: The drill pipe (260) further has a main body rod section (262), and the polished rod section (261), the main body rod section (262) and the drill bit (264) are coaxially connected in sequence; The detector is a current sensor (290), and the current sensor (290) is electrically connected to the motor (230); The telescopic guiding mechanism includes an external thread provided on the main body rod section (262), a push-pull member (281) provided in the housing (100), a semi-circular body (282) provided at the push-pull end of the push-pull member (281), and an internal thread provided on the concave arc surface of the semi-circular body (282); The external thread on the main body rod section (262) is matched with the internal thread on the semi-circular body (282).

7. The climbing device of the mountain glacier robot according to any one of claims 3 to 6, characterized in that: It further includes a sensor and a controller (300); The sensor is provided on the housing (100) and is used to detect the angle of rotation of the entire climbing device around the drill pipe (260) after the drill pipe (260) reaches the first depth and / or the second depth; The controller (300) is respectively in communication connection with the motor (230) and the sensor.

8. The climbing device of the mountain glacier robot according to claim 7, characterized in that: It further includes a grating ruler (400), a vision device (500) and a remote control console (600) which are respectively in communication connection with the controller (300); The grating ruler (400) includes a scale grating (410) provided in the inner cavity of the housing (100) along the length direction of the guide rod (210), and an indicating grating (420) provided on the mounting disc (220) or the motor (230) and corresponding to the scale grating (410); The vision device (500) is provided on the housing (100).

9. Mountain glacier robot, characterized in that: It includes the climbing device of the mountain glacier robot according to any one of claims 3 to 8.

10. A climbing method for a mountain glacier robot, characterized in that For controlling the mountain glacier robot according to claim 9; the climbing method includes the following steps: S1, placing the mountain glacier robot on the mountain glacier; S2. Control the first climbing mechanism to work: Start the motor (230) to drive the drill pipe (260) to rotate in the drilling direction and drill downward into the ice layer until it reaches the first depth at which the entire mountain glacier robot can be fixed; then, under the driving action of the motor (230), the mounting plate (220) will drive the entire mountain glacier robot to make a circular motion around the drill pipe (260) through the guide rod (210). When the second climbing mechanism rotates to the predetermined position with the mountain glacier robot, control the motor (230) to pause. S3. Control the second climbing mechanism to work: Start the motor (230) to drive the drill pipe (260) to rotate in the drilling direction and drill downward into the ice layer; when the drill pipe (260) drills to the depth at which the entire mountain glacier robot can be fixed, control the motor (230) to pause. S4. Control the first climbing mechanism to work: Start the motor (230) to drive the drill pipe (260) to rotate in the withdrawing direction. After the drill pipe (260) withdraws upward from the ice layer, control the motor (230) to pause. S5. Control the second climbing mechanism to work: When the drill pipe (260) reaches the second depth at which the entire mountain glacier robot can be fixed, then, under the driving action of the motor (230), the mounting plate (220) will drive the entire mountain glacier robot to make a circular motion around the drill pipe (260) through the guide rod (210). When the first climbing mechanism rotates to the predetermined position with the mountain glacier robot, control the motor (230) to pause. S6. Control the first climbing mechanism to work: Start the motor (230) to drive the drill pipe (260) to rotate in the drilling direction and drill downward into the ice layer; when the drill pipe (260) drills to the depth at which the entire mountain glacier robot can be fixed, control the motor (230) to pause. S7. Control the second climbing mechanism to work: Start the motor (230) to drive the drill pipe (260) to rotate in the withdrawing direction. After the drill pipe (260) withdraws upward from the ice layer, control the motor (230) to pause. S8. Control the first climbing mechanism to work: When the drill pipe (260) reaches the first depth at which the entire mountain glacier robot can be fixed, then, under the driving action of the motor (230), the mounting plate (220) will drive the entire mountain glacier robot to make a circular motion around the drill pipe (260) through the guide rod (210). When the second climbing mechanism rotates to the predetermined position with the mountain glacier robot, control the motor (230) to pause. S9. Repeat steps S3 to S8 until the mountain glacier robot climbs to the destination. Among them, the first climbing mechanism and the second climbing mechanism are any two climbing mechanisms (200) among the climbing mechanisms (200).

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