Stepped variable diameter drilling self-adaptive detection robot

Abstract

The present application belongs to the field of intelligent manufacturing equipment for geological exploration, and provides a stepped variable-diameter borehole self-adaptive detection robot. The robot has the ability to adapt to the stepped variable-diameter borehole environment, automatically adapts to the variable-diameter process through program control, solves the problem that the traditional equipment cannot travel during the multi-diameter section detection process, significantly improves the accuracy of the inner diameter measurement in combination with the laser measuring instrument, and is equipped with a camera to realize high-definition visual detection of the hole wall defects, thereby providing a new solution for special borehole detection.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of intelligent manufacturing equipment for geological exploration, and particularly relates to a stepped variable-diameter borehole self-adaptive detection robot. BACKGROUND

[0002] Currently, the internal structure of a borehole often needs to be detected in geological exploration operations. However, in some specific geological conditions, the borehole diameter often presents a stepped change, and the diameter may suddenly contract or expand, making it difficult for conventional detection equipment to adapt, easily causing blockage or falling off, and affecting the detection efficiency and data accuracy. Although some detection equipment is equipped with a simple limiting mechanism or an elastic support device, its passability and stability are still poor in a complex borehole environment with multiple variable diameters and sudden cross-section changes, and it is difficult to achieve continuous high-quality detection.

[0003] Based on the above problems, the present application proposes a stepped variable-diameter borehole self-adaptive detection robot for complex borehole detection scenarios. The robot has the ability to adapt to stepped variable-diameter borehole environments, automatically adapts to the variable-diameter process through program control, solves the problem that traditional equipment cannot travel in multiple diameter sections during detection, significantly improves the accuracy of internal diameter measurement in combination with a laser measuring instrument, and provides a new solution for special borehole detection by equipping a camera to realize high-definition visual detection of borehole wall defects. SUMMARY

[0004] To solve the above technical problems, the present application provides a stepped variable-diameter borehole self-adaptive detection robot to solve the problems in the prior art. The technical solution adopted by the present application is as follows:

[0005] A stepped variable-diameter borehole self-adaptive detection robot, comprising a rear end base, an intermediate sleeve, a front end base, a detection platform, a drive wheel set, an auxiliary wheel, and a variable-diameter mechanism.

[0006] The intermediate sleeve is fixedly connected between the rear end base and the front end base, and a plurality of drive wheel sets are circumferentially arranged on the outer side surface of the front end base, and the drive wheel sets are used for self-walking in the borehole. A plurality of auxiliary wheels are circumferentially arranged on the outer side surface of the rear end base.

[0007] The variable-diameter mechanism is connected to the drive wheel set and is used for adjusting the distance between the drive wheel set and the front end base to realize the function of passing through a stepped variable-diameter borehole. The auxiliary wheel is elastically connected between the rear end base.

[0008] The end of the front end base is fixedly connected to the detection platform, and the detection platform is provided with a camera and a laser measuring instrument. The camera is used for acquiring borehole wall images, and the laser measuring instrument is used for measuring internal diameter changes.

[0009] Further, the variable-diameter mechanism comprises a motor, a screw rod and a shaft sleeve;

[0010] The motor is installed in the rear end base, the output end of the motor is fixedly connected with the screw rod, the intermediate sleeve is sleeved on the screw rod, an annular cavity is formed between the intermediate sleeve and the screw rod, the shaft sleeve is sleeved on the screw rod and located in the annular cavity, a plurality of waist-shaped through hole portions are arranged in the circumferential direction of the intermediate sleeve, the waist-shaped through hole portions are communicated with the annular cavity, and the waist-shaped through hole portions are distributed along the axis of the intermediate sleeve.

[0011] One end of the first connecting rod is rotatably connected with the driving wheel set, the other end of the first connecting rod is rotatably connected with the outer side surface of the front end base, one end of the second connecting rod is rotatably connected with the middle part of the first connecting rod, the other end of the second connecting rod is rotatably connected with a limiting block, the limiting block is located in the waist-shaped through hole portion, and the limiting block is fixedly connected with the shaft sleeve.

[0012] The shaft sleeve is used for moving along the axis of the screw rod when the screw rod rotates, so that the first connecting rod and the second connecting rod rotate, so as to adjust the distance between the driving wheel set and the front end base.

[0013] Further, the driving wheel set comprises two driving wheels, the end part of the first connecting rod is provided with an opening portion, a driving motor is installed in the opening portion, the two sides of the opening portion are respectively provided with the driving wheels, and the two ends of the driving motor are fixedly connected with the driving wheels.

[0014] Further, the middle part of the auxiliary wheel is rotatably connected with a supporting seat, the supporting seat is fixedly connected with the outer side surface of the rear end base, one end of the supporting rod is rotatably connected with the auxiliary wheel, the other end of the supporting rod passes through the waist-shaped through hole portion and is rotatably connected with a sliding sleeve, the sliding sleeve is located in the annular cavity and is slidably sleeved on the screw rod, a push rod is connected to the sliding sleeve, and the end part of the push rod is spaced apart from the shaft sleeve.

[0015] The shaft sleeve is used for moving backward to push the push rod to move backward, so that the distance between the driving wheel set and the front end base is reduced, and the auxiliary wheel is tightly attached to the hole wall.

[0016] Further, one end of the rear end base is fixedly connected with a radial spring, and the other end of the radial spring is fixedly connected with the supporting rod.

[0017] Further, a reset spring is arranged between the sliding sleeve and the rear end base; when the shaft sleeve is reset, the reset spring pushes the sliding sleeve to move forward to reset.

[0018] Further, the end of the supporting rod is provided with an opening, the auxiliary wheel is rotatably arranged in the opening, and an elastic pressing plate is arranged in the opening and is pushed to move by a driving mechanism;

[0019] When the shaft sleeve moves backward, the driving mechanism pushes the elastic pressing plate to press the auxiliary wheel, the friction between the auxiliary wheel and the hole wall is increased, and the auxiliary wheel cannot rotate, so that the whole robot slows down and descends.

[0020] Further, the driving mechanism comprises a sliding rod, a first piston, a liquid medium, a movable rod, an elastic oil pipe, a fixed plate, a second piston, a translation rod and a pressing plate.

[0021] The fixed plate is fixedly connected in the waist-shaped through hole part, a stop block is fixedly connected to the outer side of the shaft sleeve, the stop block is located in the waist-shaped through hole part, a compression cavity is arranged in the fixed plate, a through hole communicating with the compression cavity is arranged on the side of the fixed plate facing the stop block, the translation rod can slide in the through hole, one end of the translation rod located in the compression cavity is fixedly connected to the second piston, and the pressing plate is fixedly connected to the end of the translation rod facing the stop block, and the pressing plate is distributed at intervals from the stop block.

[0022] A hollow chamber is arranged in the supporting rod, the supporting rod is provided with openings of the hollow chamber at both ends, one end of the hollow chamber can slide into the sliding rod, the other end of the hollow chamber can slide into the movable rod, the movable rod is rotatably connected to the outer side of the sliding sleeve, one end of the sliding rod extending out of the hollow chamber is fixedly connected to the elastic pressing plate, the first piston is arranged between the end of the sliding rod opposite to the movable rod, the first piston abuts against the sliding rod, and the liquid medium is arranged between the first piston and the movable rod.

[0023] One end of the elastic oil pipe is fixedly connected to the side of the supporting rod, and the other end of the elastic oil pipe is fixedly connected to the fixed plate, and the liquid medium communicates with the compression cavity through the elastic oil pipe.

[0024] When the shaft sleeve moves backward, the stop block is used for pushing the pressing plate to move, the second piston extrudes the liquid medium into the hollow chamber, the first piston pushes the sliding rod to move, and the elastic pressing plate presses the auxiliary wheel.

[0025] Further, the hollow chamber is divided into three sections, which are a limiting cavity, an intermediate cavity and a pressure cavity.

[0026] The intermediate cavity is located between the limiting cavity and the pressure cavity, and the intermediate cavity and the pressure cavity jointly constitute a stepped cavity structure, wherein an inner diameter of the intermediate cavity is smaller than the pressure cavity, and the slide rod end and the first piston are both located in the intermediate cavity; the limiting cavity is located at an end of the hollow cavity away from the movable rod, the slide rod passes through the limiting cavity, a limiting ring is slidably arranged in the limiting cavity, the limiting ring is fixedly connected with the slide rod, the limiting ring abuts against an elastic member, and the elastic member is located between the limiting ring and an opening of the hollow cavity.

[0027] Further, the movable rod slidably passes through a sealing sleeve, and the sealing sleeve is fixedly connected with the end of the support rod.

[0028] The present application has the following beneficial effects:

[0029] As a key detection equipment in the intelligent manufacturing equipment industry in the field of geological exploration, the robot has the ability to adapt to the stepped variable-diameter drilling environment, automatically adapts to the variable-diameter process through program control, effectively solves the problem that the traditional equipment cannot travel in the multi-diameter section detection process, significantly improves the accuracy of the inner diameter measurement through the laser measuring instrument, ensures the accuracy and reliability of the data, and at the same time, the camera can realize the high-definition visual detection of the hole wall defects, so that the subtle defects of the hole wall can be clearly presented, and other detection modules can be set on the detection platform to improve the detection comprehensiveness, such as ultrasonic detection, infrared thermal imaging, etc., to adapt to different detection needs, improve the comprehensiveness and accuracy of the detection, and provide a new solution for special drilling detection. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a whole structure diagram of the present application;

[0031] Figure 2 is a schematic diagram of a driving mechanism;

[0032] Figure 3 is a schematic diagram of the distribution relationship of a driving wheel group;

[0033] Figure 4 is a schematic diagram before variable diameter;

[0034] Figure 5 is a schematic diagram after variable diameter;

[0035] Figure 6 is a schematic diagram of the distribution relationship of a waist-shaped through hole part. DETAILED DESCRIPTION

[0036] The present application will be described below with reference to the embodiments of the present application. Figures 1-6The technical solutions in the embodiments of the present application are clearly and completely described. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. If not specifically indicated, the technical means used in the embodiments are conventional means familiar to those skilled in the art.

[0037] It should be noted that, for the convenience of display, Figure 1 , Figure 2 The entire detection robot is laid horizontally, and in actual work, it should be Figure 4 vertically, and the "front" and "front end" refer to the downward direction of the detection robot in actual work, and the "rear" and "front end" refer to the upward direction of the detection robot in actual work. Figure 1 , Figure 2 The "front", "front end", "rear" and "front end" refer to the downward direction of the detection robot in actual work, and the "rear" and "front end" refer to the upward direction of the detection robot in actual work.

[0038] As shown in Figure 1 , a stepped variable-diameter hole self-adaptive detection robot comprises a rear end base 1, an intermediate sleeve 2, a front end base 3, a detection platform 4, a driving wheel set 5, an auxiliary wheel 6 and a variable-diameter mechanism.

[0039] The intermediate sleeve 2 is fixedly connected between the rear end base 1 and the front end base 3, and a plurality of driving wheel sets 5 are circumferentially arranged on the outer side surface of the front end base 3, and the driving wheel sets 5 are used for self-walking in the hole; a plurality of auxiliary wheels 6 are circumferentially arranged on the outer side surface of the rear end base 1.

[0040] The variable-diameter mechanism is connected to the driving wheel set 5, and is used for adjusting the distance between the driving wheel set 5 and the front end base 3, so as to realize the function of passing through the stepped variable-diameter hole; the auxiliary wheel 6 is elastically connected between the rear end base 1.

[0041] The end of the front end base 3 is fixedly connected with the detection platform 4, and the detection platform 4 is provided with a camera 402 and a laser measuring instrument; the camera 402 is used for collecting hole wall images, and the laser measuring instrument is used for measuring the change of the inner diameter.

[0042] In specific implementation, as shown in Figure 4The detection robot is placed in the stepped variable-diameter borehole, a program-controlled robot starts the driving wheel set 5 to make it walk along the hole wall; a laser measuring instrument synchronously measures the change of the borehole inner diameter, and data are transmitted to the control system in real time; since the laser measuring instrument is at the lowermost part of the robot, the laser measuring instrument first detects the borehole diameter reduction, at this time, the variable-diameter mechanism adjusts the distance between the driving wheel set 5 and the front end base 3, so that the driving wheel set 5 is retracted to cross the stepped structure; the auxiliary wheel 6 is adaptively adjusted by elastic connection according to the change of the hole wall diameter, so as to keep the overall stability of the robot; the camera 402 on the detection platform 4 collects hole wall images in real time. The variable-diameter mechanism of the present application changes the radial position of the driving wheel set 5 through mechanical transmission, and adapts to different diameter sections of the stepped variable-diameter borehole; the driving wheel set 5 provides walking power, and the auxiliary wheel 6 enhances the stability of the robot in the hole through elastic support; the camera 402 and the laser measuring instrument integrated on the detection platform 4 realize visual detection of the hole wall and inner diameter measurement respectively, and realize automatic detection combined with PLC program control.

[0043] As Figure 3 The driving wheel set 5 and the auxiliary wheel 6 are distributed in a ring shape and at least three.

[0044] A ring-shaped illuminating lamp 401 is further arranged on the detection platform 4 to illuminate the hole environment; and a battery and a wireless module are arranged in the detection platform 4 to supply power to each detection module and transmit data. The laser measuring instrument is a prior art, and its function is distance measurement, for example, the laser ranging sensor in the prior art calculates the distance by emitting laser and receiving the reflected light signal. The camera 402 adopts a high-definition camera and can clearly capture the hole wall details. Of course, other detection modules such as ultrasonic detection and infrared thermal imaging can also be arranged on the detection platform 4.

[0045] The whole detection robot further comprises a PLC program control module, through which the variable-diameter process can be automatically adapted, the function of the program-controlled robot is realized, and the robot can also be remotely controlled through a wireless control scheme.

[0046] The present application is a key detection equipment in the intelligent manufacturing equipment industry in the field of geological exploration, and the robot has the ability to adapt to the stepped variable-diameter borehole environment, effectively solving the problem that the traditional equipment cannot travel in the multi-diameter section detection process; the laser measuring instrument significantly improves the accuracy of the inner diameter measurement, ensuring the accuracy and reliability of the data; at the same time, the camera 402 can realize high-definition visual detection of the hole wall defects, so that the fine defects of the hole wall can be clearly presented, and other detection modules can also be arranged on the detection platform 4 to adapt to different detection requirements, improving the comprehensiveness and accuracy of the detection, and providing a new solution for special borehole detection.

[0047] Further, the variable-diameter mechanism comprises a motor 10, a screw rod 11 and a shaft sleeve 12;

[0048] The motor 10 is installed in the rear end base 1, the output end of the motor 10 is fixedly connected with the screw rod 11, the middle sleeve 2 is sleeved on the screw rod 11, and an annular cavity is formed between the middle sleeve 2 and the screw rod 11, the shaft sleeve 12 is sleeved on the screw rod 11 and located in the annular cavity, and a plurality of waist-shaped through hole portions 201 are arranged in the circumferential direction of the middle sleeve 2, the waist-shaped through hole portions 201 are communicated with the annular cavity, and the waist-shaped through hole portions 201 are distributed along the axis of the middle sleeve 2.

[0049] One end of the first connecting rod 501 is rotatably connected with the driving wheel set 5, and the other end of the first connecting rod 501 is rotatably connected with the outer side surface of the front end base 3; the middle part of the first connecting rod 501 is rotatably connected with one end of the second connecting rod 502, and the other end of the second connecting rod 502 is rotatably connected with the limiting block 503, the limiting block 503 is located in the waist-shaped through hole portion 201, and the limiting block 503 is fixedly connected with the shaft sleeve 12.

[0050] The shaft sleeve 12 is used to move along the axis of the screw rod 11 when the screw rod 11 rotates, so that the first connecting rod 501 and the second connecting rod 502 rotate, so as to adjust the distance between the driving wheel set 5 and the front end base 3.

[0051] The program controls the motor 10 to start, drives the screw rod 11 to rotate, and drives the shaft sleeve 12 to move along the axis under the thread action of the screw rod 11; when the shaft sleeve 12 moves, the limiting block 503 slides in the waist-shaped through hole portion 201, the limiting block 503 plays a limiting function on the shaft sleeve 12, and the limiting block 503 drives the second connecting rod 502 to rotate when moving; the second connecting rod 502 drives the first connecting rod 501 to rotate, so that the first connecting rod 501 swings around the connecting point with the front end base 3, the driving wheel set 5 swings around the connecting point, and the distance between the driving wheel set 5 and the front end base 3 is adjusted through an arc track. The motor 10 drives the screw rod 11 to rotate, converts the rotary motion into the axial linear motion of the shaft sleeve 12, the shaft sleeve 12 converts the axial motion into the radial swing of the driving wheel set 5 through the connecting rod mechanism of the first connecting rod 501 and the second connecting rod 502, so as to change the radial position of the driving wheel set 5 and adapt to different hole diameters. The structure of the waist-shaped through hole portion 201 is as shown in Figure 6 The number and position of the driving wheel set 5 are adapted to a plurality of driving wheel sets 5.

[0052] As Figure 3 shown in the figure, the driving wheel set 5 includes two driving wheels, the end of the first connecting rod 501 is provided with an opening portion, a driving motor is installed in the opening portion, the two sides of the opening portion are respectively provided with the driving wheels, and the two ends of the driving motor are fixedly connected with the driving wheels.

[0053] The output shafts at both ends of the driving motor drive the two driving wheels to rotate synchronously, and the driving wheels push the robot to move along the axial direction of the borehole; the double driving wheel structure increases the contact points with the borehole wall, and improves the walking reliability of the robot in a complex borehole environment. The driving motor is a prior art, and both ends thereof are output shafts, for example, a double-shaft motor. The front end base 3 is provided with a power supply connected to each driving motor.

[0054] Further, the auxiliary wheel 6 is rotatably connected to the support seat 8 in the middle, the support seat 8 is fixedly connected to the outer side of the rear end base 1, one end of the support rod 7 is rotatably connected to the auxiliary wheel 6, and the other end of the support rod 7 penetrates through the waist-shaped through hole part 201 and is rotatably connected to the sliding sleeve 15, the sliding sleeve 15 is located in the annular cavity and is slidably sleeved on the screw rod 11, the push rod 16 is connected to the sliding sleeve 15, and the end portions of the push rod 16 are spaced apart from the shaft sleeve 12.

[0055] The shaft sleeve 12 is used to move backward to push the push rod 16 to move backward, so that the distance between the driving wheel set 5 and the front end base 3 is reduced, and the auxiliary wheel 6 is tightly attached to the borehole wall.

[0056] When the diameter of the borehole is reduced, the program control variable-diameter mechanism makes the shaft sleeve 12 move backward, the shaft sleeve 12 pushes the push rod 16 to drive the sliding sleeve 15 to move backward along the axis of the screw rod 11, the sliding sleeve 15 pulls the support rod 7, the support rod 7 drives the auxiliary wheel 6 to rotate around the support seat 8, so that the auxiliary wheel 6 swings in the direction away from the rear end base 1 and tightly attaches to the borehole wall; at the same time, the shaft sleeve 12 drives the driving wheel set 5 to fold through the connecting rod mechanism, so that the distance with the front end base 3 is reduced, and the small-diameter borehole is adapted. The backward movement of the shaft sleeve 12 is transmitted to the sliding sleeve 15 through the push rod 16, and then the auxiliary wheel 6 is swung through the support rod 7, so that the tension adjustment of the auxiliary wheel 6 is realized; the linkage adjustment of the auxiliary wheel 6 and the driving wheel set 5 ensures that the robot is balanced in overall stress when the diameter is changed.

[0057] Further, one end of the radial spring 9 is fixedly connected to the rear end base 1, and the other end of the radial spring 9 is fixedly connected to the support rod 7.

[0058] The radial spring 9 provides an initial pressure to the support rod 7, when the auxiliary wheel 6 and the driving wheel set 5 are in contact with the borehole wall, the push rod 16 is spaced apart from the shaft sleeve 12, the sliding sleeve 15 and the push rod 16 are in a free state, so that the radial spring 9 provides a smaller pressure at this time to make the auxiliary wheel 6 attach to the borehole wall, so that the auxiliary wheel 6 is self-adapted to the borehole wall. When the shaft sleeve 12 abuts against the push rod 16, the pressure of the auxiliary wheel 6 on the borehole wall is increased through mechanical transmission.

[0059] Further, the reset spring 17 is arranged between the sliding sleeve 15 and the rear end base 1; when the shaft sleeve 12 is reset, the reset spring 17 pushes the sliding sleeve 15 to move forward to reset.

[0060] When the sliding sleeve 15 and the push rod 16 are in the free state, the reset spring 17 is also in the free state, and the purpose is to push the sliding sleeve 15 to reset together with the shaft sleeve 12 and release the pressure of the auxiliary wheel 6 on the hole wall.

[0061] Further, the end of the support rod 7 is provided with an opening, the auxiliary wheel 6 is rotatably arranged in the opening, and the opening is provided with an elastic pressing plate 14, and the elastic pressing plate 14 is pushed to move by the driving mechanism 13;

[0062] When the shaft sleeve 12 moves backward, the driving mechanism 13 pushes the elastic pressing plate 14 to press the auxiliary wheel 6, the friction between the auxiliary wheel 6 and the hole wall is increased, and the auxiliary wheel 6 cannot rotate, so that the whole robot slows down.

[0063] As shown in Figure 4 , Figure 5 When the robot is in the variable-diameter stage, the shaft sleeve 12 first pushes the driving wheel set 5 to shrink, so that the driving wheel set 5 adapts to the change of the inner diameter, and then in the variable-diameter stage, the elastic pressing plate 14 presses the auxiliary wheel 6, the auxiliary wheel 6 cannot rotate under the action of the pressure, and at the same time, the shaft sleeve 12 abuts against the push rod 16, the pressure of the auxiliary wheel 6 on the hole wall is increased through mechanical transmission, so that in the variable-diameter stage, the pressure between the auxiliary wheel 6 and the hole wall is increased, the auxiliary wheel 6 cannot rotate, and finally under the action of the whole robot weight, the sliding friction between the auxiliary wheel 6 and the hole wall is formed, the damping function is formed, and the whole robot slows down to the state shown in Figure 5 ; then the shaft sleeve 12 is reset to adapt to the small hole diameter, the auxiliary wheel 6 is attached to the smaller hole diameter, the pressure between the auxiliary wheel 6 and the hole wall is restored, at this time, the push rod 16 and the shaft sleeve 12 are re-distributed, the sliding sleeve 15 and the push rod 16 return to the free state, the reset spring 17 pushes the sliding sleeve 15 to reset, the support rod 7 rotates to remove the pressure of the auxiliary wheel 6, and the auxiliary wheel 6 returns to the initial pressure state under the support of the radial spring 9. Then the driving wheel set 5 acts again to walk inside the small hole diameter, and the auxiliary wheel 6 passes through the stepped structure through the radial spring 9.

[0064] In addition, the elastic pressing plate 14 can be supported by rubber, which has a certain elasticity to avoid mechanical damage to the auxiliary wheel 6, and the outer side of the auxiliary wheel 6 and the side of the elastic pressing plate 14 can be provided with a tooth part, and the auxiliary wheel 6 is more stably braked through the tooth part.

[0065] It should be noted that in the variable-diameter process, the stepped part contacts the outer contour of the auxiliary wheel 6, and does not interfere with other components, such as Figure 4 , Figure 5 the dashed part in the figure.

[0066] The driving mechanism 13 of the present application can be a linear driving device, for example, an electric cylinder, and can also be Figure 2The mechanical hydraulic structure in the drive mechanism 13, in particular, the drive mechanism 13 includes a sliding rod 131, a first piston 134, a liquid medium 135, a movable rod 137, an elastic oil pipe 138, a fixed plate 139, a second piston 140, a translation rod 141 and a pressing plate 142;

[0067] The fixed plate 139 is fixedly connected in the waist-shaped through hole part 201, the stop block 121 is fixedly connected to the outer side of the shaft sleeve 12, the stop block 121 is located in the waist-shaped through hole part 201, the fixed plate 139 is provided with a compression cavity, the side of the fixed plate 139 facing the stop block 121 is provided with a through hole communicating with the compression cavity, the translation rod 141 is slidably inserted into the through hole, one end of the translation rod 141 located in the compression cavity is fixedly connected to the second piston 140, one end of the translation rod 141 facing the stop block 121 is fixedly connected to the pressing plate 142, and the pressing plate 142 is spaced apart from the stop block 121;

[0068] The support rod 7 is provided with a hollow chamber, the support rod 7 is provided with openings of the hollow chamber at both ends, one end of the hollow chamber is slidably inserted into the sliding rod 131, the other end of the hollow chamber is slidably inserted into the movable rod 137, the movable rod 137 is rotatably connected to the outer side of the sliding sleeve 15, one end of the sliding rod 131 extending out of the hollow chamber is fixedly connected to the elastic pressing plate 14; the first piston 134 is arranged between the opposite ends of the sliding rod 131 and the movable rod 137, the first piston 134 abuts against the sliding rod 131, and the liquid medium 135 is arranged between the first piston 134 and the movable rod 137;

[0069] One end of the elastic oil pipe 138 is fixedly connected to the side of the support rod 7, the other end of the elastic oil pipe 138 is fixedly connected to the fixed plate 139, and the liquid medium 135 communicates with the compression cavity through the elastic oil pipe 138;

[0070] When the shaft sleeve 12 moves backward, the stop block 121 is used for pushing the pressing plate 142 to move, the second piston 140 extrudes the liquid medium 135 into the hollow chamber, the first piston 134 pushes the sliding rod 131 to move, and the elastic pressing plate 14 is pressed against the auxiliary wheel 6.

[0071] In specific implementation, during the rearward movement of the shaft sleeve 12, the stopper 121 pushes the pressing plate 142, the pressing plate 142 drives the translation rod 141 and the second piston 140 to move into the compression cavity of the fixed plate 139; the second piston 140 pushes the liquid medium 135 in the compression cavity to move, the liquid medium 135 flows into the hollow chamber of the support rod 7 through the elastic oil pipe 138, and pushes the first piston 134 to move; the first piston 134 pushes the sliding rod 131, and the sliding rod 131 drives the elastic pressing plate 14 to press the auxiliary wheel 6, so that the braking of the auxiliary wheel 6 is realized. The liquid medium 135 can be water or hydraulic oil. The driving mechanism 13 of the present application converts the rearward movement of the shaft sleeve 12 into the pressing force of the elastic pressing plate 14 through the pressure transmission of the liquid medium 135; the hydraulic transmission has the characteristics of force amplification and long-distance transmission, and ensures that the pressing force of the elastic pressing plate 14 on the auxiliary wheel 6 is stable and controllable. The elastic oil pipe 138 can be a rubber hose, and the deformable characteristic is suitable for the rotation of the support rod 7.

[0072] Further, the hollow chamber is divided into three sections, which are a limiting cavity, an intermediate cavity and a pressure cavity in communication;

[0073] The intermediate cavity is located between the limiting cavity and the pressure cavity, and the intermediate cavity and the pressure cavity jointly constitute a stepped chamber structure, wherein the inner diameter of the intermediate cavity is smaller than that of the pressure cavity, and the end of the sliding rod 131 and the first piston 134 are located in the intermediate cavity; the limiting cavity is located at one end of the hollow chamber away from the movable rod 137, the sliding rod 131 passes through the limiting cavity, a limiting ring 133 is slidably arranged in the limiting cavity, the limiting ring 133 is fixedly connected with the sliding rod 131, the limiting ring 133 abuts against an elastic member 132, and the elastic member 132 is located between the limiting ring 133 and the opening of the hollow chamber.

[0074] Further, the movable rod 137 slidably passes through a sealing sleeve 136, and the sealing sleeve 136 is fixedly connected with the end of the support rod 7.

[0075] When the liquid medium 135 pushes the first piston 134 to move, the first piston 134 pushes the sliding rod 131, the sliding rod 131 drives the limiting ring 133 to slide in the limiting cavity, and the elastic member 132 is compressed; when the driving mechanism 13 is reset, the elastic member 132 pushes the limiting ring 133 and the sliding rod 131 to reset, and the elastic pressing plate 14 is separated from the auxiliary wheel 6. The elastic member 132 can be a spring or rubber. The stepped chamber structure limits the movement of the first piston 134 and the sliding rod 131, the elastic member 132 provides a reset force, the stepped structure of the intermediate cavity and the pressure cavity can make the first piston 134 produce more displacement, thereby amplifying the pushing force of the sliding rod 131, and the sealing sleeve 136 ensures the sealing property of the hollow chamber. The compression cavity, the pressure cavity, the intermediate cavity and the elastic oil pipe 138 are filled with uniform liquid medium 135.

[0076] The above-described embodiments are merely preferred ways of implementing the present application, and are not intended to limit the scope of the present application. Any modifications, variations, changes, replacements, and the like made by those skilled in the art to the technical solutions of the present application without departing from the design spirit of the present application shall fall within the protection scope of the present application.

Claims

1. A stepped variable diameter drilling adaptive inspection robot, characterized in that, It includes a rear base (1), an intermediate sleeve (2), a front base (3), a detection platform (4), a drive wheel set (5), an auxiliary wheel (6), and a diameter changing mechanism; The intermediate sleeve (2) is fixedly connected between the rear base (1) and the front base (3). Multiple drive wheel sets (5) are arranged around the outer side of the front base (3) in a circumferential manner. The drive wheel sets (5) are used to move on their own within the hole. Multiple auxiliary wheels (6) are arranged around the outer side of the rear base (1) in a circumferential manner. The variable diameter mechanism is connected to the drive wheel assembly (5) and is used to adjust the distance between the drive wheel assembly (5) and the front end base (3) to realize the function of drilling through a stepped variable diameter; the auxiliary wheel (6) is elastically connected to the rear end base (1); The end of the front base (3) is fixedly connected to the detection platform (4). The detection platform (4) is equipped with a camera (402) and a laser measuring instrument. The camera (402) is used to collect images of the hole wall, and the laser measuring instrument is used to measure the change in inner diameter. The variable diameter mechanism includes a motor (10), a screw (11), and a bushing (12). The motor (10) is installed in the rear base (1), the output end of the motor (10) is fixedly connected to the screw (11), the intermediate sleeve (2) is sleeved on the screw (11), an annular cavity is formed between the intermediate sleeve (2) and the screw (11), the bushing (12) is sleeved on the screw (11) and located in the annular cavity, the intermediate sleeve (2) is provided with a plurality of waist-shaped through holes (201) in the circumferential direction, the waist-shaped through holes (201) communicate with the annular cavity, and the waist-shaped through holes (201) are distributed along the axis of the intermediate sleeve (2); The drive wheel assembly (5) is rotatably connected to one end of the first connecting rod (501), and the other end of the first connecting rod (501) is rotatably connected to the outer side of the front base (3); the middle part of the first connecting rod (501) is rotatably connected to one end of the second connecting rod (502), and the other end of the second connecting rod (502) is rotatably connected to the limiting block (503). The limiting block (503) is located inside the waist-shaped through hole (201), and the limiting block (503) is fixedly connected to the bushing (12). The bushing (12) is used to move along its axis when the screw (11) rotates, so that the first connecting rod (501) and the second connecting rod (502) rotate, so as to adjust the distance between the drive wheel assembly (5) and the front end base (3); The auxiliary wheel (6) is rotatably connected to a support base (8) in the middle. The support base (8) is fixedly connected to the outer side of the rear base (1). The auxiliary wheel (6) is rotatably connected to one end of a support rod (7). The other end of the support rod (7) passes through the waist-shaped through hole (201) and is rotatably connected to a sliding sleeve (15). The sliding sleeve (15) is located in the annular cavity and is slidably sleeved on the screw (11). A push rod (16) is connected to the sliding sleeve (15). The end of the push rod (16) is spaced apart from the bushing (12). The bushing (12) is used to move backward to push the push rod (16) backward, so that the distance between the drive wheel assembly (5) and the front end base (3) is reduced, and the auxiliary wheel (6) is pressed against the hole wall.

2. The stepped variable diameter drilling adaptive inspection robot according to claim 1, characterized in that, The drive wheel assembly (5) includes two drive wheels. The end of the first connecting rod (501) is provided with an opening, in which a drive motor is installed. The drive wheels are respectively provided on both sides of the opening, and the two ends of the drive motor are fixedly connected to the drive wheels.

3. The stepped variable diameter drilling adaptive inspection robot according to claim 1, characterized in that, The rear base (1) is fixedly connected to one end of the radial spring (9), and the other end of the radial spring (9) is fixedly connected to the support rod (7).

4. The stepped variable diameter drilling adaptive inspection robot according to claim 1, characterized in that, A reset spring (17) is provided between the sliding sleeve (15) and the rear base (1); when the bushing (12) is reset, the reset spring (17) pushes the sliding sleeve (15) forward to reset.

5. The stepped variable diameter drilling adaptive inspection robot according to claim 1, characterized in that, The support rod (7) has an opening at its end, and the auxiliary wheel (6) is rotatably disposed in the opening. An elastic pressure plate (14) is disposed in the opening, and the elastic pressure plate (14) is pushed to move by a drive mechanism (13). When the bushing (12) moves backward, the drive mechanism (13) pushes the elastic pressure plate (14) to press the auxiliary wheel (6), increasing the friction between the auxiliary wheel (6) and the hole wall and preventing it from rotating, thereby causing the entire robot to descend slowly.

6. The stepped variable diameter drilling adaptive inspection robot according to claim 5, characterized in that, The drive mechanism (13) includes a slide bar (131), a first piston (134), a liquid medium (135), a movable rod (137), an elastic oil pipe (138), a fixed plate (139), a second piston (140), a translation rod (141), and a pressure plate (142). The fixed plate (139) is fixedly connected inside the waist-shaped through hole (201), and the stop block (121) is fixedly connected to the outer side of the bushing (12). The stop block (121) is located inside the waist-shaped through hole (201). A compression chamber is provided inside the fixed plate (139). A through hole communicating with the compression chamber is provided on the side of the fixed plate (139) facing the stop block (121). The translation rod (141) can slide through the through hole. The second piston (140) is fixedly connected to one end of the translation rod (141) located in the compression chamber. The pressure plate (142) is fixedly connected to one end of the translation rod (141) facing the stop block (121). The pressure plate (142) and the stop block (121) are spaced apart. The support rod (7) has a hollow cavity inside, and the support rod (7) has openings in the hollow cavity at both ends. One end of the hollow cavity is slidably inserted into the slide rod (131), and the other end of the hollow cavity is slidably inserted into the movable rod (137). The movable rod (137) is rotatably connected to the outer side of the sliding sleeve (15). One end of the slide rod (131) extending out of the hollow cavity is fixedly connected to the elastic pressure plate (14). The first piston (134) is provided between the opposite ends of the slide rod (131) and the movable rod (137). The first piston (134) abuts against the slide rod (131), and the liquid medium (135) is provided between the first piston (134) and the movable rod (137). The side of the support rod (7) is fixedly connected to one end of the elastic oil pipe (138), and the other end of the elastic oil pipe (138) is fixedly connected to the fixing plate (139). The liquid medium (135) is connected to the compression chamber through the elastic oil pipe (138). When the bushing (12) moves backward, the stop (121) is used to push the pressure plate (142) to move, so that the second piston (140) squeezes the liquid medium (135) into the hollow cavity, so that the first piston (134) pushes the slide rod (131) to move, so that the elastic pressure plate (14) presses the auxiliary wheel (6).

7. The stepped variable diameter drilling adaptive inspection robot according to claim 6, characterized in that, The hollow chamber is divided into three sections: a connected limiting chamber, an intermediate chamber, and a pressure chamber. The intermediate cavity is located between the limiting cavity and the pressure cavity. The intermediate cavity and the pressure cavity together form a stepped chamber structure. The inner diameter of the intermediate cavity is smaller than that of the pressure cavity. The end of the slide rod (131) and the first piston (134) are both located in the intermediate cavity. The limiting cavity is located at the end of the hollow cavity away from the movable rod (137). The slide rod (131) passes through the limiting cavity. A limiting ring (133) is slidably provided in the limiting cavity. The limiting ring (133) is fixedly connected to the slide rod (131). The limiting ring (133) abuts against the elastic member (132). The elastic member (132) is located between the limiting ring (133) and the opening of the hollow cavity.

8. The stepped variable diameter drilling adaptive inspection robot according to claim 6, characterized in that, The movable rod (137) can slide through the sealing sleeve (136), which is fixedly connected to the end of the support rod (7).

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