A casing for a ground drilling robot and a ground drilling robot

Abstract

The application relates to the technical field of robots, and discloses a shell for a ground drilling robot and the ground drilling robot. The shell for the ground drilling robot comprises a controller, a shell body and a film. A plurality of scales are arranged on the outer surface of the shell body in an array. The circular arc end of each scale is provided with a first electromagnet, and the shell body is provided with a second electromagnet. The connecting end of each scale and the shell body are rotationally connected through a rotating shaft. A torsional spring is sleeved on the rotating shaft. One torsional arm of the torsional spring is connected to the shell body, and the other torsional arm of the torsional spring is connected to the scale. One film is connected between each scale and the shell body. A pump air assembly is arranged in the shell body. An air outlet and an air inlet which are in communication with the pump air assembly are arranged in each cavity. The controller is electrically connected with the first electromagnet, the second electromagnet and the pump air assembly. The plurality of openable and closable scales can improve the anchoring force and the friction force between the shell body and the soil.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a shell for a ground drilling robot and a ground drilling robot. BACKGROUND

[0002] The ground drilling robot can explore different depths of soil by drilling into the ground.

[0003] At present, the existing ground drilling robot sequentially comprises a drill bit section, a front anchoring section, an extension section and a rear anchoring section from front to back; the working principle of the ground drilling robot is as follows: first, the rear side of the robot is anchored in the soil body through the rear anchoring section, then the drill bit of the drill bit section rotates, at the same time, the drill bit section is drilled forward by extending the extension section; after the drill bit section drills a certain distance, the front side of the robot is anchored in the soil body through the front anchoring section, and the anchoring of the rear anchoring section is released, then the rear anchoring section is moved forward by contracting the extension section, so as to complete one movement cycle; at the beginning of the next movement cycle, the anchoring of the front anchoring section is released first, then the rear anchoring section is anchored in the soil body, and then the next soil drilling cycle is carried out, so as to cycle and reciprocate, so that the ground drilling robot performs drilling work in the soil body.

[0004] However, during the drilling process of the ground drilling robot, due to factors such as soil compaction, cohesion and water content, the physical and mechanical properties of the soil differ on the front and back sides, which will cause the ground drilling robot to be unable to drill or advance, the reason for which is that when the anchoring force of the front anchoring section or the rear anchoring section cannot overcome the force of the extension section on the front anchoring section or the rear anchoring section, i.e., when the anchoring force of the front anchoring section or the rear anchoring section is insufficient to overcome the external force, the front anchoring section or the rear anchoring section will move relatively with the soil, so that the drill bit section or the rear anchoring section cannot move forward, thereby causing the ground drilling robot to be unable to continue drilling forward; at the same time, in the prior art, when the ground drilling robot releases the anchoring effect, the anchoring member will carry some soil, which will hinder the complete closing of the anchoring member, and the anchoring member that cannot close completely will increase the resistance of the ground drilling robot during movement, thereby hindering the movement of the ground drilling robot. SUMMARY

[0005] In order to solve the above technical problems, the present application provides a shell for a ground drilling robot and a ground drilling robot.

[0006] In a first aspect, the present application provides a shell for a ground drilling robot, comprising a controller, a shell body, and a film made of elastic material; a plurality of water-drop-shaped scales are arranged on the outer surface of the shell body in an array, one end of the long axis of the scale is a circular arc end, and the other end is a connecting end; the circular arc end of the scale is provided with a first electromagnet, and the shell body is provided with a second electromagnet at a position corresponding to the first electromagnet; the connecting end of the scale and the shell body are rotationally connected through a rotating shaft, a torsional spring is sleeved on the rotating shaft, one torsional arm of the torsional spring is connected to the shell body, and the other torsional arm of the torsional spring is connected to the scale; when the first electromagnet and the second electromagnet are powered on, the first electromagnet and the second electromagnet are far away from each other due to repulsion, and when the first electromagnet and the second electromagnet are powered off, the torsional spring acts on the scale to make the first electromagnet close to the second electromagnet; a film is connected between each scale and the shell body, and the film can close the space between the corresponding scale and the shell body into an independent cavity; a pump assembly is arranged in the shell body, and each cavity is provided with an air outlet and an air inlet, and the pump assembly is in communication with each air outlet and air inlet; the controller is electrically connected with the first electromagnet, the second electromagnet, and the pump assembly.

[0007] Optionally, the shell body is in a cylindrical shape, the scales arranged on the shell body are arranged in rows and columns, the row direction is the length direction of the shell body, the column direction is the circumferential direction of the shell body, and the adjacent two rows of scales are staggered, and the length direction of each scale is parallel to the length direction of the shell body.

[0008] Optionally, it further comprises a strain gauge and a pressure sensor arranged on the outer surface of the scale, and a temperature and humidity sensor arranged in the shell body, and the controller is electrically connected with the strain gauge, the pressure sensor, and the temperature and humidity sensor.

[0009] Optionally, the positions of the rotating shafts arranged on the shell body are each provided with a mounting hole, and each rotating shaft is arranged in a corresponding mounting hole; the connecting end of each scale is connected with an elastic member, and the elastic member is connected to the shell body and can cover the corresponding mounting hole.

[0010] Optionally, each mounting hole is provided with a torsional spring fixing seat, and the connecting end of each scale is provided with a protrusion, one torsional arm of the torsional spring is connected to the shell body through the torsional spring fixing seat, and the other torsional arm of the torsional spring is connected to the scale through the protrusion.

[0011] Optionally, the scale is made of an aluminum alloy material, and the surface of the scale is coated with a polytetrafluoroethylene coating.

[0012] Optionally, the shell body is made of a flexible material, and the outer surface of the shell body is provided with an elastic film made of an elastic material.

[0013] Optionally, the air pumping assembly comprises a plurality of micro air pumps, a plurality of air supply air ducts and a plurality of air extraction air ducts, the outer surface of the shell body is provided with a plurality of air supply areas; the scales in each air supply area are a group, each group of scales is configured with a micro air pump arranged in the shell body, each micro air pump and all the air outlets in the corresponding air supply area are communicated through an air supply air duct, and each micro air pump and all the air inlets in the corresponding air supply area are communicated through an air extraction air duct.

[0014] Optionally, the air supply air duct and the air extraction air duct are both made of flexible silica gel material.

[0015] In a second aspect, the present application provides a drilling robot, which comprises a robot body and the shell for the drilling robot provided in the first aspect; the outer surface of the robot body is provided with a plurality of protrusions and a plurality of threaded holes, the inner wall of the shell body is provided with a plurality of grooves corresponding to the protrusions, the shell body is provided with a plurality of through holes corresponding to the threaded holes, and a bolt is inserted into each through hole; when the robot body is arranged in the shell for the drilling robot, each protrusion extends into the corresponding groove, and one end of each bolt is threadedly connected through the through hole and the corresponding threaded hole.

[0016] Compared with the prior art, the technical scheme provided by the embodiments of the present application has the following advantages:

[0017] 1. By arranging water-drop-shaped scales on the outer surface of the shell body and combining the first electromagnet, the second electromagnet and the torsional spring, the automatic opening and closing of the scales can be realized: when the first electromagnet and the second electromagnet are electrified, the first electromagnet and the second electromagnet are opened due to repulsive force, at this time, the scales can be embedded in the soil to realize anchoring, since a plurality of scales are arranged on the shell body, a plurality of scales will be anchored in the soil, at this time, the friction and anchoring force between the shell body and the soil are not only significantly enhanced, but also uniformly distributed; when the power is off, the torsional spring drives the scales to reset and close, thereby reducing the resistance during movement.

[0018] 2. By arranging the air pumping assembly and the film, when the scales are opened, the air pumping assembly is started, at this time, the film closes the cavity between the scales and the shell body, thereby avoiding the soil from entering the inside of the scales; before the scales are contracted, the air pumping assembly is started to blow air into the cavity, the soil outside the film is pushed away by the gas acting on the film, thereby preparing for the closing of the scales; then the scales are closed, and the air is extracted by the air pumping assembly at the same time until the scales are closed, thereby reducing the resistance when the scales are closed, and enabling the scales to be completely closed.

[0019] 3. By arranging the controller, the first electromagnet, the second electromagnet and the air pumping assembly, the automatic control and adjustment of the scale state and air flow delivery can be realized, and in combination with the movement cycle of the robot, the overall working efficiency of the robot is improved. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 Structure schematic diagram of single scale and shell body connection provided by the embodiment one of the present application.

[0021] Figure 2 Structure schematic diagram of single scale and shell body connection provided by the embodiment one of the present application. Figure 1 Right view of the structure schematic diagram of single scale and shell body connection provided by the embodiment one of the present application.

[0022] Figure 3 Structure schematic diagram of scale staggered arrangement provided by the embodiment one of the present application.

[0023] Figure 4 Structure schematic diagram of shell body not unfolded into a cylindrical shape provided by the embodiment one of the present application.

[0024] Figure 5 Structure schematic diagram of shell body unfolded provided by the embodiment one of the present application.

[0025] Figure 6 Structure schematic diagram of shell body provided with an elastic film outside provided by the embodiment one of the present application.

[0026] Figure 7 Structure schematic diagram of scale opened provided by the embodiment one of the present application.

[0027] Figure 8 Structure schematic diagram of scale closed and removing soil provided by the embodiment one of the present application.

[0028] Figure 9 Structure schematic diagram of scale closed provided by the embodiment one of the present application.

[0029] Figure 10 Structure schematic diagram of scale completely closed provided by the embodiment one of the present application.

[0030] Figure 11 Structure schematic diagram of the earth drilling robot provided by the embodiment two of the present application.

[0031] Explanation of reference numerals: 1, shell body; 2, scale; 3, first electromagnet; 4, second electromagnet; 5, torsion spring; 6, elastic member; 7, air supply air duct; 8, torsion spring fixing seat; 9, elastic rope; 10, film; 11, cavity; 12, elastic film; 13, soil; 14, split shell; 15, drill bit section; 16, front side anchoring section; 17, telescopic section; 18, rear side anchoring section; 19, air exhaust air duct; 21, air outlet; 22, air inlet. DETAILED DESCRIPTION

[0032] One specific embodiment of the present application will be described in detail below with reference to the accompanying drawings, but it should be understood that the protection scope of the present application is not limited by the specific embodiment.

[0033] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the technical solutions of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0034] Embodiment 1

[0035] As shown in Figure 1 , Figure 2 and Figure 3 , the present embodiment provides a shell for a drilling robot, which comprises a controller, a shell body 1 and a film 10 made of elastic material; a plurality of scales 2 in the shape of water droplets are arranged in an array on the outer surface of the shell body 1, one end of the long axis of the scale 2 is a circular arc end, and the other end is a connecting end; the circular arc end of the scale 2 is provided with a first electromagnet 3, and the shell body 1 is provided with a second electromagnet 4 at a position corresponding to the first electromagnet 3; the connecting end of the scale 2 and the shell body 1 are rotationally connected by a rotating shaft, a torsional spring 5 is sleeved on the rotating shaft, one torsional arm of the torsional spring 5 is connected to the shell body 1, and the other torsional arm of the torsional spring 5 is connected to the scale 2; when the first electromagnet 3 and the second electromagnet 4 are energized, the first electromagnet 3 and the second electromagnet 4 move away due to repulsion, and when the first electromagnet 3 and the second electromagnet 4 are de-energized, the torsional spring 5 acts on the scale 2 to cause the first electromagnet 3 to move towards the second electromagnet 4; a film 10 is connected between each scale 2 and the shell body 1, and the film 10 can close the space between the corresponding scale 2 and the shell body 1 into an independent cavity 11; a gas pumping assembly is provided in the shell body 1, and an air outlet and an air inlet are provided in each cavity 11, and the gas pumping assembly communicates with each air outlet and air inlet; the controller is electrically connected with the first electromagnet 3, the second electromagnet 4 and the gas pumping assembly.

[0036] In the present embodiment, the scale 2 has a rounded head and a slightly pointed tail, the length of the long axis is controlled to be 2-3 cm, and the length of the short axis is 1-2 cm; this water droplet shape is adapted to the flow characteristics of soil particles, and can effectively reduce the frontal resistance during penetration; the first electromagnet 3 and the second electromagnet 4 are both micro electromagnets, which are composed of enameled wire with a wire diameter of about 0.2 mm wound on a soft iron core, and the number of turns is 500-800 turns; when energized, the repulsive force generated by the first electromagnet 3 and the second electromagnet 4 is sufficient to overcome the resistance of the torsional spring 5, so that the scale 2 is instantly popped open along a predetermined trajectory and embedded in the soil; the torsional spring 5 is made of stainless steel material, and the stiffness coefficient is determined according to the size of the scale 2 and the expected pop-out force, and the range is 10-30 N / mm.

[0037] In the embodiment, the angle of the scale 2 when opened is between 35° and 45°, and the thin film 10 is connected to the scale 2 at a position close to the outer edge of the scale 2 on one side and connected to the shell body 1 on the other side.

[0038] As shown in Figure 3 , Figure 4 and Figure 5 , the shell body 1 is in a cylindrical shape, the scales 2 arranged on the shell body 1 are arranged in rows and columns, the row direction is the length direction of the shell body 1, the column direction is the circumferential direction of the shell body 1, and the two adjacent rows of scales 2 are staggered, and the length direction of each scale 2 is parallel to the length direction of the shell body 1.

[0039] In the embodiment, the two adjacent rows of scales 2 are staggered, that is, one scale 2 in the upper row and two adjacent scales 2 in the lower row are arranged in a triangular shape, that is, the two adjacent rows of scales 2 are staggered by a distance of half a scale 2.

[0040] Further comprising a strain gauge and a pressure sensor arranged on the outer surface of the scale 2, and a temperature and humidity sensor arranged in the shell body 1, and the controller is electrically connected with the strain gauge, the pressure sensor and the temperature and humidity sensor respectively.

[0041] In the embodiment, by arranging the strain gauge and the pressure sensor, the stress condition of the scale 2 and the resistance condition of the soil can be monitored in real time; the temperature and humidity sensor can monitor the temperature and humidity inside the shell body 1 in real time.

[0042] The positions of the shafts arranged on the shell body 1 are provided with mounting holes, and each shaft is arranged in the corresponding mounting hole; the connecting end of each scale 2 is connected with an elastic member 6, and the elastic member 6 is connected to the shell body 1 and can cover the corresponding mounting hole.

[0043] In the embodiment, the thickness of the elastic member 6 is 0.5mm-1mm, which is a polyurethane elastic film; the shaft is fixed in the mounting hole.

[0044] Each mounting hole is provided with a torsion spring fixing seat 8, and the connecting end of each scale 2 is provided with a protrusion, one torsion arm of the torsion spring 5 is connected to the shell body 1 through the torsion spring fixing seat 8, and the other torsion arm of the torsion spring 5 is connected to the scale 2 through the protrusion.

[0045] In the embodiment, the torsion spring fixing seat 8 and the mounting hole are fixed by a metal sheet.

[0046] The scale 2 is made of lightweight high-strength aluminum alloy material, and the surface of the scale 2 is coated with a polytetrafluoroethylene coating.

[0047] In the embodiment, the lightweight high-strength aluminum alloy has sufficient strength and can reduce the overall weight; the thickness of the polytetrafluoroethylene coating is 0.2-0.3 mm, the polytetrafluoroethylene coating is not only wear-resistant and corrosion-resistant but also has an extremely low surface friction coefficient, so that the robot can smoothly penetrate into the soil.

[0048] As shown in Figure 6 The shell body 1 is made of a flexible material, and the outer surface of the shell body 1 is provided with an elastic film 12 made of an elastic material.

[0049] The shell body 1 has a thickness of 5-8 mm and is made of polyurethane rubber which has high strength, wear resistance and good flexibility. The shell body 1 is internally provided with a wire slot for regularizing a wire and a clamping slot for clamping a corresponding component.

[0050] The pump assembly includes a plurality of micro air pumps, a plurality of air supply air ducts 7 and a plurality of air exhaust air ducts 19, and the outer surface of the shell body 1 is provided with a plurality of air supply areas; the scales 2 in each air supply area form a group, each group of scales 2 is provided with a micro air pump arranged in the shell body 1, each micro air pump (outlet) is communicated with all air outlets 21 in the corresponding air supply area through the air supply air duct 7, and each micro air pump (inlet) is communicated with all air inlets 22 in the corresponding air supply area through the air exhaust air duct 19.

[0051] In the embodiment, the micro air pump is a piezoelectric micro air pump which can exhaust air and output gas, and has a size of about 3 cm×3 cm×2 cm. The working voltage is 3-5 V, and the flow rate can reach 2-3 L / min, which can meet the needs of the soil removal operation.

[0052] The air supply air duct 7 and the air exhaust air duct 19 are both made of flexible silica gel material.

[0053] In the embodiment, the air supply air duct 7 has a diameter of 3-5 mm, the air supply air duct 7 is laid in a meandering manner under the scales, the air outlet 21 is designed to be flat, has a width of 2-3 mm and is closely attached to the inner surface of the scale 2 to ensure that the air flow accurately acts on the soil removal part.

[0054] Working principle:

[0055] As shown in Figures 7-10 When anchoring, the first electromagnet 3 and the second electromagnet 4 are energized to open the scales 2; at the same time, the pump assembly is started to blow air into the cavity 11; after the scales 2 are opened, the scales 2 are embedded in the soil, and the film 10 blocks the soil 13 outside the cavity 11; before the scales 2 are closed, air is blown into the cavity by the pump assembly, and the film is acted on by the gas to push the soil out of the soil; then the first electromagnet 3 and the second electromagnet 4 are de-energized, and the pump assembly exhausts air until the scales 2 are completely closed.

[0056] Embodiment 2

[0057] The embodiment provides a drilling robot, which comprises a robot body and the shell for the drilling robot provided in the embodiment one; a plurality of protrusions and a plurality of threaded holes are arranged on the outer surface of the robot body, a plurality of grooves corresponding to the protrusions are arranged on the inner wall of the shell body 1, a plurality of through holes corresponding to the threaded holes are arranged on the shell body 1, and a bolt is arranged in each through hole; when the robot body is arranged in the shell for the drilling robot, each protrusion extends into the corresponding groove, and one end of each bolt is threadedly connected through the through hole and the corresponding threaded hole.

[0058] In the embodiment, the connecting gap between the robot body and the shell for the drilling robot is filled with silicone sealant, and the thickness of the glue layer is 1-2 mm; at the opening and closing position of the scale 2, waterproof and dustproof lubricating grease is applied to ensure sealing and normal operation of the scale 2, and ensure stable operation of the internal system.

[0059] As shown in Figure 4 and Figure 5 In the embodiment, the shell for the drilling robot comprises a plurality of split shells 14, adjacent split shells 14 are connected together by elastic ropes 9, and then are wound into a cylindrical structure; when the shell for the drilling robot is not installed on the robot body, its unfolded view is shown in Figure 5 When it is installed on the robot body, it is in a cylindrical shape as shown in Figure 4 .

[0060] As shown in Figure 11 In use, if the drilling robot is as described in the background art, the robot body sequentially comprises a drill bit section 15, a front anchoring section 16, an extension section 17, and a rear anchoring section 18 from beginning to end; therefore, the shell for the drilling robot is two, which are respectively installed on the front anchoring section 16 and the rear anchoring section 18, and the extension section adopts a telescopic shell or a flexible connection structure to meet the telescopic requirement of the extension section.

[0061] The above invention is only a few specific embodiments of the invention, but the embodiments of the invention are not limited to this, any changes that can be thought of by those skilled in the art should fall within the protection scope of the invention.

Claims

1. A shell for a drilling robot, characterized in that, Includes a controller, a housing body (1), and a thin film (10) made of elastic material; Multiple teardrop-shaped scales (2) are arranged in an array on the outer surface of the outer shell body (1). One end of the long axis of the scale (2) is an arc end, and the other end is a connecting end. A first electromagnet (3) is provided at the arc end of the scale (2), and a second electromagnet (4) is provided on the outer shell body (1) at the position corresponding to the first electromagnet (3). The connecting end of the scale (2) and the outer shell body (1) are rotatably connected by a rotating shaft. A torsion spring (5) is sleeved on the rotating shaft. One torsion arm of the torsion spring (5) is connected to the outer shell body (1), and the other torsion arm of the torsion spring (5) is connected to the scale (2). When the first electromagnet (3) and the second electromagnet (4) are energized, the first electromagnet (3) and the second electromagnet (4) move away from each other due to repulsion. When the first electromagnet (3) and the second electromagnet (4) are de-energized, the torsion spring (5) acts on the scale (2) to make the first electromagnet (3) move closer to the second electromagnet (4). A thin film (10) is connected between each scale (2) and the outer shell body (1). The thin film (10) can seal the space between the corresponding scale (2) and the outer shell body (1) into an independent cavity (11). The outer shell body (1) is provided with an air pump assembly. Each cavity (11) is provided with an air outlet (21) and an air inlet (22). The air pump assembly is connected to each air outlet and air inlet. The controller is electrically connected to the first electromagnet (3), the second electromagnet (4), and the air pump assembly, respectively.

2. The shell for the drilling robot as described in claim 1, characterized in that, The outer shell body (1) is cylindrical, and the scales (2) on the outer shell body (1) are arranged in rows and columns. The row direction is the length direction of the outer shell body (1), and the column direction is the circumferential direction of the outer shell body (1). Adjacent rows of scales (2) are staggered, and the length direction of each scale (2) is parallel to the length direction of the outer shell body (1).

3. The shell for the drilling robot as described in claim 1, characterized in that, It also includes a strain gauge and a pressure sensor on the outer surface of the scale (2), and a temperature and humidity sensor inside the housing body (1). The controller is electrically connected to the strain gauge, the pressure sensor and the temperature and humidity sensor respectively.

4. The shell for the drilling robot as described in claim 1, characterized in that, Mounting holes are provided at the positions where the rotating shafts are located on the outer shell body (1), and each rotating shaft is located in a corresponding mounting hole; Each scale (2) has an elastic element (6) connected to its connecting end. The elastic element (6) is connected to the outer shell body (1) and can cover the corresponding mounting hole.

5. The shell for a drilling robot as described in claim 4, characterized in that, Each mounting hole is provided with a torsion spring fixing seat (8), and each scale (2) has a protrusion at the connecting end. One torsion arm of the torsion spring (5) is connected to the outer shell body (1) through the torsion spring fixing seat (8), and the other torsion arm of the torsion spring (5) is connected to the scale (2) through the protrusion.

6. The shell for a drilling robot as described in claim 1, characterized in that, The scales (2) are made of aluminum alloy and the surface of the scales (2) is coated with polytetrafluoroethylene.

7. The shell for a drilling robot as described in claim 1, characterized in that, The outer shell body (1) is made of a flexible material, and the outer surface of the outer shell body (1) is provided with an elastic film (12) made of an elastic material.

8. The shell for a drilling robot as described in claim 1, characterized in that, The pumping assembly includes multiple micro air pumps, multiple air supply channels (7) and multiple air extraction channels (19). The outer surface of the outer shell body (1) is provided with multiple air supply areas. The scales in each air supply area are a group, and each group of scales is equipped with a micro air pump located in the outer shell body (1). Each micro air pump and all the air outlets in the corresponding air supply area are connected through the air supply channel (7), and each micro air pump and all the air inlets in the corresponding air supply area are connected through the air extraction channel (19).

9. The shell for a drilling robot as described in claim 8, characterized in that, Both the air supply duct (7) and the air extraction duct are made of flexible silicone material.

10. A drilling robot, characterized in that, Includes the robot body and the outer shell for the drilling robot as described in any one of claims 1 to 9; The outer surface of the robot body is provided with multiple protrusions and multiple threaded holes. The inner wall of the outer shell body (1) is provided with multiple grooves corresponding to the protrusions. The outer shell body (1) is provided with multiple through holes corresponding to the threaded holes. Each through hole is filled with a bolt. When the robot body is placed inside the shell of the drilling robot, each protrusion extends into the corresponding groove, and one end of each bolt passes through the through hole and is threadedly connected to the corresponding threaded hole.

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