Engineering geology robot

Abstract

The embodiment of the invention provides an engineering geological robot, and relates to the technical field of engineering geological drilling. The engineering geology robot comprises a bottom frame, air boxes are fixedly connected to the two sides of the bottom frame, supports are fixedly connected to the periphery of the outer side of the bottom frame, a left side frame is fixedly connected to the left side of the bottom frame, and a right side frame fixedly matched with the left side frame is fixedly connected to the right side of the bottom frame; an adjusting assembly and a first drilling assembly which are used for longitudinal drilling are arranged on the left side frame, the adjusting assembly comprises a double-head motor embedded in the bottom frame, and a second drilling assembly used for transverse drilling is arranged on the right side frame. A cold supply assembly is arranged on the air box, and a first cooling assembly used for being matched with the first drilling assembly in a cooling mode is arranged on one side of the cold supply assembly. On the basis of a mode of combining longitudinal angle adjustment and transverse multi-point drilling, rapid and efficient drilling operation is carried out on an engineering geology site.

Description

Technical Field

[0001] The invention belongs to the technical field of engineering geological drilling, and in particular relates to an engineering geological robot. Background Art

[0002] The purpose of engineering geology is to identify the geological conditions of various engineering sites, conduct a comprehensive evaluation of the site and various related geological problems, analyze and predict the possible changes and effects of geological conditions under the action of engineering construction, select the best site, and propose engineering measures to solve adverse geological problems, so as to provide a reliable scientific basis for ensuring the reasonable design, smooth construction and normal use of the project. The exploration process of engineering geology requires the use of drilling bits, and engineering geological drilling is one of the core technologies of engineering geological survey. It obtains underground geological information by drilling holes to provide key data support for engineering design and construction.

[0003] In the prior art (publication number CN113389498B, patent title: A Patent Application for Engineering Geological Drilling Equipment), water is directed from the outside of the drill pipe to the drill groove inside. The water is then directed through the drill groove to the bottom end face of the drill block. This allows the drill block to be fully exposed to water for cooling during drilling, preventing damage caused by excessive temperatures due to friction. During the implementation of this technical solution, it was discovered that the prior art has at least the following problems: Most existing drilling equipment uses a single-orientation drill bit to drill point by point at the engineering geological site. Due to the different orientations of the drilling points at the engineering geological site, the single drill bit needs to be adjusted frequently, which is rather troublesome. It cannot perform fast and efficient drilling operations on the engineering geological site based on a combination of longitudinal angle adjustment and horizontal multi-point drilling, resulting in low efficiency. Summary of the Invention

[0004] This application aims to solve at least one of the technical problems in the prior art, which is the inability to perform fast and efficient drilling operations on engineering geological sites based on a combination of longitudinal angle adjustment and transverse multi-point drilling. To this end, this application proposes an engineering geological robot.

[0005] To achieve the above object, the specific technical solutions of the present invention are as follows: An engineering geological robot comprises a base frame, both sides of which are fixedly connected to bellows, and brackets are fixedly connected to the four sides of the outer side of the base frame, the left side of the base frame is fixedly connected to a left frame, and the right side of the base frame is fixedly connected to a right frame fixedly matched with the left frame; The left frame is respectively provided with an adjustment assembly for longitudinal drilling and a first drilling assembly, and the adjustment assembly includes a double-headed motor embedded in the base frame; the right frame is provided with a second drilling assembly for transverse drilling, and the second drilling assembly includes a second electric push rod embedded in one output shaft of the double-headed motor; The bellows is provided with a cooling assembly, and the cooling assembly includes a main synchronous wheel fixed on the two output shafts of the double-headed motor. One side of the cooling assembly is provided with a first cooling assembly for cooling the first drilling assembly.

[0006] Preferably: the adjustment component also includes a first electric push rod embedded in the other output shaft of the double-headed motor, and the piston rod of the first electric push rod is fixedly connected to the first driving circular gear, the inner cavity of the left side frame is rotatably connected to a single-sided ring gear used in conjunction with the first driving circular gear, and the outer side of the single-sided ring gear is fixedly connected to a connecting piece, and the outer side of the connecting piece is fixedly connected to a fixed cover.

[0007] Preferably: the first drilling assembly includes a driving motor fixed to the outside of the fixed cover, and the output shaft of the driving motor is fixedly connected to a driving bevel gear, a driven bevel gear is meshed on the driving bevel gear, and the inner cavity of the driven bevel gear is fixedly connected to a hollow rod that rotates with the fixed cover, the top of the hollow rod is fixedly connected to the first drill rack, and the top of the first drill rack is fixedly connected to the first drill bit.

[0008] Preferably: the second drilling assembly also includes a second driving circular gear fixed to the outside of the second electric push rod, and the inner cavity of the right frame is rotatably connected to a double-sided ring gear used in conjunction with the second driving circular gear, the inner side of the double-sided ring gear is meshed with differential circular gears on all four sides, and the center of the inner side of the differential circular gear is meshed with a planetary circular gear, and the inner cavity of the planetary circular gear is fixedly connected to the second drilling frame.

[0009] Preferably: the cooling assembly also includes auxiliary synchronous wheels on both sides of the main synchronous wheel driven by a synchronous belt, and the inner side of the auxiliary synchronous wheel is fixedly connected to an exhaust fan blade used in conjunction with the bellows through a fan shaft, the bottom of the base frame is fixedly connected to the refrigerator through a mounting plate, and both ends of the refrigerator are connected to a cooling pipe connected to the bellows, and the top of the bellows is connected to a boost pipe.

[0010] Preferably: the first cooling component includes a four-way valve connected to the inner end of the boost pipe, and one end of the four-way valve is connected to a first rotary joint, the outer end of the first rotary joint is connected to a connecting elbow, and the top end of the connecting elbow is connected to a second rotary joint that rotates with the hollow rod, the inner cavities of the first drill rig and the first drill bit are both provided with a first hollow cavity that is connected and cooperates with the hollow rod, the first rotary joint, the connecting elbow and the second rotary joint, and the first drill rig is staggered with first cooling microholes around it.

[0011] Preferably: the fixed cover is fixedly connected to the outside of the drive motor with an angle sensor, and both sides of the fixed cover are fixedly connected to the electric telescopic rod through bent arms, the piston rod of the electric telescopic rod is fixedly connected to the positioning head, and positioning holes for use with the positioning head are opened all around the outside of the left frame and are distributed in a circumferentially equidistant state.

[0012] Preferably: an annular sliding opening that slides with the connecting piece is opened on the outer side of the left side frame, and a reserved opening is provided at the center of the left side frame, both sides of the annular sliding opening are slidably connected to support slides that are fixedly matched with the bent arm, and the outer side of the second drill frame is fixedly connected to the second drill bit, the inner cavity of the differential circular gear is fixedly connected to the third drill frame, and the outer side of the third drill frame is fixedly connected to the third drill bit.

[0013] Preferably: the inner cavities of the left and right frames are both provided with annular slide rails, and the inner cavities of the annular slide rails are slidably connected around with support slides fixedly matched with the single-sided gear ring and the double-sided gear ring, and the outer side of the bellows is provided with air intake micropores and distributed in an array shape.

[0014] Preferably, Mecanum wheels with drive motors are fixedly connected to the four sides of the bottom of the chassis, and a three-stage cylinder is embedded in the inner cavity of the bracket. The piston rod of the three-stage cylinder is fixedly connected to the support legs that are staggered with the Mecanum wheels, and the bottom of the support legs adopts an anti-slip pattern design.

[0015] The engineering geological robot of the present invention has the following advantages: 1. The engineering geological robot is first driven by a double-headed motor, and the first electric push rod adjusts the meshing stroke between the first driving circular gear and the single-sided gear ring, and then the connecting piece drives the fixed cover to rotate in a circle. At the same time, the fixed cover drives the first drill frame and the first drill bit to adjust the longitudinal angle through the hollow rod. After the longitudinal angle of the first drill frame and the first drill bit is adjusted to the right position, the driving motor drives the first drill frame and the first drill bit on the hollow rod through the driving bevel gear and the driven bevel gear to perform rotary drilling operations, thereby meeting the drilling needs of different longitudinal angles at the engineering geological site, saving time and effort.

[0016] 2. The engineering geological robot then uses the second electric push rod to adjust the meshing stroke between the second drive circular gear and the double-sided ring gear, and then the four sets of differential circular gears drive the second drill frame and the second drill bit on the planetary circular gear to rotate to drill the horizontal position of the engineering geological site. At the same time, the four sets of differential circular gears also drive the four third drill frames and the third drill bits to perform multi-point drilling at the horizontal position of the engineering geological site, thereby improving the multi-point drilling efficiency at the horizontal position of the engineering geological site.

[0017] 3. The engineering geological robot then firstly drives the exhaust fan blades on the two sets of auxiliary synchronous wheels to rotate in the two sets of wind boxes and generate wind pressure. The cool source is then provided by the refrigerator and supplied to the two sets of wind boxes through the two cooling pipes. Under the action of the wind pressure, the cool source in the two sets of wind boxes is forced to be supplied to the two boosting pipes. At the same time, the cool source supplied to the two boosting pipes is concentrated in the four-way valve, and passes through the first rotary joint, the connecting elbow and the second rotary joint in sequence to reach the hollow rod, and then supplied to the first hollow cavity in the first drill rig and the first drill bit, and is sprayed out by the first cooling micro-holes, so as to cool down the heat generated by the first drill rig and the first drill bit during the drilling operation, replacing the traditional water spray cooling operation. Not only is the cooling rapid and effective, but also the muddy site will not be caused on the drilling site, which is conducive to maintaining the cleanliness of the drilling site and facilitating the entry of other equipment and personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention 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.

[0019] Figure 1 This is a front view of the initial state of the engineering geological robot structure of the present invention; Figure 2 This is a rear view of the engineering geological robot structure in its initial state of the present invention; Figure 3 This is a front view of the engineering geological robot structure in working state of the present invention; Figure 4 A cross-sectional view of the engineering geological robot structure of the present invention in its initial state; Figure 5 A bottom view of the engineering geological robot structure of the present invention in working state; Figure 6 It is a side cross-sectional view of the initial state of the left side frame, adjustment assembly and first drilling assembly structure of the present invention; Figure 7 A side cross-sectional view of the adjustment assembly and the first drilling assembly structure of the present invention in a working state; Figure 8 is a side sectional view of the first drilling assembly structure of the present invention; Figure 9 It is a side view of the fixed cover structure of the present invention; Figure 10 It is a side cross-sectional view of the initial state of the right side frame, double-head motor and second drilling assembly structure of the present invention; Figure 11A side view of the double-headed motor and the second drilling assembly structure of the present invention in working state; Figure 12 It is an exploded sectional view of the second drilling assembly structure of the present invention; Figure 13 It is a partial side view of the structure of the first drilling assembly, the second drilling assembly, the cold delivery assembly, the first cooling assembly and the second cooling assembly of the present invention; Figure 14 It is a partial exploded view of the structure of the cooling assembly, the first cooling assembly and the second cooling assembly of the present invention; Figure 15 It is a partial side cross-sectional view of the engineering geological robot structure of the present invention.

[0020] Explanation of the symbols in the figure: 1. Base frame; 2. Bellows; 3. Bracket; 4. Left frame; 5. Right frame; 61. Double-headed motor; 62. First electric push rod; 63. First driving circular gear; 64. Single-sided ring gear; 65. Connector; 66. Fixed cover; 71. Driving motor; 72. Driving bevel gear; 73. Driven bevel gear; 74. Hollow rod; 75. First drilling stand; 76. First drill bit; 81. Second electric push rod; 82. Second driving circular gear; 83. Double-sided ring gear; 84. Differential circular gear; 85. Planetary circular gear; 86. Second drilling stand; 91. Main synchronous gear; 92. Secondary synchronous gear; 93. Exhaust fan blade; 94. Refrigerator; 95. Cooling pipe; 96. Booster pipe; 101 , four-way valve; 102, first rotary joint; 103, connecting elbow; 104, second rotary joint; 105, first hollow cavity; 106, first cooling microhole; 111, air distribution pipe rack; 112, third rotary joint; 113, second hollow cavity; 114, second cooling microhole; 115, third hollow cavity; 116, third cooling microhole; 12, angle sensor; 13, electric telescopic rod; 14, positioning head; 15, positioning hole; 16, annular slide; 17, support slide; 18, second drill bit; 19, third drill rack; 20, third drill bit; 21, annular slide rail; 22, support slide; 23, air intake microhole; 24, Mecanum wheel; 25, three-stage cylinder; 26, support leg. DETAILED DESCRIPTION

[0021] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments: like Figures 1-15As shown, the engineering geological robot of the present invention includes a base frame 1, both sides of the base frame 1 are fixedly connected to a bellows 2, and the four sides of the outer side of the base frame 1 are fixedly connected to a bracket 3, the left side of the base frame 1 is fixedly connected to a left side bracket 4, and the right side of the base frame 1 is fixedly connected to a right side bracket 5 fixedly matched with the left side bracket 4; the four sides of the bottom of the base frame 1 are fixedly connected to Mecanum wheels 24 with a drive motor, which is convenient for adjusting the forward and backward movement of the base frame 1 and the entire body, and the inner cavity of the bracket 3 is embedded with a three-stage cylinder 25, the piston rod of the three-stage cylinder 25 is fixedly connected to a support leg 26 staggered with the Mecanum wheel 24, and the bottom of the support leg 26 adopts an anti-slip pattern design to adjust the base frame 1 and the entire body to a certain height; The left side frame 4 is respectively provided with an adjustment component for longitudinal drilling and a first drilling component, and the adjustment component includes a double-headed motor 61 embedded in the base frame 1, and the right side frame 5 is provided with a second drilling component for transverse drilling, and the second drilling component includes a second electric push rod 81 embedded in one output shaft of the double-headed motor 61, which meets the needs of multi-point drilling at different longitudinal angles and transverse positions at the engineering geological site, improves the efficiency of multi-point drilling at the transverse position of the engineering geological site, and saves time and effort; a cooling component is provided on the bellows 2, and the cooling component includes a main synchronous wheel 91 fixed on the two output shafts of the double-headed motor 61, and a first cooling component for cooling the first drilling component is provided on one side of the cooling component, which cools and cools the heat generated by the first drill frame 75 and the first drill bit 76 during the drilling operation, replacing the traditional water spray cooling operation. It not only cools down quickly and has obvious effects, but also does not cause muddy and muddy sites at the drilling site, is conducive to maintaining the cleanliness of the drilling site, and facilitates the entry of other equipment and personnel.

[0022] like Figure 6-Figure 12 As shown, the adjustment component also includes a first electric push rod 62 embedded in the other output shaft of the double-headed motor 61, and the piston rod of the first electric push rod 62 is fixedly connected to the first driving circular gear 63, and the inner cavity of the left side frame 4 is rotatably connected to the single-sided ring gear 64 used in conjunction with the first driving circular gear 63. The double-headed motor 61 provides a driving source, and the first electric push rod 62 adjusts the meshing stroke between the first driving circular gear 63 and the single-sided ring gear 64, and the outer side of the single-sided ring gear 64 is fixedly connected to a connecting member 65, and the outer side of the connecting member 65 is fixedly connected to a fixed cover 66, and the connecting member 65 drives the fixed cover 66 to rotate in a circle; The first drilling assembly includes a driving motor 71 fixed to the outside of the fixed cover 66, and the output shaft of the driving motor 71 is fixedly connected to a driving bevel gear 72, a driven bevel gear 73 is meshed on the driving bevel gear 72, and the inner cavity of the driven bevel gear 73 is fixedly connected to a hollow rod 74 that rotates with the fixed cover 66, the top of the hollow rod 74 is fixedly connected to a first drill frame 75, and the top of the first drill frame 75 is fixedly connected to a first drill bit 76, the fixed cover 66 drives the first drill frame 75 and the first drill bit 76 to adjust the longitudinal angle through the hollow rod 74, after the longitudinal angle of the first drill frame 75 and the first drill bit 76 are adjusted to the right position, the driving motor 71 drives the first drill frame 75 and the first drill bit 76 on the hollow rod 74 through the driving bevel gear 72 and the driven bevel gear 73 to perform rotary drilling operations; An angle sensor 12 is fixedly connected to the outside of the fixed cover 66 near the drive motor 71 to detect the angle adjustment position of the fixed cover 66 in real time, and both sides of the fixed cover 66 are fixedly connected to the electric telescopic rod 13 through a bent arm, and the piston rod of the electric telescopic rod 13 is fixedly connected to the positioning head 14, and positioning holes 15 used in conjunction with the positioning head 14 are opened on all four sides of the outside of the left side frame 4 and are distributed in a circumferentially equidistant state. After the angle is adjusted into place, the fixed cover 66 is clamped and positioned to prevent shaking and displacement after the fixed cover 66 is in place.

[0023] The second drilling assembly also includes a second driving circular gear 82 fixed to the outside of the second electric push rod 81, and the inner cavity of the right frame 5 is rotatably connected to a double-sided gear ring 83 used in conjunction with the second driving circular gear 82. The second electric push rod 81 adjusts the meshing stroke between the second driving circular gear 82 and the double-sided gear ring 83. Differential circular gears 84 are meshed on all four sides of the inner side of the double-sided gear ring 83, and a planetary circular gear 85 is meshed at the center of the inner side of the differential circular gear 84. The inner cavity of the planetary circular gear 85 is fixedly connected to a second drilling frame 86. The four sets of differential circular gears 84 drive the second drilling frame 86 and the second drill bit 18 on the planetary circular gear 85 to rotate, thereby drilling the horizontal position of the engineering geological site. At the same time, the four sets of differential circular gears 84 also drive the four third drilling frames 19 and the third drill bit 20 to perform multi-point drilling processing on the horizontal position of the engineering geological site, thereby improving the multi-point drilling efficiency at the horizontal position of the engineering geological site. The outer side of the left frame 4 is provided with an annular sliding opening 16 that slides with the connecting piece 65, and a reserved opening is provided at the center of the left frame 4. Both sides of the annular sliding opening 16 are slidably connected with support slides 17 that are fixedly matched with the bent arm, which play a role of sliding support for the connecting piece 65 and the fixed cover 66, thereby improving the rotational stability of the connecting piece 65 and the fixed cover 66. The outer side of the second drill frame 86 is fixedly connected with the second drill bit 18, and the inner cavity of the differential circular gear 84 is fixedly connected with the third drill frame 19, and the outer side of the third drill frame 19 is fixedly connected with the inner cavity of the differential circular gear 84. The side is fixedly connected with a third drill bit 20 to meet the multi-point drilling needs of the horizontal position of the engineering geological site. The inner cavities of the left frame 4 and the right frame 5 are both provided with an annular slide rail 21, and the inner cavities of the annular slide rail 21 are all slidably connected with support slides 22 fixedly matched with the single-sided gear ring 64 and the double-sided gear ring 83. The outer side of the bellows 2 is provided with air intake micropores 23 and distributed in an array shape, which play a role of rotational support for the single-sided gear ring 64 and the double-sided gear ring 83, thereby improving the rotational stability of the single-sided gear ring 64 and the double-sided gear ring 83; The cooling assembly also includes auxiliary synchronous wheels 92 on both sides of the main synchronous wheel 91 driven by a synchronous belt, and the inner side of the auxiliary synchronous wheel 92 is fixedly connected to an exhaust fan blade 93 used in conjunction with the wind box 2 through a fan shaft. The two sets of main synchronous wheels 91 drive the exhaust fan blades 93 on the two sets of auxiliary synchronous wheels 92 to rotate in the two sets of wind boxes 2 and generate wind pressure. The bottom of the chassis 1 is fixedly connected to a refrigerator 94 through a mounting plate, and both ends of the refrigerator 94 are connected to a cold delivery pipe 95 connected to the wind box 2. The top of the wind box 2 is connected to a boost pipe 96. The cold source is then provided by the refrigerator 94 and supplied to the two sets of wind boxes 2 by the two cold delivery pipes 95. Under the action of wind pressure, the cold source in the two sets of wind boxes 2 is forced to be supplied to the two boost pipes 96. The first cooling component includes a four-way valve 101 connected to the inner end of the boost pipe 96, and one end of the four-way valve 101 is connected to a first rotary joint 102, the outer end of the first rotary joint 102 is connected to a connecting elbow 103, and the top of the connecting elbow 103 is connected to a second rotary joint 104 that rotates with the hollow rod 74. The cold source supplied to the two boost pipes 96 is concentrated in the four-way valve 101 and passes through the first rotary joint 102, the connecting elbow 103 and the second rotary joint 104 in sequence to reach the hollow rod 74. The inner cavities of the first drill rig 75 and the first drill bit 76 are both provided with A first hollow cavity 105 is connected and cooperated with the hollow rod 74, the first rotary joint 102, the connecting elbow 103 and the second rotary joint 104, and first cooling microholes 106 are staggeredly opened on all sides of the first drill rig 75. The cold source is then supplied to the first hollow cavity 105 in the first drill rig 75 and the first drill bit 76, and sprayed out by the first cooling microholes 106, so as to cool down the heat generated by the first drill rig 75 and the first drill bit 76 during the drilling operation, replacing the traditional water spray cooling operation. Not only is the cooling rapid and effective, but it also does not cause muddy conditions at the drilling site.

[0024] like Figure 13-14 As shown, during the drilling of engineering geological sites, water spray cooling is mostly used to cool the drilling equipment, which not only requires a large amount of water, resulting in water waste, but also causes the drilling site to be muddy, which is not conducive to the entry of other equipment and personnel. A second cooling component used in conjunction with the second drilling component is provided on the other side of the cold delivery component, and the second cooling component includes an air distribution pipe rack 111 connected to the other end of the four-way valve 101, and the four ends of the outer side of the air distribution pipe rack 111 are connected to the third rotary joint 112 that rotates with the second drill rig 86 and the third drill rig 19, and the second drill rig 86 and the second drill bit 18 are provided with a second hollow cavity 113 that is connected to the third rotary joint 112. The second drill rig 86 is staggered with second cooling microholes 114 that are connected to the second hollow cavity 113, and the inner cavities of the third drill rig 19 and the third drill bit 20 are Each drill rig 19 is provided with a third hollow cavity 115 that communicates with the third rotary joint 112. The third drill rig 19 is staggered with third cooling microholes 116 that communicate with the third hollow cavity 115. The cold source in the four-way valve 101 is supplied to the second hollow cavity 113 in the second drill rig 86 and the second drill bit 18, and the third hollow cavity 115 in the third drill rig 19 and the third drill bit 20 through the third rotary joint 112 on the gas distribution pipe rack 111. The cold source is then sprayed out through the second cooling microholes 114 in the second drill rig 86 and the third cooling microholes 116 in the third drill rig 19. This cools down the heat generated by the second drill rig 86 and the second drill bit 18, and the third drill rig 19 and the third drill bit 20 during the drilling operation, replacing the traditional water spray cooling method. This helps maintain a clean and orderly engineering geological site and facilitates the entry of other equipment and personnel.

[0025] Working principle of the engineering geological robot: When it is necessary to perform longitudinal drilling on the engineering geological site, first control the four three-stage cylinders 25 in the bracket 3 to start synchronously and use the four sets of support legs 26 as support force to drive the base frame 1 and its overall height adjustment upward or downward, and use it in conjunction with the first drilling rig 75 and the first drill bit 76, the second drilling rig 86 and the second drill bit 18, and multiple third drilling rigs 19 and the third drill bit 20 for drilling. After controlling the first electric push rod 62 to start and drive the first drive circular gear 63 to move outward to the meshing part of the single-sided ring gear 64, the double-headed motor 61 is controlled to start and drive the single-sided ring gear 64 to rotate linearly at a uniform speed through the first drive circular gear 63 that is meshed in place. The single-sided ring gear 64 drives the fixed cover 66 to rotate linearly through the connecting piece 65, and the angle sensor 12 detects the adjustment angle of the fixed cover 66 in real time. After the fixed cover 66 drives the first drill frame 75 and the first drill bit 76 to adjust the longitudinal angle into place through the hollow rod 74, the two electric telescopic rods 13 are controlled to open and drive the two positioning heads 14 to be inserted into the positioning holes 15 accordingly. After the fixed cover 66 and its components are positioned as a whole, the drive motor 71 is controlled to start and drive the driven bevel gear 73 to rotate through the driving bevel gear 72. The driven bevel gear 73 drives the first drill frame 75 and the first drill bit 76 to rotate through the hollow rod 74 and drill the drilling point. In this way, multiple-point drilling operations are performed at different longitudinal angles. After the drilling operation at the longitudinal position of the engineering geological site is completed, the first drill frame 75 and the first drill bit 76 are first controlled to reset to the initial state, and the double-headed motor 61 is controlled to be turned off. Then the first electric push rod 62 is controlled to be turned off and the first drive circular gear 63 is driven to move inward and disengage from the meshing portion of the single-sided gear ring 64 to the initial position. When it is necessary to perform horizontal drilling on the engineering geological site, the second electric push rod 81 is first controlled to start and drive the second drive circular gear 82 to move outward to the meshing portion of the double-sided gear ring 83, and then the double-headed motor 61 is controlled to start again and the second drive circular gear 82 that is meshed in place drives the double-sided gear ring 83 to rotate linearly at a uniform speed. The double-sided gear ring 83 drives the planetary circular gear 85 to rotate linearly through the four sets of differential circular gears 84. The planetary circular gear 85 drives the second drilling frame 86 and the second drill bit 18 to rotate. At the same time, the four sets of differential circular gears 84 also drive The four third drill rigs 19 and the third drill bit 20 rotate accordingly, and then the four drive motors are controlled to start and drive the base frame 1 and its entirety to move forward or backward through the four Mecanum wheels 24, and are used in conjunction with the second drill rig 86 and the second drill bit 18 as well as the third drill rig 19 and the third drill bit 20 for longitudinal drilling. Similarly, after completing the drilling operation at the horizontal position of the engineering geological site, the double-headed motor 61 is first controlled to pause, and then the second electric push rod 81 is controlled to shut down and drive the second drive circular gear 82 to move inward out of the meshing portion of the double-sided gear ring 83 to the initial position; During the longitudinal and transverse drilling of the engineering geological site, the double-headed motor 61 drives the two sets of main synchronous wheels 91 to rotate synchronously. The two sets of main synchronous wheels 91 drive the exhaust fan blades 93 on the two sets of auxiliary synchronous wheels 92 to rotate in the two sets of wind boxes 2 through two synchronous belts, and generate wind force in the two sets of wind boxes 2. The refrigerator 94 is controlled to open in advance and the generated cold source is supplied to the two sets of wind boxes 2 through two cold supply pipes 95. Under the action of wind pressure, the cold source supplied to the two sets of wind boxes 2 is forced to reach the two boosting pipes 96 for further pressurization treatment. At the same time, after the cold sources reaching the two boosting pipes 96 converge and reach the four-way valve 101, the cold source first passes through the connecting elbow 103 on the first rotary joint 102 that rotates with the angle of the hollow rod 74, passes through the second rotary joint 104, and reaches the first drilling rig 75 and the first The heat generated by the first drill rig 75 and the first drill bit 76 during the drilling operation is rapidly cooled and lowered. Another cold source in the four-way valve 101 passes through the third rotary joint 112 on the gas distribution pipe rack 111 and reaches the second hollow cavity 113 in the second drill rig 86 and the second drill bit 18, as well as the third hollow cavities 115 in the plurality of third drill rigs 19 and the third drill bit 20. The heat is then ejected and lowered through the second cooling microholes 114 on the second drill rig 86 and the third cooling microholes 116 on the plurality of third drill rigs 19, thereby rapidly cooling and lowering the temperature of the second drill rig 86 and the second drill bit 18, as well as the plurality of third drill rigs 19 and the third drill bit 20 during the drilling operation.

[0026] It should be noted that the specific models and specifications of the double-headed motor 61, electric push rod, drive motor 71, refrigerator 94, electric telescopic rod 13 and three-stage cylinder 25 need to be selected and determined according to the actual specifications of the device. The specific selection calculation method adopts the existing technology in this field, so it will not be repeated in detail.

[0027] The power supply circuits of the double-headed motor 61, the electric push rod, the drive motor 71, the refrigerator 94, the electric telescopic rod 13 and the three-stage cylinder 25 are clear to those skilled in the art and will not be described in detail here.

[0028] It will be understood that the present invention is described by way of some embodiments, and it will be appreciated by those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be protected by the present invention.

Claims

1. An engineering geological robot, comprising a chassis (1), characterized in that: Both sides of the base frame (1) are fixedly connected to the bellows (2), and the four sides of the outer side of the base frame (1) are fixedly connected to the brackets (3), the left side of the base frame (1) is fixedly connected to the left side frame (4), and the right side of the base frame (1) is fixedly connected to the right side frame (5) fixedly matched with the left side frame (4); The left side frame (4) is provided with an adjustment component for longitudinal drilling and a first drilling component, and the adjustment component includes a double-headed motor (61) embedded in the bottom frame (1); the right side frame (5) is provided with a second drilling component for transverse drilling, and the second drilling component includes a second electric push rod (81) embedded in an output shaft of the double-headed motor (61); The bellows (2) is provided with a cooling assembly, and the cooling assembly includes a main synchronous wheel (91) fixed on two output shafts of the double-headed motor (61), and one side of the cooling assembly is provided with a first cooling assembly for cooling the first drilling assembly.

2. The engineering geological robot according to claim 1, characterized in that: The adjustment component also includes a first electric push rod (62) embedded in another output shaft of the double-headed motor (61), and the piston rod of the first electric push rod (62) is fixedly connected to the first driving circular gear (63), the inner cavity of the left side frame (4) is rotatably connected to a single-sided ring gear (64) used in conjunction with the first driving circular gear (63), and the outer side of the single-sided ring gear (64) is fixedly connected to a connecting member (65), and the outer side of the connecting member (65) is fixedly connected to a fixed cover (66).

3. The engineering geological robot according to claim 2, characterized in that: The first drilling assembly comprises a driving motor (71) fixed to the outside of the fixed cover (66), and the output shaft of the driving motor (71) is fixedly connected to a driving bevel gear (72), a driven bevel gear (73) is meshed on the driving bevel gear (72), and the inner cavity of the driven bevel gear (73) is fixedly connected to a hollow rod (74) that is rotatably engaged with the fixed cover (66), the top of the hollow rod (74) is fixedly connected to a first drill frame (75), and the top of the first drill frame (75) is fixedly connected to a first drill bit (76).

4. The engineering geological robot according to claim 3, characterized in that: The second drilling assembly further comprises a second driving circular gear (82) fixed to the outside of the second electric push rod (81), and the inner cavity of the right frame (5) is rotatably connected to a double-sided gear ring (83) used in conjunction with the second driving circular gear (82), the inner periphery of the double-sided gear ring (83) is meshed with a differential circular gear (84), and the center of the inner side of the differential circular gear (84) is meshed with a planetary circular gear (85), and the inner cavity of the planetary circular gear (85) is fixedly connected to the second drilling frame (86).

5. The engineering geological robot according to claim 4, characterized in that: The cooling assembly further comprises auxiliary synchronous wheels (92) driven on both sides of the main synchronous wheel (91) by a synchronous belt, and the inner side of the auxiliary synchronous wheel (92) is fixedly connected to an exhaust fan blade (93) used in conjunction with the bellows (2) through a fan shaft, the bottom of the base frame (1) is fixedly connected to a refrigerator (94) through a mounting plate, and both ends of the refrigerator (94) are connected to a cooling pipe (95) connected to the bellows (2), and the top of the bellows (2) is connected to a boost pipe (96).

6. The engineering geological robot according to claim 5, characterized in that: The first cooling component comprises a four-way valve (101) connected to the inner end of the boost pipe (96), and one end of the four-way valve (101) is connected to a first rotary joint (102), the outer end of the first rotary joint (102) is connected to a connecting elbow (103), and the top end of the connecting elbow (103) is connected to a second rotary joint (104) that rotates with the hollow rod (74), the inner cavities of the first drill frame (75) and the first drill bit (76) are both provided with a first hollow cavity (105), and the first drill frame (75) is staggered with first cooling micropores (106) around its periphery.

7. The engineering geological robot according to claim 6, characterized in that: The fixed cover (66) is fixedly connected to an angle sensor (12) on the outside near the drive motor (71), and both sides of the fixed cover (66) are fixedly connected to an electric telescopic rod (13) through a bent arm, the piston rod of the electric telescopic rod (13) is fixedly connected to a positioning head (14), and positioning holes (15) used in conjunction with the positioning head (14) are opened on all four sides of the outside of the left frame (4) and are distributed in a circumferentially equidistant state.

8. The engineering geological robot according to claim 7, characterized in that: An annular sliding opening (16) is provided on the outer side of the left side frame (4), and a reserved opening is provided at the center of the left side frame (4). Both sides of the annular sliding opening (16) are slidably connected to support slides (17) fixedly matched with the bent arm, and a second drill bit (18) is fixedly connected to the outer side of the second drill frame (86). The inner cavity of the differential circular gear (84) is fixedly connected to the third drill frame (19), and a third drill bit (20) is fixedly connected to the outer side of the third drill frame (19).

9. The engineering geological robot according to claim 8, characterized in that: The inner cavities of the left frame (4) and the right frame (5) are both provided with an annular slide rail (21), and the inner cavities of the annular slide rail (21) are all slidably connected to support slides (22) fixedly matched with the single-sided gear ring (64) and the double-sided gear ring (83), and the outer side of the bellows (2) is provided with air inlet micropores (23) distributed in an array.

10. The engineering geological robot according to claim 9, characterized in that: Mecanum wheels (24) with drive motors are fixedly connected to the four sides of the bottom of the base frame (1), and a three-stage cylinder (25) is embedded in the inner cavity of the bracket (3). The piston rod of the three-stage cylinder (25) is fixedly connected to a support leg (26) staggered with the Mecanum wheel (24), and the bottom of the support leg (26) adopts an anti-slip pattern design.

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