Drilling robot
By designing a drilling robot that combines a robotic arm, a moving mechanism, and a vision inspection mechanism, the problems of large size and poor flexibility of rock drilling equipment have been solved, enabling efficient and intelligent rock drilling operations in confined spaces and underground mining areas.
Patent Information
- Application Number
- CN202511465432.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-14
- Publication Date
- 2025-11-18
AI Technical Summary
Existing rock drilling equipment is too bulky and lacks flexibility to be used in small or underground mining areas, and it also lacks intelligent control modules.
A drilling robot was designed, including a robotic arm, a moving mechanism, a rock drilling propulsion mechanism, and a vision inspection mechanism. The robotic arm can be extended or retracted, and combined with a rodless cylinder and a rock drill, it works with the vision inspection mechanism to understand the working environment in real time and achieve precise control.
It effectively reduces the overall size of the equipment, adapts to the needs of narrow mining areas, and enhances the intelligence and flexibility of the equipment, enabling efficient rock drilling operations in narrow and underground mining areas.
Smart Images
Figure CN120968429A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of rock drilling machines, in particular to a drilling robot. BACKGROUND
[0002] At present, most of the non-manual rock drilling methods commonly used in mining areas need to rely on rock drilling jumbo, that is, through the chassis to carry the propulsion device to drive the rock drilling machine to work.
[0003] The traditional rock drilling jumbo is generally composed of a vehicle body, a control room, a mechanical arm rock drilling structure, a hydraulic jack support structure and a transverse structure, etc. The basic frame of the traditional rock drilling jumbo makes the device bulky and less flexible, and it is also not equipped with an intelligent control module, which leads to a low overall intelligence level, so it can only be applied to the development of large mining areas or open-pit mining areas, making it impossible to be applied to small mining areas or underground mining areas. SUMMARY
[0004] (I) The technical problem to be solved by the present application is that the existing rock drilling equipment is bulky and less flexible, and is not equipped with an intelligent control module, which leads to the technical problem that it cannot be applied to small mining areas or underground mining areas.
[0005] (II) Technical solution In order to solve the above technical problems, the embodiments of the present application provide a drilling robot, which comprises a mechanical arm, a moving mechanism, a rock drilling propulsion mechanism and a visual detection mechanism. The rock drilling propulsion mechanism is installed at the end of the mechanical arm, the mechanical arm is installed on the moving mechanism, and the mechanical arm can be expanded or retracted to deliver the rock drilling propulsion mechanism to the working surface to be worked. The rock drilling propulsion mechanism comprises a rodless cylinder and a rock drilling machine, the output end of the rodless cylinder is in transmission connection with the rock drilling machine, the rodless cylinder can drive the rock drilling machine to advance or retract, and the mechanical arm can also rotate to drive the rock drilling machine towards the working surface to be worked. The visual detection mechanism is installed on the moving mechanism, the moving mechanism is provided with a control end, the visual detection mechanism is used for detecting image data around the drilling robot and depth data from the working surface to be worked, and generating an electrical signal to the control end.
[0006] Further, the mechanical arm comprises a rotating seat, a first joint, a second joint, a third joint and a fourth joint connected in sequence, and the rock drilling propulsion mechanism is connected to the end of the fourth joint. The rotating seat is installed on the moving mechanism, and the end of the first joint away from the second joint is installed on the rotating seat. The first hydraulic cylinder is arranged on the rotating seat and has an output end connected with the first joint, the second hydraulic cylinder is arranged on the first joint and has an output end connected with the second joint, the third hydraulic cylinder is arranged on the second joint and has an output end connected with the third joint, and the fourth hydraulic cylinder is arranged on the third joint and has an output end connected with the fourth joint.
[0007] Further, the mechanical arm further comprises a first hydraulic motor, a first rotary speed reducer, a second hydraulic motor and a second rotary speed reducer. The output shaft of the first hydraulic motor is in transmission cooperation with the input hole of the first rotary speed reducer, the first rotary speed reducer is in transmission connection with the rotating seat, and is used for driving the rotating seat to rotate. The output shaft of the second hydraulic motor is in transmission cooperation with the input hole of the second rotary speed reducer, the second rotary speed reducer is in transmission connection with the rock drilling propulsion mechanism, and is used for driving the rock drilling propulsion mechanism to rotate.
[0008] Further, the mechanical arm further comprises an angular displacement sensor and a linear displacement sensor. The stator of the angular displacement sensor is connected with the stators of the first rotary speed reducer and the second rotary speed reducer respectively, and the rotor of the angular displacement sensor is connected with the rotors of the first rotary speed reducer and the second rotary speed reducer respectively, so as to obtain the angle data of the rotation of the rotating seat and the rock drilling propulsion mechanism. The moving part of the linear displacement sensor is connected with the piston rods of the first hydraulic cylinder, the second hydraulic cylinder, the third hydraulic cylinder and the fourth hydraulic cylinder respectively, so as to obtain the moving distances of the first hydraulic cylinder, the second hydraulic cylinder, the third hydraulic cylinder and the fourth hydraulic cylinder.
[0009] Further, the rock drilling propulsion mechanism further comprises a frame, a guide rail and a sliding frame. The frame is provided with a front fixed plate and a rear fixed plate at two ends along the length direction of the frame respectively, the guide rail and the two ends of the rodless cylinder are connected with the front fixed plate and the rear fixed plate respectively and are parallel to each other. The top end of the sliding frame is in slidable connection with the guide rail, the rock drill is mounted on the sliding frame, and the rodless cylinder can drive the rock drill to move along the length direction of the guide rail.
[0010] Further, the moving mechanism comprises a tracked chassis, a vehicle body, a driving motor and a motor driver. The vehicle body is installed above the crawler chassis, the end of the mechanical arm is installed on the vehicle body, the driving motor is installed on the crawler chassis and is in transmission connection with the crawler chassis, the motor driver is connected with the driving motor to control the start and stop of the driving motor, and the crawler chassis can drive the vehicle body to displace.
[0011] Further, the moving mechanism further comprises a hydraulic pump station, a power supply box and a wireless transmitter. The hydraulic pump station, the power supply box and the wireless transmitter are all installed inside the vehicle body, the hydraulic pump station is connected with the mechanical arm, the power supply box is used for providing power for the hydraulic pump station, the mechanical arm and the rock drilling propulsion mechanism.
[0012] Further, the visual detection mechanism comprises a depth camera, the depth camera is installed on the side wall of the vehicle body and is used for acquiring depth data of the drilling robot from a working surface.
[0013] Further, the visual detection mechanism further comprises a forward-looking camera and a circumferential camera. The forward-looking camera is arranged below the depth camera to acquire image data in front of the drilling robot, and the circumferential camera is arranged along the circumference of the side wall of the vehicle body to acquire environmental data in the circumference of the vehicle body.
[0014] Further, the control end comprises a controller and an industrial computer, and the power supply box comprises a strong current box and a weak current box. The strong current box is connected with the hydraulic pump station, the controller and the industrial computer are both arranged inside the weak current box, the weak current box is connected with the mechanical arm and the rock drilling propulsion mechanism, and the controller and the industrial computer are used for processing data fed back by the depth camera, the forward-looking camera and the circumferential camera.
[0015] The present application has the following advantages: The drilling robot provided by the application comprises a mechanical arm, a moving mechanism, a rock drilling propulsion mechanism and a visual detection mechanism, the mechanical arm is installed on the moving mechanism, the rock drilling propulsion mechanism is installed at the end of the mechanical arm, so that the mechanical arm and the rock drilling propulsion mechanism can be synchronously moved by the moving mechanism, meanwhile, the mechanical arm can deliver the rock drilling propulsion mechanism to a working surface to be worked by stretching or retracting, the overall volume can be effectively reduced when the mechanical arm is retracted, and the working range is larger after stretching, so that the drilling robot can adapt to the needs of narrow mining areas, the rock drilling propulsion mechanism comprises a rodless cylinder and a rock drill, the output end of the rodless cylinder is in transmission connection with the rock drill, the rodless cylinder can drive the rock drill to advance or retract, and the rock drill can be driven to face the working surface to be worked by the self-rotation of the mechanical arm, the use of the rodless cylinder can significantly reduce the overall mass of the rock drilling propulsion mechanism, in the case of the same advancing distance, the required layout length angle of the rodless cylinder is shorter, the overall volume of the rock drilling propulsion mechanism can be effectively reduced, and then the working requirements of narrow mining areas or underground mining areas can be met, and the visual detection mechanism can effectively process the data signals fed back by the visual detection mechanism in cooperation with the control end, so as to realize real-time understanding of the working surrounding environment, so as to control the working state of the mechanical arm and the rock drilling propulsion mechanism, and improve the intelligence of the drilling robot as a whole. BRIEF DESCRIPTION OF DRAWINGS
[0016] In order to more clearly illustrate the specific embodiments of the application or the technical solutions in the prior art, the drawings needed to be used in the specific embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.
[0017] Figure 1 The general assembly structure diagram of the drilling robot provided by the embodiment of the application is shown in the figure. Figure 2 The structure diagram of each component in the vehicle body and the track chassis of the drilling robot provided by the embodiment of the application is shown in the figure. Figure 3 The track chassis diagram of the drilling robot provided by the embodiment of the application is shown in the figure. Figure 4 The mechanical arm structure diagram of the drilling robot provided by the embodiment of the application is shown in the figure. Figure 5 The rock drilling propulsion mechanism structure diagram of the drilling robot provided by the embodiment of the application is shown in the figure.
[0018] Icon: 100 - mechanical arm; 101 - rotating seat; 102 - first joint; 103 - second joint; 104 - third joint; 105 - fourth joint; 106 - first hydraulic cylinder; 107 - second hydraulic cylinder; 108 - third hydraulic cylinder; 109 - fourth hydraulic cylinder; 110 - first hydraulic motor; 111 - first rotary speed reducer; 112 - second hydraulic motor; 113 - second rotary speed reducer; 114 - second angular displacement sensor; 115 - first linear displacement sensor; 116 - second linear displacement sensor; 117 - third linear displacement sensor; 118 - fourth linear displacement sensor; 119 - base; 120 - multi-way valve; 200 - moving mechanism; 201 - tracked chassis; 202 - vehicle body; 203 - drive motor; 204 - motor driver; 205 - hydraulic pump station; 206 - wireless transmitter; 207 - strong electric box; 208 - weak electric box; 209 - chassis power supply; 300 - rock drilling propulsion mechanism; 301 - rodless cylinder; 3011 - sliding block; 302 - rock drill; 3021 - body; 3022 - rock drill rod; 303 - frame; 304 - guide rail; 305 - sliding frame; 306 - front fixed plate; 307 - rear fixed plate; 308 - pneumatic electromagnetic valve; 309 - rod holder; 310 - anti-collision block; 311 - mounting plate; 400 - depth camera; 401 - front-view camera; 402 - circumferential camera. DETAILED DESCRIPTION
[0019] The technical solutions of the present application will be described clearly and completely below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.
[0020] In the description of the present application, it should be noted that the positions or location relationships indicated by the terms "upper", "lower", etc. are based on the positions or location relationships shown in the drawings, and are only for the convenience of describing 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 on the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.
[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means two or more.
[0022] Example 1 like Figures 1 to 5 As shown, the present invention provides a drilling robot, including a robotic arm 100, a moving mechanism 200, a rock drilling and propulsion mechanism 300, and a vision inspection mechanism; The rock drilling propulsion mechanism 300 is installed at the end of the robotic arm 100, which is installed on the moving mechanism 200. The robotic arm 100 can be extended or retracted to transport the rock drilling propulsion mechanism 300 to the working surface. The rock drilling propulsion mechanism 300 includes a rodless cylinder 301 and a rock drill 302. The output end of the rodless cylinder 301 is connected to the rock drill 302 for transmission. The rodless cylinder 301 can drive the rock drill 302 to advance or retract. The robotic arm 100 can also rotate to drive the rock drill 302 toward the working surface. The vision inspection mechanism is installed in the mobile mechanism 200. The mobile mechanism 200 is equipped with a control terminal. The vision inspection mechanism is used to detect the circumferential image data of the drilling robot and the depth data of the distance from the working surface, and generates an electrical signal to transmit to the control terminal.
[0023] In the embodiment, the drilling robot comprises a mechanical arm 100, a moving mechanism 200, a rock drilling propulsion mechanism 300 and a visual detection mechanism, the mechanical arm 100 is installed on the moving mechanism 200, the rock drilling propulsion mechanism 300 is installed at the end of the mechanical arm 100, so that the mechanical arm 100 and the rock drilling propulsion mechanism 300 can be moved synchronously by the moving mechanism 200, meanwhile, the mechanical arm 100 can be extended or retracted to deliver the rock drilling propulsion mechanism 300 to the working surface, the overall volume can be effectively reduced when the mechanical arm 100 is retracted, and the working range is larger after being extended, so as to adapt to the narrow mine area, the rock drilling propulsion mechanism 300 comprises a rodless cylinder 301 and a rock drill 302, the output end of the rodless cylinder 301 is in transmission connection with the rock drill 302, the rodless cylinder 301 can drive the rock drill 302 to advance or retract, and the rock drill 302 can be driven to face the working surface by cooperating with the self-rotation of the mechanical arm 100, the use of the rodless cylinder 301 can significantly reduce the overall mass of the rock drilling propulsion mechanism 300, and the required layout length angle is shorter in the same advancing distance, so that the overall volume of the rock drilling propulsion mechanism 300 can be effectively reduced, and the working requirements of the narrow mine area or underground mine area are met, and the visual detection mechanism can effectively process the data signal fed back by the visual detection mechanism in cooperation with the control end, so as to realize the real-time understanding of the working surrounding environment, so as to control the working state of the mechanical arm 100 and the rock drilling propulsion mechanism 300, and improve the intelligence of the drilling robot as a whole.
[0024] In the embodiment, the rodless cylinder 301 is compared with the traditional ordinary cylinder, in the same stroke, for example, the maximum advancing distance is the same value, the required layout length of the rodless cylinder 301 is also shorter when being completely pushed out, so that the effect of greatly reducing the space occupation can be achieved, so as to adapt to the requirements of the narrow mine area or underground mine area. Preferably, a magnetic coupling type rodless cylinder is adopted, and the non-contact power synchronous transmission is realized by using magnetic force, that is, the piston in the rodless cylinder 200 is provided with a strong permanent magnet, the slider 4011 outside the rodless cylinder 200 is also provided with a permanent magnet, and two groups of magnetic rings are arranged at the two ends of the cylinder barrel, the magnetism of the two groups of magnetic rings is opposite, and has a high suction force, when the internal piston is driven to move by compressed air, the strong coupling magnetic force generated between the two groups of magnetic rings can penetrate the non-magnetic cylinder wall, so as to drive the external slider 4011 to realize the synchronous reciprocating linear motion, the above process realizes the non-physical contact transmission of power from the inside to the outside of the cylinder, so that the overall structure can be more compact, the required layout length is shorter, and the volume is significantly reduced, meanwhile, the cylinder barrel inside acts as a gas spring, has no leakage, and will not cause pollution.
[0025] According to one embodiment provided by the present application, Figure 1 and Figure 4As shown, the mechanical arm 100 comprises a rotating seat 101, a first joint 102, a second joint 103, a third joint 104 and a fourth joint 105 connected in sequence, and the rock drilling propulsion mechanism 300 is connected to the end of the fourth joint 105; The rotating seat 101 is installed on the moving mechanism 200, and the end of the first joint 102 away from the second joint 103 is installed on the rotating seat 101; The first hydraulic cylinder 106 is arranged on the rotating seat 101, and the output end is connected to the first joint 102, the second hydraulic cylinder 107 is arranged on the first joint 102, and the output end is connected to the second joint 103, the third hydraulic cylinder 108 is arranged on the second joint 103, and the output end is connected to the third joint 104, and the fourth hydraulic cylinder 109 is arranged on the third joint 104, and the output end is connected to the fourth joint 105.
[0026] In this embodiment, the first joint 102, the second joint 103, the third joint 104 and the fourth joint 105 are connected in sequence and fixed by using a pin shaft, so that the joints can be relatively expanded or retracted, of course, the second hydraulic cylinder 107 is installed on the first joint 102 through the pin shaft, and the output end of the second hydraulic cylinder 107 is also connected to the second joint 103 through the pin shaft, the third hydraulic cylinder 108 is installed on the second joint 103 through the pin shaft, and the output end of the third hydraulic cylinder 108 is also connected to the third joint 104 through the pin shaft, the fourth hydraulic cylinder 109 is installed on the third joint 104 through the pin shaft, and the output end of the fourth hydraulic cylinder 109 is also connected to the fourth joint 105 through the pin shaft, and the end of the first joint 102 away from the second joint 103 is installed on the rotating seat 101, the first hydraulic cylinder 106 is installed on the rotating seat 101 through the pin shaft, and the output end of the first hydraulic cylinder 106 is also connected to the first joint 102 through the pin shaft, the rotating seat 101 drives the first joint 102 to rotate, realizing the rotation of the whole mechanical arm 100, and the first joint 102 can be expanded or retracted relative to the rotating mechanism through the first hydraulic cylinder 106, the second joint 103 can be expanded or retracted relative to the first joint 102 through the second hydraulic cylinder 107, the third joint 104 can be expanded or retracted relative to the second joint 103 through the third hydraulic cylinder 108, and the fourth joint 105 can be expanded or retracted relative to the third joint 104 through the fourth hydraulic cylinder 109, and the rock drilling propulsion mechanism 300 is installed on the end of the fourth joint 105 away from the third joint 104, that is, the rock drilling propulsion mechanism 300 is driven to accurately reach the working surface through the above process.
[0027] Among them, the hydraulic cylinder is a prior art, and the connection principle between each joint and the working process are all prior art, and the above expansion or retraction is relative, so it will not be described in detail.
[0028] The lower portion of the rotating seat 101 is provided with a base 119, and a connecting column is arranged on the top of the base 119. The rotating seat 101 is arranged above the base 119, and the mechanical arm 100 is arranged above the rotating seat 101. The mechanical arm 100 is driven to rotate by the rotating seat 101. Therefore, the lower bottom wall of the rotating seat 101 is provided with an integral rotating shaft. The connecting column is provided with a connecting hole in the height direction of the connecting column. The rotating shaft is rotatably connected to the connecting hole. The rotating seat 101 is rotated to drive the mechanical arm 100 arranged above the rotating seat 101 to rotate synchronously. In order to install the first joint 102 and the first hydraulic cylinder 106, the upper top wall of the rotating seat 101 is further provided with a connecting plate. The first joint 102 and the first hydraulic cylinder 106 are installed above the rotating seat 101 by the pin shaft through the use of the connecting plate.
[0029] According to one embodiment provided by the present application, as shown in Figure 1 and Figure 4 The mechanical arm 100 further comprises a first hydraulic motor 110, a first rotary speed reducer 111, a second hydraulic motor 112 and a second rotary speed reducer 113. The output shaft of the first hydraulic motor 110 is in transmission cooperation with the input hole of the first rotary speed reducer 111. The first rotary speed reducer 111 is in transmission connection with the rotating seat 101, and is used to drive the rotating seat 101 to rotate. The output shaft of the second hydraulic motor 112 is in transmission cooperation with the input hole of the second rotary speed reducer 113. The second rotary speed reducer 113 is in transmission connection with the rock drilling propulsion mechanism 300, and is used to drive the rock drilling propulsion mechanism 300 to rotate.
[0030] In the embodiment, the first hydraulic motor 110 is used as the power source of the rotating seat 101. The output shaft of the first hydraulic motor 110 is in transmission cooperation with the input hole of the first rotary speed reducer 111. The second hydraulic motor 112 is used as the power source of the rock drilling propulsion mechanism 300. The output shaft of the second hydraulic motor 112 is in transmission cooperation with the input hole of the second rotary speed reducer 113. The first rotary speed reducer 111 and the second rotary speed reducer 113 have the effect of reducing the rotating speed and increasing the torque. Therefore, the rotating seat 101 can be driven to rotate. The cooperation between the first rotary speed reducer 111 and the second rotary speed reducer 113 is better. The overall quality is lower. The overall quality of the mechanical arm 100 can be effectively reduced, and the effect of light weight is realized.
[0031] According to one embodiment provided by the present application, as shown in Figure 1 and Figure 4 The mechanical arm 100 further comprises an angle displacement sensor and a linear displacement sensor. The stator of the angular displacement sensor is connected with the stator of the first rotary speed reducer 111 and the second rotary speed reducer 113 respectively, and the rotor of the angular displacement sensor is connected with the rotor of the first rotary speed reducer 111 and the second rotary speed reducer 113 respectively, so as to obtain the angle data of the rotation of the rotary seat 101 and the rock drilling propulsion mechanism 300. The moving part of the linear displacement sensor is connected with the piston rod of the first hydraulic cylinder 106, the second hydraulic cylinder 107, the third hydraulic cylinder 108 and the fourth hydraulic cylinder 109 respectively, so as to obtain the moving distance of the first hydraulic cylinder 106, the second hydraulic cylinder 107, the third hydraulic cylinder 108 and the fourth hydraulic cylinder 109.
[0032] In the embodiment, the angular displacement sensor includes a first angular displacement sensor and a second angular displacement sensor 114. The first angular displacement sensor is arranged on the rotary seat 101. The stator of the first angular displacement sensor is connected with the stator of the first rotary speed reducer 111, and the rotor of the first angular displacement sensor is connected with the rotor of the first rotary speed reducer 111, so as to obtain the angle data of the rotation of the rotary seat 101. The second angular displacement sensor 114 is arranged on the fourth joint 105. The stator of the second angular displacement sensor 114 is connected with the stator of the second rotary speed reducer 113, and the rotor of the second angular displacement sensor 114 is connected with the rotor of the second rotary speed reducer 113, so as to obtain the angle data of the rotation of the rock drilling propulsion mechanism 300. Taking the first angular displacement sensor as an example, the stator of the first angular displacement sensor is connected with the stator of the first rotary speed reducer 111, and the rotor of the first angular displacement sensor is connected with the rotor of the first rotary speed reducer 111, so as to obtain the angle data of the rotation of the rotary seat 101 through synchronous rotation angle, and transmit the angle data to the control end in real time. Then, the control end analyzes and judges the angle data to generate a command signal to control the angle of rotation. Correspondingly, the principle of the second angular displacement sensor 114 is the same as that of the first angular displacement sensor, and thus will not be described herein.
[0033] The linear displacement sensors include a first linear displacement sensor 115, a second linear displacement sensor 116, a third linear displacement sensor 117 and a fourth linear displacement sensor 118. The first linear displacement sensor 115 is installed on the first hydraulic cylinder 106, and a moving part of the first linear displacement sensor 115 is connected with a piston rod of the first hydraulic cylinder 106. The second linear displacement sensor 116 is installed on the second hydraulic cylinder 107, and a moving part of the second linear displacement sensor 116 is connected with a piston rod of the second hydraulic cylinder 107. The third linear displacement sensor 117 is installed on the third hydraulic cylinder 108, and a moving part of the third linear displacement sensor 117 is connected with a piston rod of the third hydraulic cylinder 108. The fourth linear displacement sensor 118 is installed on the fourth hydraulic cylinder 109, and a moving part of the fourth linear displacement sensor 118 is connected with a piston rod of the fourth hydraulic cylinder 109, so as to obtain the moving distance of the first hydraulic cylinder 106, the second hydraulic cylinder 107, the third hydraulic cylinder 108 and the fourth hydraulic cylinder 109. Taking the first linear displacement sensor 115 as an example, the first linear displacement sensor 115 is installed on a cylinder body of the first hydraulic cylinder 106, and a moving part of the first linear displacement sensor 115 is connected with a piston rod of the first hydraulic cylinder 106. The piston rod moves to drive the moving part of the first linear displacement sensor 115 to move, so as to obtain the moving distance data of the first hydraulic cylinder 106, and the moving distance data is transmitted to the control end in real time, and then an instruction signal is generated by the control end after analysis and judgment, so as to control the mechanical arm 100 to continue to expand or retract. Correspondingly, the working principles of the second linear displacement sensor 116, the third linear displacement sensor 117 and the fourth linear displacement sensor 118 are consistent with those of the first linear displacement sensor 115, and thus will not be described in detail. The first angle displacement sensor and the second angle displacement sensor 114, the first linear displacement sensor 115, the second linear displacement sensor 116, the third linear displacement sensor 117 and the fourth linear displacement sensor 118 are used to realize real-time acquisition of the moving distance of the arm joint and the rotation angle data of the end of the arm joint, so as to realize accurate closed-loop control of the mechanical arm 100, so as to accurately control the mechanical arm 100, and significantly improve the intelligent degree of the mechanical arm 100 as a whole.
[0034] The first angle displacement sensor, the second angle displacement sensor 114, the first linear displacement sensor 115, the second linear displacement sensor 116, the third linear displacement sensor 117 and the fourth linear displacement sensor 118 all belong to the prior art, and thus their internal structures and working processes also belong to the prior art, and thus will not be described in detail.
[0035] According to one embodiment of the present application, as shown in Figure 1 and Figure 5 The rock drilling advancing mechanism 300 further includes a frame 303, a guide rail 304 and a sliding frame 305. The frame 303 is rotationally connected to the end of the fourth joint 105, and the two ends along the length direction of the frame 303 are respectively provided with a front fixed plate 306 and a rear fixed plate 307, the guide rails 304 and the two ends of the rodless cylinder 301 are respectively connected with the front fixed plate 306 and the rear fixed plate 307, and the guide rails 304 and the rodless cylinder 301 are parallel to each other; The top end of the sliding frame 305 is slidably connected with the guide rail 304, the rock drill 302 is installed on the sliding frame 305, and the rodless cylinder 301 can drive the rock drill 302 to move along the length direction of the guide rail 304.
[0036] In the embodiment, the two ends along the length direction of the frame 303 are respectively provided with the front fixed plate 306 and the rear fixed plate 307, so that the guide rails 304 and the rodless cylinder 301 can be conveniently installed, that is, the two ends of the guide rails 304 and the rodless cylinder 301 are respectively connected with the front fixed plate 306 and the rear fixed plate 307, and in order to ensure the accuracy of the guide of the guide rails 304, the guide rails 304 and the rodless cylinder 301 are arranged to be parallel to each other, and in order to make the rodless cylinder 301 drive the rock drill 302 to move more accurately, the guide rails 304 are arranged, preferably, the guide rails 304 are arranged in two, of course, the guide rails 304 can also be arranged in one, three or more, which can be set according to actual use requirements, and the top end of the sliding frame 305 is also provided with a sliding seat, and the sliding frame 305 is slidably connected with the guide rails 304 through the sliding seat, that is, the top end of the sliding frame 305 is provided with a sliding seat corresponding to each guide rail 304, one guide rail 304 corresponds to two sliding seats, and the two sliding seats are arranged in a spaced manner along the extension direction of the guide rail 304, so as to ensure the stability of the rodless cylinder 301 driving the rock drill 302 to move along the length direction of the guide rail 304.
[0037] The frame 303 is also provided with a pneumatic electromagnetic valve 308 for driving the rodless cylinder 301, the pneumatic electromagnetic valve 308 is connected with a control end signal, and the pneumatic electromagnetic valve 308 is opened and closed to control the propulsion of the rodless cylinder 301.
[0038] The sliding seat is provided with a sliding hole, the guide rail 304 passes through the sliding hole in sequence, and the outer wall surface of the guide rail 304 and the inner wall surface of the sliding hole are smooth planes or there is a gap between the outer wall surface of the guide rail 304 and the inner wall surface of the sliding hole, so that the guide rail 304 can slide smoothly. The rodless cylinder 301 is provided with a sliding block 3011, the sliding block 3011 is fixed to the top of the sliding frame 305, and the rodless cylinder 301 is in transmission connection with the sliding frame 305 through the sliding block 3011. The rodless cylinder 301 is provided with the sliding block 3011, the sliding block 3011 can move along the length direction of the rodless cylinder 301 under the action of the rodless cylinder 301, and the sliding block 3011 is fixedly connected with the top of the sliding frame 305 in a bolted manner, that is, corresponding bolt holes are formed in the sliding block 3011 and the upper top wall of the sliding frame 305, the sliding block 3011 is fixed to the top of the sliding frame 305 by using fixing bolts, and then the sliding block 3011 can move along the extension direction of the rodless cylinder 301, thereby synchronously driving the sliding frame 305 to move along the extension direction of the guide rail 304, so that the rock drill 302 is synchronously driven to move.
[0039] The rock drill 302 comprises a body 3021 and a rock drill rod 3022, the body 3021 is installed on the sliding frame 305, one end of the rock drill rod 3022 is connected with the body 3021, and the other end extends towards the rear fixed plate 307. The body 3021 of the rock drill 302 is directly installed on the sliding frame 305, preferably, the sliding frame 305 is provided with a mounting area for mounting the body 3021, the body 3021 is directly placed in the mounting area and is ensured to be stable, so that the rock drill 302 can be driven to advance by the rodless cylinder 301. Of course, the rock drill 302 further comprises the rock drill rod 3022 in order to perform the tunneling operation, one end of the rock drill rod 3022 is connected with the body 3021, and the other end extends towards the rear fixed plate 307. During use, the rodless cylinder 301 drives the sliding seat to move, thereby driving the end of the rock drill rod 3022 of the rock drill 302 to abut against the working surface, so that the subsequent tunneling operation can be smoothly performed.
[0040] The frame 303 is further provided with a rod retaining frame 309, the rod retaining frame 309 covers the outside of the rock drill rod 3022, and the two ends of the rod retaining frame 309 are positioned with the frame 303 by using fixing bolts, so that the rock drill rod 3022 cannot be upwardly or downwardly deviated during the forward advancement of the rock drill 302 driven by the rodless cylinder 301. Meanwhile, the rear surface of the rear fixed plate 307 away from the front fixed plate 306 is provided with an anti-collision block 310, so that the anti-collision block 310 can first contact the working surface, thereby preventing the rock drill rod 3022 from contacting the working surface in advance.
[0041] According to one embodiment provided by the present application, as Figure 1 , Figure 2 andFigure 3 As shown in the figure, the moving mechanism 200 comprises a caterpillar chassis 201, a vehicle body 202, a driving motor 203 and a motor driver 204; The vehicle body 202 is installed above the caterpillar chassis 201, the end of the mechanical arm 100 is installed on the vehicle body 202, the driving motor 203 is installed on the caterpillar chassis 201 and is in driving connection with the caterpillar chassis 201, the motor driver 204 is connected with the driving motor 203 to control the start and stop of the driving motor 203, and the caterpillar chassis 201 can drive the vehicle body 202 to move.
[0042] In the embodiment, the caterpillar chassis 201 is used to bear the whole load of the robot, the vehicle body 202 is installed above the caterpillar chassis 201, the corresponding installation position is preset on the top of the vehicle body 202, the end of the mechanical arm 100 is installed on the installation position, thereby the relative positioning of the vehicle body 202 and the mechanical arm 100 is completed, meanwhile, the driving motor 203 is also arranged on the caterpillar chassis 201, the output end, i.e. the power shaft of the driving motor 203 is in driving connection with two caterpillar belts respectively, and in order to control the start and stop of the driving motor 203 more conveniently, the motor driver 204 is also arranged on the caterpillar chassis 201, the start and stop and the rotating speed of the driving motor 203 are directly controlled through the motor driver 204, the motor driver 204 is directly connected with the control end signal, the motor driver 204 is directly controlled through the control end, thereby the driving motor 203 is controlled to drive the caterpillar chassis 201 to move, thereby the vehicle body 202 and the mechanical arm 100 installed on the vehicle body 202 are synchronously moved, and the rock drilling and advancing mechanism 300 installed on the end of the mechanical arm 100 is conveniently transported to the working surface to be excavated for the excavation work.
[0043] Of course, the caterpillar power supply 209 is also arranged in the vehicle body 202, the caterpillar power supply 209 is used to provide the required energy for the movement of the caterpillar chassis 201, preferably, the caterpillar power supply 209 is selected as the explosion-proof power supply, thereby the service life of the caterpillar power supply 209 can be effectively improved and the use risk can be reduced.
[0044] The mechanical arm 100 is integrally installed on the vehicle body 202 through the base 119, that is to say, the mechanical arm 100 can be applied to various moving mechanisms 200 and is fixed through the bolt holes reserved on the base 119, thereby the mechanical arm 100 has strong applicability.
[0045] According to one embodiment provided by the application, Figure 2 As shown in the figure, the moving mechanism 200 further comprises a hydraulic pump station 205, a power supply box and a wireless transmitter 206; The hydraulic pump station 205, the power supply box and the wireless transmitter 206 are installed in the interior of the vehicle body 202, the hydraulic pump station 205 is connected with the mechanical arm 100, and the power supply box is used for providing power for the hydraulic pump station 205, the mechanical arm 100 and the rock drilling propulsion mechanism 300.
[0046] In the embodiment, the hydraulic pump station 205, the power supply box and the wireless transmitter 206 are installed in the interior of the vehicle body 202, the shell of the vehicle body 202 can protect the hydraulic pump station 205, the power supply box and the wireless transmitter 206 installed in the interior to a certain extent, the hydraulic pump station 205 can provide the required hydraulic driving force for the mechanical arm 100, of course, the hydraulic pump station 205 can also be replaced by a hydraulic oil tank or other components capable of serving as a hydraulic source to provide the required hydraulic driving force for the mechanical arm 100, so as to ensure that the mechanical arm 100 can be driven. The power supply box can provide power for the hydraulic pump station 205, the mechanical arm 100 and the rock drilling propulsion mechanism 300, so that the drilling robot can smoothly work, and the wireless transmitter 206 can receive the data fed back by the visual detection mechanism and the angular displacement sensor and the linear displacement sensor, and transmit the data to the corresponding receiver on the ground, such as a hand book, a tablet computer or an operator, so as to realize real-time understanding of the working condition of the drilling robot.
[0047] The upper top wall of the rotating seat 101 is provided with a multi-way valve 120, the multi-way valve 120 is connected with the hydraulic pump station 205, and is connected with the first hydraulic cylinder 106, the second hydraulic cylinder 107, the third hydraulic cylinder 108, the fourth hydraulic cylinder 109, the first hydraulic motor 110 and the second hydraulic motor 112 through different hydraulic pipelines, respectively, the high-pressure hydraulic oil is provided to the multi-way valve 120 through the hydraulic pump station 205, and then flows to the first hydraulic cylinder 106, the second hydraulic cylinder 107, the third hydraulic cylinder 108, the fourth hydraulic cylinder 109, the first hydraulic motor 110 and the second hydraulic motor 112, respectively, so as to control the hydraulic driving of each component.
[0048] According to one embodiment provided by the application, as shown in Figure 1 , Figure 2 and Figure 3 The visual detection mechanism includes a depth camera 400, the depth camera 400 is installed on the side wall of the vehicle body 202, and is used for acquiring the depth data of the drilling robot from the working surface.
[0049] In the embodiment, the depth camera 400 is installed on the side wall of the vehicle body 202, preferably, the depth camera 400 faces the front, i.e. the working surface, the depth data of the drilling robot from the working surface can be obtained through the depth camera 400, and the generated data is fed back to the control end, and the corresponding operation of the mechanical arm 100 and the rock drilling mechanism is controlled through the control end, so that the rock drill rod 3022 can be smoothly pressed against the working surface for tunneling operation.
[0050] The depth camera 400 is a prior art, which can obtain depth information of the corresponding shooting surface through three technical paths of binocular stereo vision, flight time method and structured light, so the specific working principle is not described in detail.
[0051] According to one embodiment provided by the application, as shown in Figure 1 , Figure 2 and Figure 3 , the visual detection mechanism further comprises a front-view camera 401 and a circumferential camera 402; The front-view camera 401 is arranged below the depth camera 400 to obtain image data in front of the drilling robot, and the circumferential camera 402 is arranged along the circumference of the side wall of the vehicle body 202 to obtain environmental data around the vehicle body 202.
[0052] In the embodiment, in order to obtain the image data in front of the drilling robot and the environmental data around the vehicle body 202 in real time, the front-view camera 401 and the circumferential camera 402 are arranged on the side wall of the vehicle body 202, preferably, the front-view camera 401 is arranged below the depth camera 400, of course, it can also be arranged above the depth camera 400, so as to facilitate the acquisition of image data in front of the robot, and the circumferential camera 402 is arranged along the circumference of the side wall of the vehicle body 202, i.e. the circumferential camera 402 is provided in plurality, one circumferential camera 402 is arranged in each of the front, rear, left and right directions of the vehicle body 202, and the specific installation position of the circumferential camera 402 can be limited according to actual use requirements. The front-view camera 401 and the circumferential camera 402 can feed back the image data in front of the robot and the environmental data around the vehicle body 202 to the control end in real time, so that the control end can make different operation instructions according to different environmental conditions, thereby improving the intelligence of the drilling robot as a whole.
[0053] According to one embodiment provided by the application, as shown in Figure 2 , the control end comprises a controller and an industrial computer, and the power supply box comprises a strong current box 207 and a weak current box 208; The strong electricity box 207 is connected with the hydraulic pump station 205, the controller and the industrial computer are arranged in the weak electricity box 208, the weak electricity box 208 is connected with the mechanical arm 100 and the rock drilling advancing mechanism 300, and the controller and the industrial computer are used for processing data fed back by the depth camera 400, the front-view camera 401 and the circumferential camera 402.
[0054] In the embodiment, the power supply box includes the strong electricity box 207 and the weak electricity box 208, the output of the hydraulic pump station 205 is controlled through the strong electricity box 207, the movement and rotation of the mechanical arm 100 and the rock drilling advancing mechanism 300 are controlled through the weak electricity box 208, the weak electricity box 208 obtains energy through the chassis power supply 209, the strong electricity box 207 obtains energy through the external 220V power supply, when the underground mine area has the 220V power supply, remote operation can be realized through a long cable, the cable can also be self-retracted through the electric drum, and the cable can be conveniently stored after use.
[0055] The motor driver 204, the depth camera 400, the front-view camera 401 and the circumferential camera 402 all obtain energy through the chassis power supply 209, and the vehicle body 202, the driving motor 203, the motor driver 204, the chassis power supply 209, the strong electricity box 207, the weak electricity box 208, the wireless transmitter 206, the depth camera 400, the front-view camera 401 and the circumferential camera 402 are all fixedly connected with the tracked chassis 201 through bolts.
[0056] The above is only a preferred embodiment of the present application, and is not used to limit the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims
1. A drilling robot, characterized in that, It includes a robotic arm (100), a moving mechanism (200), a rock drilling propulsion mechanism (300), and a vision inspection mechanism; The rock drilling propulsion mechanism (300) is installed at the end of the robotic arm (100), and the robotic arm (100) is installed on the moving mechanism (200). The robotic arm (100) can be extended or retracted to transport the rock drilling propulsion mechanism (300) to the working surface. The rock drilling propulsion mechanism (300) includes a rodless cylinder (301) and a rock drill (302). The output end of the rodless cylinder (301) is connected to the rock drill (302) for transmission. The rodless cylinder (301) can drive the rock drill (302) to advance or retract. The mechanical arm (100) can also rotate to drive the rock drill (302) toward the working surface. The visual inspection mechanism is installed in the mobile mechanism (200). The mobile mechanism (200) is equipped with a control terminal. The visual inspection mechanism is used to detect the circumferential image data of the drilling robot and the depth data of the distance from the working surface, and generate an electrical signal to be transmitted to the control terminal.
2. The drilling robot according to claim 1, characterized in that, The robotic arm (100) includes a rotating base (101), a first joint (102), a second joint (103), a third joint (104), and a fourth joint (105) connected in sequence, and the rock drilling propulsion mechanism (300) is connected to the end of the fourth joint (105). The rotating seat (101) is mounted on the moving mechanism (200), and the end of the first joint (102) facing away from the second joint (103) is mounted on the rotating seat (101). The first hydraulic cylinder (106) is located on the rotating seat (101) and its output end is connected to the first joint (102). The second hydraulic cylinder (107) is located on the first joint (102) and its output end is connected to the second joint (103). The third hydraulic cylinder (108) is located on the second joint (103) and its output end is connected to the third joint (104). The fourth hydraulic cylinder (109) is located on the third joint (104) and its output end is connected to the fourth joint (105).
3. The drilling robot according to claim 2, characterized in that, The robotic arm (100) also includes a first hydraulic motor (110), a first rotary reducer (111), a second hydraulic motor (112), and a second rotary reducer (113). The output shaft of the first hydraulic motor (110) is driven to engage with the input hole of the first rotary reducer (111). The first rotary reducer (111) is driven to connect with the rotating seat (101) and is used to drive the rotating seat (101) to rotate. The output shaft of the second hydraulic motor (112) is driven to cooperate with the input hole of the second rotary reducer (113). The second rotary reducer (113) is driven to be connected to the rock drilling propulsion mechanism (300) and is used to drive the rock drilling propulsion mechanism (300) to rotate.
4. The drilling robot according to claim 3, characterized in that, The robotic arm (100) also includes an angular displacement sensor and a linear displacement sensor; The stator of the angular displacement sensor is connected to the stator of the first rotary reducer (111) and the second rotary reducer (113) respectively, and the rotor of the angular displacement sensor is connected to the rotor of the first rotary reducer (111) and the second rotary reducer (113) respectively, so as to obtain the rotation angle data of the rotating seat (101) and the rock drilling propulsion mechanism (300). The moving part of the linear displacement sensor is connected to the piston rods of the first hydraulic cylinder (106), the second hydraulic cylinder (107), the third hydraulic cylinder (108), and the fourth hydraulic cylinder (109) respectively, so as to obtain the moving distance of the first hydraulic cylinder (106), the second hydraulic cylinder (107), the third hydraulic cylinder (108), and the fourth hydraulic cylinder (109).
5. The drilling robot according to claim 2, characterized in that, The rock drilling propulsion mechanism (300) also includes a frame (303), a guide rail (304), and a sliding frame (305). The frame (303) is rotatably connected to the end of the fourth joint (105), and has a front fixing plate (306) and a rear fixing plate (307) at both ends along its own length direction. The guide rail (304) and the rodless cylinder (301) are connected to the front fixing plate (306) and the rear fixing plate (307) respectively, and are parallel to each other. The top of the sliding frame (305) is slidably connected to the guide rail (304), the rock drill (302) is mounted on the sliding frame (305), and the rodless cylinder (301) can drive the rock drill (302) to move along the length direction of the guide rail (304).
6. The drilling robot according to any one of claims 1-5, characterized in that, The mobile mechanism (200) includes a tracked chassis (201), a vehicle body (202), a drive motor (203), and a motor driver (204). The vehicle body (202) is mounted on top of the tracked chassis (201), the end of the robotic arm (100) is mounted on the vehicle body (202), the drive motor (203) is mounted on the tracked chassis (201) and is connected to the tracked chassis (201) in a transmission connection, the motor driver (204) is connected to the drive motor (203) to control the start and stop of the drive motor (203), and the tracked chassis (201) can drive the vehicle body (202) to move.
7. The drilling robot according to claim 6, characterized in that, The mobile mechanism (200) also includes a hydraulic pump station (205), a power supply box, and a wireless transmitter (206). The hydraulic pump station (205), the power supply box and the wireless transmitter (206) are all installed inside the vehicle body (202). The hydraulic pump station (205) is connected to the robotic arm (100). The power supply box is used to provide power to the hydraulic pump station (205), the robotic arm (100) and the rock drilling propulsion mechanism (300).
8. The drilling robot according to claim 7, characterized in that, The visual inspection mechanism includes a depth camera (400), which is mounted on the side wall of the vehicle body (202) and is used to acquire depth data of the drilling robot from the surface to be worked.
9. The drilling robot according to claim 8, characterized in that, The visual inspection mechanism also includes a forward-looking camera (401) and a circumferential camera (402). The forward-facing camera (401) is located below the depth camera (400) to obtain image data in front of the drilling robot, and the circumferential camera (402) is arranged along the circumferential direction of the side wall of the vehicle body (202) to obtain environmental data around the vehicle body (202).
10. The drilling robot according to claim 9, characterized in that, The control terminal includes a controller and an industrial computer, and the power supply box includes a high-voltage box (207) and a low-voltage box (208). The high-voltage electrical box (207) is connected to the hydraulic pump station (205). The controller and the industrial control computer are both located inside the low-voltage electrical box (208). The low-voltage electrical box (208) is connected to the robotic arm (100) and the rock drilling propulsion mechanism (300). The controller and the industrial control computer are used to process the data fed back by the depth camera (400), the forward-looking camera (401), and the circumferential camera (402).