Reef drilling and blasting integrated robot

Abstract

The invention discloses a rock drilling and blasting integrated robot, and relates to the technical field of robots, the rock drilling and blasting integrated robot comprises a robot carrier, and a plurality of multi-stage mechanical arms are arranged on the two sides of the robot carrier; a drilling and blasting mechanism is fixed to the middle position of the top of the robot carrier, a shipborne GPS is coupled with a GPS positioner on the robot in real time, a nitrogen lifting system is responsible for vertical movement, the GPS positioner and an ultrasonic sensor ensure that the robot can accurately reach the position of a target reef underwater, and a multi-stage mechanical arm is used for firmly grabbing the reef; after tapping, a cylinder rod of the transverse moving air cylinder shrinks, so that the sliding rail transversely moves along the sliding seat, and the detonator placing barrel is located under the pushing air cylinder; then the cylinder rod of the pushing air cylinder extends out again, and the detonator placed in the detonator placing barrel is pushed into the hole of the reef; and then the robot retreats, and the detonator carries out blasting operation on the reef through a workboat remote control mode.

Description

Technical Field

[0001] This invention relates specifically to the field of robotics, and more specifically to a reef drilling and blasting integrated robot. Background Technology

[0002] In marine development and subsea infrastructure construction, the treatment of underwater reefs is one of the key tasks. However, the complex underwater environment, with its rapid currents, low visibility, and large pressure variations, poses significant challenges to the positioning, navigation, and operational stability of underwater robots.

[0003] Despite advancements in underwater robot technology, particularly in arm flexibility and fixation techniques, the stability of existing fixation technologies remains insufficient in complex water flow environments, and operational accuracy and efficiency still require improvement.

[0004] Therefore, we propose an underwater robot system that combines multi-segment robotic arm fixation and drilling / blasting. By controlling the movement of the multi-segment robotic arm, it can fix the reef, achieving stable fixation of the reef and drilling / blasting.

[0005] This technology can be widely used in marine engineering, submarine infrastructure construction and waterway dredging, and is especially suitable for scenarios that require precise handling of underwater reefs. It has important application value and broad development prospects. Summary of the Invention

[0006] The purpose of this invention is to provide a reef drilling and blasting integrated robot. Utilizing multi-segment robotic arm gripping technology combined with a fusion system, it can accurately position and firmly grip reefs in complex water flow environments, ensuring the stability and accuracy of drilling operations. Simultaneously, the drill bit and explosive ejection device extend from one position, and their positions are controlled by a horizontal movement device and a sleeve, ensuring the safety and efficiency of the drilling process. These features make it outstanding in underwater reef handling tasks, effectively addressing the complex needs of marine engineering, subsea infrastructure construction, and channel dredging scenarios, thereby solving the technical problems mentioned in the background section.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A reef drilling and blasting integrated robot includes a robot carrier, with multiple multi-stage robotic arms on both sides of the robot carrier; a drilling and blasting mechanism is fixed at the middle position of the top of the robot carrier, and the lower end of the drilling and blasting mechanism extends through to the bottom of the robot carrier.

[0009] The robot carrier is also fixed with a fixed outer shell, and a top shell is provided on the top of the fixed outer shell; a nitrogen lifting system is fixed on the top of the top shell;

[0010] The drilling and blasting mechanism includes a support frame fixed on a robot carrier. Two vertical slide rails are fixed at the middle position on one side of the support frame, and a slide block is slidably connected to each vertical slide rail. A transverse slide rail is slidably connected to the slide block. A drive motor and a detonator placement cylinder are fixed to the outside of the transverse slide rail by a clamp. A drill bit is installed on the output shaft of the drive motor.

[0011] A push cylinder is fixed to the top of the support frame; a transverse cylinder is fixed to the side of the support frame away from the transverse slide rail; the end of the cylinder rod of the transverse cylinder is fixed to the transverse slide rail.

[0012] As a further technical solution of the present invention, the detonator placement cylinder is hollow inside, and multiple rubber side ribs are arranged in a ring array on the inner wall of the detonator placement cylinder.

[0013] As a further technical solution of the present invention, the robot carrier is provided with multiple supports on both sides, each support corresponding to a multi-stage robotic arm; a camera is fixed on the top of each support; a fill light is sleeved on each camera; the fill light is embedded in a circular groove opened on the outside of the fixed shell and sealed and fixed with sealant.

[0014] As a further technical solution of the present invention, the top of the fixed housing has a groove, in which a storage battery is embedded; the storage battery; and the top side inside the top housing is fixed with a controller by screws.

[0015] As a further technical solution of the present invention, a propeller is fixed on one side of the robot carrier; an adjustable propeller is provided at the bottom of the robot carrier.

[0016] As a further technical solution of the present invention, the adjustable propeller includes a support frame fixed to the robot carrier, and a main shaft is installed on the support frame through bearings; the lower end of the main shaft is connected to a drive shaft through a double universal coupling, and the drive shaft is installed in a shaft cylinder through bearings; the lower end of the drive shaft is fitted with a propeller.

[0017] The upper end of the shaft is movably connected to the mounting bracket via a rotating shaft, and one side of the lower end of the shaft is connected to the first connecting rod via a rotating shaft; the first connecting rod and the second connecting rod are movably connected via a rotating shaft; and the second connecting rod is movably connected to the mounting bracket via a rotating shaft.

[0018] The mounting bracket is movably connected to a retractable cylinder at one end near the second connecting rod via a rotating shaft; the cylinder rod end of the retractable cylinder is movably connected to the second connecting rod via a fisheye joint.

[0019] As a further technical solution of the present invention, when the adjustable propeller is in the retracted state, the central axis of the drive shaft is perpendicular to the central axis of the propeller.

[0020] As a further technical solution of the present invention, the multi-stage robotic arm is composed of multiple 700MPa grade alloy steel arm bodies. Cross roller bearings and servo motors are prevented in the joints of the alloy steel arm bodies. The maximum extension of a single arm is 2.5m and the clamping force is 50kN. The arc-shaped polyurethane gasket at the end reduces the contact pressure to 0.8MPa and prevents slippage.

[0021] As a further technical solution of the present invention, the end of the multi-stage robotic arm is provided with a clamp for easy fixing of the chip removal pipe; the clamp is detachably connected to the multi-stage robotic arm by screws.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] 1. In this invention, the shipborne GPS and the GPS locator on the robot are coupled in real time, the nitrogen lifting system is responsible for vertical movement, the GPS locator and ultrasonic sensor ensure that the robot can accurately reach the target reef position underwater, and a multi-stage robotic arm is used to firmly grasp the reef.

[0024] 2. In this invention, after the robot is fixed to the reef, the cylinder rod of the push cylinder extends, pushing the drive motor installed on the outside of the slide rail downward; the drive motor slides downward along the vertical slide rail with the cooperation of the slide rail and the slide block; the drive motor drives the drill bit to rotate at high speed, thereby realizing the drilling of the reef.

[0025] 3. In this invention, after the hole is opened, the cylinder rod of the transverse cylinder retracts, causing the slide rail to move laterally along the slide block, so that the detonator placement cylinder is located directly below the push cylinder; then the cylinder rod of the push cylinder extends again, pushing the detonator placed inside the detonator placement cylinder into the hole in the reef; then the robot withdraws, and the detonator is remotely controlled by the work vessel to carry out the blasting operation on the reef. Attached Figure Description

[0026] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0027] Figure 2 In this invention Figure 1 A schematic diagram of the bottom structure.

[0028] Figure 3 In this invention Figure 1 Another perspective illustration.

[0029] Figure 4 In this invention Figure 1 The main view.

[0030] Figure 5In this invention Figure 1 A schematic diagram of the split structure.

[0031] Figure 6 In this invention Figure 5 A schematic diagram of the bottom side structure.

[0032] Figure 7 In this invention Figure 5 Another perspective illustration.

[0033] Figure 8 In this invention Figure 7 The main view.

[0034] Figure 9 In this invention Figure 1 Enlarged diagram of point A.

[0035] Figure 10 In this invention Figure 2 Enlarged diagram of point B.

[0036] Figure 11 In this invention Figure 4 Enlarged diagram of point C.

[0037] Figure 12 This is a schematic diagram of the adjustable propeller in this invention.

[0038] Figure 13 This is a schematic diagram of the drilling and blasting mechanism in this invention.

[0039] Figure 14 In this invention Figure 13 The main view.

[0040] In the diagram: 1-Robot carrier, 2-Multi-stage robotic arm, 3-Drilling and blasting mechanism, 4-Support, 5-Supplemental light, 6-Camera, 7-Fixed outer shell, 8-Battery, 9-Top shell, 10-Nitrogen lifting system, 11-Propeller, 12-Adjustable propeller, 13-Mounting bracket, 14-Main shaft, 15-Double universal coupling, 16-Drive shaft, 17-Shaft cylinder, 18-Propeller, 19-First connecting rod, 20-Second connecting rod, 21-Retracting cylinder;

[0041] 31-Support frame, 32-Push cylinder, 33-Drive motor, 34-Drill bit, 35-Detonator placement cylinder, 36-Horizontal slide rail, 37-Slide base, 38-Horizontal movement cylinder, 39-Vertical slide rail. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] Please see Figures 1 to 14 In this embodiment of the invention, a reef drilling and blasting integrated robot includes a robot carrier 1, with multiple multi-stage robotic arms 2 on both sides of the robot carrier 1; a drilling and blasting mechanism 3 is fixed at the middle position of the top of the robot carrier 1, and the lower end of the drilling and blasting mechanism 3 extends through to the bottom of the robot carrier 1.

[0044] The robot carrier 1 is also fixed with a fixed outer shell 7, and a top shell 9 is provided on the top of the fixed outer shell 7; a nitrogen lifting system 10 is fixed on the top of the top shell 9.

[0045] The drilling and blasting mechanism 3 includes a support frame 31 fixed on the robot carrier 1. Two vertical slide rails 39 are fixed at the middle position on one side of the support frame 31, and a slide block 37 is slidably connected to each vertical slide rail 39. A transverse slide rail 36 is slidably connected to the slide block 37. A drive motor 33 and a detonator placement cylinder 35 are fixed to the outside of the transverse slide rail 36 by a clamp. A drill bit 34 is installed on the output shaft of the drive motor 33.

[0046] A push cylinder 32 is fixed to the top of the support frame 31; a transverse cylinder 38 is fixed to the side of the support frame 31 away from the transverse slide rail 36; the end of the cylinder rod of the transverse cylinder 38 is fixed to the transverse slide rail 36.

[0047] It should be noted that the robot carrier 1 is equipped with multiple ultrasonic sensors around its bottom. The GPS locator and ultrasonic sensors inside the controller ensure that the robot can accurately reach the target reef location underwater. The underwater camera device (support, supplementary light, camera) provides clear images of the reef to assist in accurate positioning. The multi-stage robotic arm 2 is used to firmly grasp the reef and move horizontally. The nitrogen lifting system 10 is responsible for vertical movement.

[0048] By adopting the above technical solution, during use, the shipborne GPS and the GPS locator on the robot are coupled in real time. The nitrogen lifting system 10 is responsible for vertical movement. The GPS locator and ultrasonic sensor ensure that the robot can accurately reach the target reef position underwater. The multi-stage robotic arm 2 is used to firmly grasp the reef. After the robot is fixed on the reef, the cylinder rod of the cylinder 32 is pushed out, which pushes the drive motor 33 installed on the outside of the slide rail 36 downward. With the cooperation of the slide rail 36 and the slide block 37, the drive motor 33 slides downward along the vertical slide rail 39. The drive motor 33 drives the drill bit 34 to rotate at high speed, thereby realizing the drilling of the reef.

[0049] After the hole is opened, the cylinder rod of the transverse cylinder 38 retracts, causing the slide rail 36 to move laterally along the slide block 37, so that the detonator placement cylinder 35 is located directly below the push cylinder 32; then the cylinder rod of the push cylinder 32 extends again, pushing the detonator placed inside the detonator placement cylinder 35 into the hole in the reef.

[0050] After the robot withdraws, the detonator is remotely controlled by the work vessel to blast the reef.

[0051] Please see the appendix Figure 13 In this embodiment, the detonator placement cylinder 35 is hollow inside, and multiple rubber side ribs are arranged in a ring array on the inner wall of the detonator placement cylinder 35.

[0052] By adopting the above technical solution, multiple rubber side ribs can ensure the fixation of the detonator in the detonator placement cylinder 35. At the same time, when the pushing cylinder 32 pushes, the rubber side ribs can undergo elastic deformation, thereby pushing the detonator out.

[0053] Please see the appendix Figure 1-6 In this embodiment, the robot carrier 1 is provided with multiple supports 4 on both sides, each support 4 corresponding to a multi-stage robotic arm 2; a camera 6 is fixed on the top of each support 4; a fill light 5 is sleeved on each camera 6; the fill light 5 is embedded in a circular groove opened on the outside of the fixed shell 7 and is sealed and fixed with sealant.

[0054] By adopting the above technical solution, camera 6 provides a clear image of the reef to assist in precise positioning; after reaching above the target, the 4K camera is turned on and supplemented by structured light scanning. The image algorithm automatically identifies the outline and cracks of the reef, and the multi-stage robotic arm 2 finely adjusts the thrust at the end, so that the robot carrier 1 is finally suspended 30 cm directly above the reef, with the positioning error controlled within 5 cm.

[0055] Furthermore, the multi-stage robotic arm 2 is composed of multiple 700MPa grade alloy steel arm bodies. Crossing roller bearings and servo motors are prevented within the joints of the alloy steel arm bodies. The maximum extension of a single arm is 2.5 m, the clamping force is 50 kN, and the arc-shaped polyurethane gasket at the end reduces the contact pressure to 0.8 MPa and prevents slippage.

[0056] After confirming the location, multiple multi-stage robotic arms 2 open simultaneously, encircling the reef from multiple directions, including the top, front, back, left, and right. The arc-shaped grippers at the end of each multi-stage robotic arm 2 are lined with polyurethane pads to increase friction and prevent slippage. The hydraulic cylinder gradually tightens the gripper at a pressure of 2 MPa until the clamping force reaches 1.5 times the weight of the reef, ensuring that the robot and the reef form a rigid integrated structure after clamping.

[0057] In this embodiment, the top of the fixed outer shell 7 has a groove in which a storage battery 8 is embedded; the storage battery 8; the top side inside the top shell 9 is fixed with a controller by screws; a propeller 11 is fixed on one side of the robot carrier 1; and an adjustable propeller 12 is provided at the bottom of the robot carrier 1.

[0058] It should be noted that the multi-stage robotic arm 2 extends synchronously and, in conjunction with the nitrogen lifting system 10, can swim in an "octopus-like" manner, maintaining a stable posture within a water flow speed of 1.5 m / s.

[0059] When the water flow is strong, the propeller 11 can be activated to increase the robot's speed and ensure that the robot can reach the designated location smoothly.

[0060] Please see the appendix Figure 10-12 In this embodiment, the adjustable propeller 12 includes a support frame 31 fixed to the robot carrier 1, and a main shaft 14 is mounted on the support frame 31 through bearings; the lower end of the main shaft 14 is connected to a drive shaft 16 through a double universal coupling 15, and the drive shaft 16 is mounted in a shaft cylinder 17 through bearings; a propeller 18 is mounted on the lower end of the drive shaft 16; the main shaft 14 is connected to a motor (not shown), and the motor is fixed to the robot carrier 1.

[0061] The upper end of the shaft cylinder 17 is movably connected to the mounting bracket 13 via a rotating shaft, and one side of the lower end of the shaft cylinder 17 is connected to the first connecting rod 19 via a rotating shaft; the first connecting rod 19 and the second connecting rod 20 are movably connected via a rotating shaft; and the second connecting rod 20 is movably connected to the mounting bracket 13 via a rotating shaft.

[0062] The mounting bracket 13 is movably connected to the retractable cylinder 21 at one end near the second connecting rod 20 via a rotating shaft; the cylinder rod end of the retractable cylinder 21 is movably connected to the second connecting rod 20 via a fisheye joint.

[0063] By adopting the above technical solution, when the robot is floating, in order to increase the robot's floating speed, the motor drives the main shaft 14 to rotate. The main shaft 14 drives the transmission shaft 16 and the propeller 18 to rotate through the double universal coupling 15, which stirs the water at the bottom of the robot and works with the nitrogen lifting system 10 to accelerate the robot's floating speed.

[0064] In addition, when the multi-stage robotic arm 2 is gripping the reef, in order to prevent the adjustable propeller 12 from being at the bottom of the robot carrier 1 and thus preventing the multi-stage robotic arm 2 from gripping the reef better, the cylinder rod of the retraction cylinder 21 retracts, causing the hinge of the first link 19 and the second link 20 to retract inward, and the shaft cylinder 17 drives the transmission shaft 16 to deflect to one side; thus realizing the retraction of the entire adjustable propeller 12; under this condition, it can ensure that the robot grips the reef better.

[0065] Another technical feature of the above embodiment is that when the adjustable propeller 12 is in the retracted state, the central axis of the moving shaft 16 is perpendicular to the central axis of the propeller 11.

[0066] By adopting the above technical solution, the propeller 11 enables the robot to move forward and backward in propulsion control; when the adjustable propeller 12 is retracted, the propeller 11 enables the robot to move left and right, which improves the robot's freedom of adjustment underwater and better determines the target position.

[0067] The double universal coupling 15 enables the propeller 18 to be driven when the main shaft 14 and the drive shaft 16 are coaxial; at the same time, it can still drive the propeller 18 when the main shaft 14 and the drive shaft 16 are at a 90-degree angle.

[0068] In this embodiment, the end of the multi-stage robotic arm 2 is provided with a clamp to facilitate the fixing of the chip removal pipe; the clamp is detachably connected to the multi-stage robotic arm 2 by screws.

[0069] By adopting the above technical solution, after the detonators are fixed, multiple multi-stage robotic arms 2 are simultaneously released and retreat to a safe distance of 30 m at a uniform speed of 0.5 m / s. The ship deck sends an encrypted detonation signal remotely, and the detonators are detonated in sequence with a millisecond delay. The explosion shock wave instantly breaks the reef into fragments ≤30 cm. 5 minutes after the explosion, the robot approaches again, and the ship deck starts the high-pressure water gun and the slag pump to work together. The chip removal pipe and high-pressure flushing pipe fixed by the clamps at the bottom of the multi-stage robotic arms 2 are used to mix the rock chips and mud and pump them into the slag storage tank on the ship deck. The camera re-inspection confirms that there are no large residual pieces, completing a precise underwater drilling and blasting reef clearing cycle.

[0070] As a further explanation of the above embodiment, the nitrogen lifting system 10 changes the volume of the buoyancy adjustment chamber by adjusting the amount of nitrogen injected, thereby changing the volume of water displaced by the robot (buoyancy). This allows the robot to rise when "buoyancy > gravity + resistance", descend when "buoyancy < gravity + resistance", and suspend when "buoyancy = gravity + resistance", achieving precise lifting and lowering in conjunction with an automatic control algorithm. According to Archimedes' principle, the buoyancy formula for the robot underwater is:

[0071] F_buoyancy = ρ_water × g × V_displaced

[0072] in:

[0073] ρ_water is the density of seawater / freshwater (seawater is about 1025 kg / m³, and freshwater is about 1000 kg / m³).

[0074] g is the acceleration due to gravity (≈9.8 N / kg);

[0075] V_displacement is the total volume of water displaced by the robot (including the buoyancy regulating chamber) (m³).

[0076] The control method of the nitrogen lifting system 10 adopts existing technology, and its specific control principle will not be described in detail here.

[0077] The working principle of this invention is as follows: During use, the shipborne GPS and the GPS locator on the robot are coupled in real time. The nitrogen lifting system 10 is responsible for vertical movement. The GPS locator and ultrasonic sensor ensure that the robot can accurately reach the target reef position underwater. The multi-stage robotic arm 2 is used to firmly grasp the reef. After the robot is fixed on the reef, the cylinder rod of the cylinder 32 is pushed out, which pushes the drive motor 33 installed on the outside of the slide rail 36 downward. With the cooperation of the slide rail 36 and the slide block 37, the drive motor 33 slides downward along the vertical slide rail 39. The drive motor 33 drives the drill bit 34 to rotate at high speed, thereby realizing the drilling of the reef.

[0078] After the hole is opened, the cylinder rod of the transverse cylinder 38 retracts, causing the slide rail 36 to move laterally along the slide block 37, so that the detonator placement cylinder 35 is located directly below the push cylinder 32; then the cylinder rod of the push cylinder 32 extends again, pushing the detonator placed inside the detonator placement cylinder 35 into the hole in the reef.

[0079] After the robot withdraws, the detonator is remotely controlled by the work vessel to blast the reef.

[0080] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0081] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A reef drilling and blasting integrated robot, characterized in that: The robot carrier (1) includes multiple multi-level robotic arms (2) on both sides of the robot carrier (1); a drilling and blasting mechanism (3) is fixed at the middle position of the top of the robot carrier (1), and the lower end of the drilling and blasting mechanism (3) extends to the bottom of the robot carrier (1). The robot carrier (1) is also fixed with a fixed outer shell (7), and a top shell (9) is provided on the top of the fixed outer shell (7); a nitrogen lifting system (10) is fixed on the top of the top shell (9). The drilling and blasting mechanism (3) includes a support frame (31) fixed on the robot carrier (1). Two vertical slide rails (39) are fixed at the middle position on one side of the support frame (31), and a slide block (37) is slidably connected on each vertical slide rail (39). A transverse slide rail (36) is slidably connected on the slide block (37). A drive motor (33) and a detonator placement cylinder (35) are fixed on the outside of the transverse slide rail (36) by a clamp. A drill bit (34) is installed on the output shaft of the drive motor (33). A push cylinder (32) is fixed to the top of the support frame (31); a transverse cylinder (38) is fixed to the side of the support frame (31) away from the transverse slide rail (36); the end of the cylinder rod of the transverse cylinder (38) is fixed to the transverse slide rail (36).

2. The reef drilling and blasting integrated robot according to claim 1, characterized in that: The detonator placement cylinder (35) is hollow inside, and multiple rubber side ribs are arranged in a ring array on the inner wall of the detonator placement cylinder (35).

3. The reef drilling and blasting integrated robot according to claim 1, characterized in that: The robot carrier (1) is provided with multiple brackets (4) on both sides, each bracket (4) corresponding to a multi-level robotic arm (2); a camera (6) is fixed on the top of each bracket (4); a fill light (5) is attached to each camera (6); the fill light (5) is embedded in a circular groove on the outside of the fixed shell (7) and is sealed and fixed with sealant.

4. The reef drilling and blasting integrated robot according to claim 1, characterized in that: The fixed outer casing (7) has a groove on its top, in which a storage battery (8) is embedded; the storage battery (8); the top side inside the top casing (9) is fixed with a controller by screws.

5. The reef drilling and blasting integrated robot according to claim 1, characterized in that: The robot carrier (1) is fixed with a propeller (11) on one side; the bottom of the robot carrier (1) is provided with an adjustable propeller (12).

6. The reef drilling and blasting integrated robot according to claim 5, characterized in that: The adjustable propeller (12) includes a support frame (31) fixed to the robot carrier (1), and a main shaft (14) is mounted on the support frame (31) through bearings; the lower end of the main shaft (14) is connected to a drive shaft (16) through a double universal coupling (15), and the drive shaft (16) is mounted in a shaft cylinder (17) through bearings; the lower end of the drive shaft (16) is fitted with a propeller (18). The upper end of the shaft cylinder (17) is movably connected to the mounting bracket (13) via a rotating shaft, and one side of the lower end of the shaft cylinder (17) is connected to the first connecting rod (19) via a rotating shaft; the first connecting rod (19) and the second connecting rod (20) are movably connected via a rotating shaft; the second connecting rod (20) is movably connected to the mounting bracket (13) via a rotating shaft. The mounting bracket (13) is movably connected to the retractable cylinder (21) at one end near the second connecting rod (20) via a rotating shaft; the cylinder rod end of the retractable cylinder (21) is movably connected to the second connecting rod (20) via a fisheye joint.

7. The reef drilling and blasting integrated robot according to claim 6, characterized in that: When the adjustable propeller (12) is in the retracted state, the central axis of the drive shaft (16) is perpendicular to the central axis of the propeller (11).

8. The reef drilling and blasting integrated robot according to claim 1, characterized in that: The multi-stage robotic arm (2) consists of multiple 700MPa grade alloy steel arm bodies. Crossing roller bearings and servo motors are prevented in the joints of the alloy steel arm bodies. The maximum extension of a single arm is 2.5 m and the clamping force is 50 kN. The arc-shaped polyurethane gasket at the end reduces the contact pressure to 0.8 MPa and prevents slipping.

9. The reef drilling and blasting integrated robot according to claim 1, characterized in that: The end of the multi-stage robotic arm (2) is provided with a clamp for easy fixing of the chip removal pipe; the clamp is detachably connected to the multi-stage robotic arm (2) by screws.

Images