High-precision laser measurement positioning structure and drilling equipment

Abstract

The application relates to the technical field of laser measurement, in particular to a high-precision laser measurement positioning structure and drilling equipment. The drilling equipment comprises a mechanical arm. The mechanical arm can rotate and stretch. The output end of the mechanical arm is fixedly connected with a ball rod. The spherical part of the ball rod is connected with a ball sleeve. The outer wall of the ball sleeve away from the ball rod is fixedly connected with a measuring disc. The side of the measuring disc away from the ball sleeve is fixedly connected with a laser seat. The end of the laser seat away from the measuring disc is fixedly connected with a laser emission receiver. After the wall-attached plates are inserted into the inside of the drilling hole to be measured, the two wall-attached plates are driven to move away from each other and tightly attach to the inner wall of the drilling hole by the driving and pressing ring. Thus, the laser emission receiver is turned around the spherical part of the ball rod to adjust the angle, the emission direction of the laser emission receiver is parallel to the central axis of the drilling hole, and the laser measurement accuracy of the drilling hole is ensured.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of laser measurement, in particular to a high-precision laser measurement positioning structure and drilling equipment. BACKGROUND

[0002] In the fields of building construction, geological exploration, mining and hydropower underground cavern group construction, drilling operation is a key basic process. In particular, in hydropower engineering, underground cavern group is a core building, and the accurate measurement of drilling depth and precision is directly related to the control of cavern overbreak and underbreak, thereby affecting the engineering safety, construction progress and cost control. At present, the mainstream drilling depth measurement methods in the industry are divided into two categories: mechanical contact measurement, which is to manually extend a scale metal ruler, a probe rod or a measuring rope into the drill hole, and then manually read the hole depth after the measuring part touches the bottom; and traditional laser measurement, which relies on a laser assembly, i.e., a laser emitter-receiver, to irradiate and receive the bottom of the drill hole, and calculates the hole depth through the laser reflection signal combined with the speed of light.

[0003] The existing measurement methods have obvious technical shortcomings: the mechanical contact method is limited by manual operation and tool characteristics, and cannot be adapted to deep or large number of drill holes in hydropower underground cavern groups. The parallax error of manual reading and the scale wear further reduce the accuracy, and the operation is more complicated. Although the traditional laser measurement reduces manual intervention and is fast to operate, if the light source emitted by the laser assembly is not parallel to the central axis of the drill hole, the light source emitted by the laser assembly will be irradiated on the arc-shaped inner wall of the drill hole, and does not reach the bottom of the drill hole. Therefore, the emitted light received by the laser assembly cannot represent the depth of the drill hole, resulting in measurement error and poor accuracy. SUMMARY

[0004] In order to make up for the shortcomings of the prior art, the application provides a high-precision laser measurement positioning structure and drilling equipment. After the wall-attached plates are inserted into the inside of the drill hole to be measured, the driving pressing ring drives the two wall-attached plates to move away from each other and tightly attach to the inner wall of the drill hole. In this way, the laser emitter-receiver is adjusted in angle by turning around the spherical part of the ball bat, so that the emission direction of the laser emitter-receiver is parallel to the central axis of the drill hole, thereby ensuring the accuracy of the laser measurement of the drill hole.

[0005] The technical scheme adopted by the present application to solve its technical problems is: a high-precision laser measurement positioning structure, comprising a mechanical arm; the mechanical arm can rotate and stretch; the output end of the mechanical arm is fixedly connected with a ball bat; the spherical part of the ball bat is connected with a ball sleeve; the outer wall of the ball sleeve away from the ball bat is fixedly connected with a measuring disc; the side of the measuring disc away from the ball sleeve is fixedly connected with a laser seat; the end of the laser seat away from the measuring disc is fixedly connected with a laser emission receiver; the arc-shaped outer wall of the laser seat is symmetrically provided with a driven groove; the driven groove is slidably and sealingly connected with a driven part; the end of the driven part away from the groove bottom of the driven groove is fixedly connected with a wall-attached plate vertically; the length direction of the wall-attached plate is consistent with the axial direction of the laser seat; the inside of the measuring disc is provided with an annular driving groove; the driving groove is slidably and sealingly connected with a driving ring; the driving ring divides the driving groove into a near-arm cavity and a far-arm cavity; the near-arm cavity is communicated with the groove bottom of the driven groove through a first liquid hole; the first spring is connected between the driving ring and the inner wall of the driving groove away from the mechanical arm; the driving ring away from the mechanical arm is fixedly connected with a pressing ring through a driving rod; the driving rod passes through the measuring disc and is movably connected with the measuring disc.

[0006] Preferably, the inner wall of the ball sleeve is embedded with a first iron block; the spherical part of the ball bat is embedded with an electromagnet; the first iron block and the electromagnet are magnetically attracted.

[0007] Preferably, the wall-attached plate is arc-shaped; the two wall-attached plates can be combined into a sleeve shape; the end of the wall-attached plate away from the measuring disc is fixedly connected with a semicircular plate; the two semicircular plates can be combined into a disc shape.

[0008] Preferably, the driven part is composed of a plurality of driven sleeves and a single driven rod; the plurality of driven sleeves are slidably and sealingly sleeved with each other; the outermost driven sleeve is slidably and sealingly connected with the driven groove, and the innermost driven sleeve is slidably and sealingly connected with the outer wall of the driven rod; the driven rod is fixedly connected with the inner side of the wall-attached plate; the inner walls of the driven groove and the driven sleeve are provided with anti-disengagement grooves; the anti-disengagement grooves are slidably connected with anti-disengagement blocks; the innermost anti-disengagement block is fixedly connected with the outer wall of the driven rod, and the other anti-disengagement blocks are fixedly connected with the outer walls of the corresponding driven sleeves.

[0009] Preferably, the wall-attached plate is composed of a first arc-shaped plate away from the mechanical arm and a second arc-shaped plate close to the mechanical arm; the first arc-shaped plate is fixedly connected with the semicircular plate; the second arc-shaped plate is fixedly connected with the driven part; the position where the second arc-shaped plate contacts the first arc-shaped plate is provided with an unfolding groove; an unfolding strip is slidably connected in the unfolding groove; the unfolding strip is fixedly connected with the first arc-shaped plate; the unfolding groove and the inside of the driven groove are communicated through a second liquid hole; the second liquid hole passes through the driven part and the second arc-shaped plate.

[0010] Preferably, the unfolding strip and the groove bottom of the unfolding groove are connected through a second spring.

[0011] Preferably, the two first arc-shaped plates are away from each other, and the two second arc-shaped plates are away from each other, and sliding rods are arranged at the positions; sliding grooves are arranged on the outer walls of the sliding rods along the axial direction; sliding blocks are slidably connected in the sliding grooves; the sliding blocks are connected to the inner walls of the ends of the sliding grooves through the third springs on the two sides; and the sliding blocks are fixedly connected to the corresponding first arc-shaped plates and second arc-shaped plates.

[0012] Preferably, the measuring disc is movably connected to the driving rod through a driving hole; and the driving hole has a larger diameter than the driving rod.

[0013] A drilling device is suitable for the high-precision laser measurement positioning structure, and the drilling device comprises a traveling vehicle; a drilling assembly is connected to the front end of the traveling vehicle; a receiving unit and a feedback unit are arranged in the drilling device; the feedback unit is connected to the receiving unit; a mechanical arm is fixedly connected to the front end of the traveling vehicle; the feedback unit is connected to a laser emission receiver; and the receiving unit is connected to the drilling assembly.

[0014] The present application has the following advantages:

[0015] 1. After the wall-attached plates are inserted into the inside of the drill hole to be measured, the driving press ring drives the two wall-attached plates to be away from each other and tightly attached to the inner wall of the drill hole, so that the laser emission receiver is adjusted in angle by turning around the spherical part of the ball bat, and the emission direction of the laser emission receiver is parallel to the central axis of the drill hole, thereby ensuring the accuracy of the laser measurement of the drill hole.

[0016] 2. After the two wall-attached plates are combined into a sleeve shape, the two wall-attached plates cover the lateral space of the laser emission receiver, and after the two half circular plates are combined into a disc shape, the two half circular plates cover the emission and receiving end of the laser emission receiver, so that the entire laser emission receiver is covered after stopping working, thereby avoiding the attachment of dust and debris during the stopping process, and achieving the protection of the laser emission receiver.

[0017] 3. The liquid in the unfolding groove pushes the unfolding strip away from the bottom of the unfolding groove, so that the first arc-shaped plate is away from the corresponding second arc-shaped plate, thereby extending the coverage range of the wall-attached plate in the axial direction of the laser emission receiver, and after the extended wall-attached plate contacts the arc-shaped inner wall of the drill hole, the emission direction of the laser emission receiver is more accurately parallel to the central axis of the drill hole, thereby improving the accuracy of the emission direction adjustment of the laser emission receiver. BRIEF DESCRIPTION OF DRAWINGS

[0018] The present application will be further described below in combination with the drawings and embodiments.

[0019] Figure 1 is the perspective view of the laser measurement positioning structure in the present application;

[0020] Figure 2 is the perspective view of the measuring disc, the wall-attached plate, the pressing ring, the ball sleeve and the ball rod in the present application;

[0021] Figure 3 is the sectional view of Figure 2 ;

[0022] Figure 4 is the enlarged view of A in Figure 3 ;

[0023] Figure 5 is the enlarged view of B in Figure 3 ;

[0024] Figure 6 is the perspective view of the driving ring and the pressing ring in the present application;

[0025] Figure 7 is the perspective view of the wall-attached plate and the semi-circular plate in the present application;

[0026] Figure 8 is the perspective view of the sliding rod in the present application;

[0027] Figure 9 is the position view of the unfolding strip in the present application;

[0028] Figure 10 is the perspective view of the drilling equipment in the present application.

[0029] In the figure: the travelling vehicle 1, the drilling assembly 2, the mechanical arm 3, the ball rod 31, the electromagnet 32, the measuring disc 4, the ball sleeve 41, the first iron block 411, the driving groove 42, the near-arm cavity 421, the far-arm cavity 422, the driving ring 43, the first liquid hole 44, the first spring 45, the driving rod 46, the pressing ring 47, the driving hole 48, the laser seat 5, the laser emission receiver 51, the driven groove 52, the driven part 6, the driven sleeve 61, the driven rod 62, the anti-falling groove 63, the anti-falling block 64, the wall-attached plate 7, the semi-circular plate 71, the first arc-shaped plate 72, the second arc-shaped plate 73, the unfolding groove 74, the unfolding strip 75, the second liquid hole 76, the second spring 77, the sliding rod 8, the sliding groove 81, the sliding block 82, the third spring 83. DETAILED DESCRIPTION

[0030] In order to make the technical means, creative features, purposes and effects realized by the present application easy to understand, the present application is further described below in combination with specific embodiments.

[0031] As Figures 1 to 10 shown, the present application includes the following embodiments:

[0032] Embodiment 1: a high-precision laser measurement positioning structure, comprising a mechanical arm 3; the mechanical arm 3 can be bent and stretched at multiple joints; the output end of the mechanical arm 3 is fixedly connected with a ball rod 31; the spherical part of the ball rod 31 is connected with a ball sleeve 41; the outer wall of the ball sleeve 41 away from the ball rod 31 is fixedly connected with a measuring disc 4; the side of the measuring disc 4 away from the ball sleeve 41 is fixedly connected with a laser seat 5; the end of the laser seat 5 away from the measuring disc 4 is fixedly connected with a laser emission receiver 51; the arc-shaped outer wall of the laser seat 5 is symmetrically provided with a driven groove 52; the driven groove 52 is slidably and sealingly connected with a driven part 6; the end of the driven part 6 away from the groove bottom of the driven groove 52 is vertically fixedly connected with a wall sticking plate 7; the length direction of the wall sticking plate 7 is consistent with the axial direction of the laser seat 5; the inside of the measuring disc 4 is provided with an annular driving groove 42; the driving groove 42 is slidably and sealingly connected with a driving ring 43; the driving ring 43 divides the driving groove 42 into a near-arm cavity 421 and a far-arm cavity 422; the near-arm cavity 421 is in communication with the groove bottom of the driven groove 52 through a first liquid hole 44; the first spring 45 is connected between the driving ring 43 and the inner wall of the driving groove 42 close to the mechanical arm 3; the driving ring 43 away from the mechanical arm 3 is fixedly connected with a pressing ring 47 through a driving rod 46; the driving rod 46 passes through the measuring disc 4 and is movably connected with the measuring disc 4.

[0033] In this embodiment, the inner wall of the ball sleeve 41 is embedded with a first iron block 411; the spherical part of the ball rod 31 is embedded with an electromagnet 32; the first iron block 411 and the electromagnet 32 are magnetically attracted.

[0034] In the case of needing to measure the hole depth of a drill hole, the mechanical arm 3 is controlled to work, the mechanical arm 3 can be bent at multiple joints and stretched at multiple joints, so that the output end of the mechanical arm 3 drives the ball rod 31 to approach the hole opening position of the drill hole, because the spherical part of the ball rod 31 is embedded with the electromagnet 32 and the inner wall of the ball sleeve 41 is embedded with the first iron block 411, under the magnetic attraction of the first iron block 411 and the electromagnet 32, the spherical part of the ball rod 31 is stable inside the ball sleeve 41 and cannot rotate, so that the ball sleeve 41 can move synchronously with the movement of the ball rod 31, during the process that the ball sleeve 41 approaches the hole opening of the drill hole with the ball rod 31, the ball sleeve 41 drives the measuring disc 4, the pressing ring 47, the driving ring 43, the laser seat 5, the laser emission receiver 51 and the wall sticking plate 7 to approach the drill hole, the radial sections of the laser seat 5 and the laser emission receiver 51 are both circular and equal.

[0035] The wall-attached plate 7 in the initial state is attached to the outer wall of the laser seat 5 and the laser emission receiver 51, so that the laser seat 5 and the laser emission receiver 51 can be inserted into the drill hole under the traction of the mechanical arm 3. As the laser seat 5 and the laser emission receiver 51 approach the hole bottom of the drill hole, the pressing ring 47 will also come into contact with the rock or soil around the hole of the drill hole. The pressing ring 47 under pressure will drive the driving rod 46 and the driving ring 43 to move, so that the driving ring 43 slides in the driving groove 42 and approaches the ball stick 31. In the process of the driving ring 43 approaching the ball stick 31, the elastic force of the first spring 45 is overcome, the space of the far arm cavity 422 in the driving groove 42 is expanded, the space of the near arm cavity 421 is reduced, and the liquid in the near arm cavity 421 enters the driven groove 52 along the first liquid hole 44. After the liquid in the driven groove 52 increases, the hydraulic pressure increases, and the liquid pushes the driven part 6 away from the groove bottom of the driven groove 52. The driven part 6 drives the wall-attached plate 7 away from the laser seat 5 and the laser emission receiver 51. One side of the wall-attached plate 7 away from the laser emission receiver 51 will gradually attach to the inner wall of the drill hole. The number of wall-attached plates 7 is two and symmetrically distributed. The wall-attached plate 7 will be driven by the corresponding driven part 6. In the process that one of the wall-attached plates 7 contacts the inner wall of the drill hole, the other wall-attached plate 7 can be independently controlled by the driven part 6 to continue to move outward. In the process that the two wall-attached plates 7 away from the outer wall of the laser emission receiver 51 are attached to the inner wall of the drill hole, the ball sleeve 41 will be activated with the spherical part of the ball stick 31. Thus, the ball sleeve 41 drives the measuring disc 4 and the laser seat 5 to rotate around the center of the spherical part of the ball stick 31. The laser seat 5 drives the laser emission receiver 51 to rotate during the turning process. Thus, the emission direction of the laser emission receiver 51 is parallel to the central axis of the drill hole. Thus, the positioning preparation work before laser measurement is completed. Then, the laser emission receiver 51 emits laser. After the laser is emitted, it irradiates the hole bottom of the drill hole and is received by the laser emission receiver 51 after being emitted at the hole bottom of the drill hole. Thus, the hole depth of the drill hole is calculated. The driving distance of the driving ring 43 in the driving groove 42 can be judged by the displacement sensor. Specifically, the first sensor is embedded on the driving ring 43, and the second sensor is arranged on the inner wall of the driving groove 42. The moving distance of the driving ring 43 in the driving groove 42 can be judged by the distance from the first sensor to the second sensor. The specific moving distance can also be judged by other ways. This is prior art, which will not be described in detail here.

[0036] The distance that the driving ring 43 moves in the driving groove 42 directly determines the distance that the pressing ring 47 reaches the measuring disc 4, thereby directly determining the distance that the measuring disc 4 reaches the drilling hole, so that the axial position of the laser emission receiver 51 in the drilling hole can be known, and the hole depth of the drilling hole can be determined through calculation, so that after the laser measurement is completed, the control mechanical arm 3 drives the ball rod 31 to move away from the drilling hole, the ball rod 31 drives the ball sleeve 41 to move away from the drilling hole, the ball sleeve 41 drives the measuring disc 4 to move away from the drilling hole, the first spring 45 pushes the driving ring 43 to slide in the driving groove 42 to reset, the driving ring 43 drives the driving rod 46 and the pressing ring 47 to move away from the ball sleeve 41, the space of the proximal arm cavity 421 is enlarged to form negative pressure, the liquid in the driven groove 52 flows back to the proximal arm cavity 421 under the action of negative pressure, the driven part 6 is retracted into the driven groove 52 under the action of negative pressure, so that the driven part 6 drives the wall-attached plate 7 to separate from the wall-attached plate 7, so that the first iron block 411 is attracted by the electromagnet 32 after the distance between the two wall-attached plates 7 is reduced, so that the ball sleeve 41 and the ball rod 31 are reset, and finally the mechanical arm 3 drives the laser seat 5 and the laser emission receiver 51 to be extracted from the drilling hole, and then the mechanical arm 3 drives the laser seat 5 and the laser emission receiver 51 to be inserted into the next drilling hole for laser measurement of the drilling depth.

[0037] In the embodiment, before the mechanical arm 3 drives the laser seat 5 to be inserted into the drilling hole, the electromagnet 32 is powered on, so that the first iron block 411 is magnetically attracted by the electromagnet 32; after the laser seat 5 is inserted into the drilling hole, the electromagnet 32 is powered off; during the wall-attached plate 7 is attached to the inner wall of the drilling hole, the electromagnet 32 is powered off; during the laser measurement, the electromagnet 32 is powered off; after the wall-attached plate 7 is folded and attached to the laser seat 5, the electromagnet 32 is powered on again.

[0038] In the embodiment, before the mechanical arm 3 drives the laser seat 5 to be inserted into the drilling hole, the electromagnet 32 is powered on, so that the first iron block 411 is magnetically attracted by the electromagnet 32; after the laser seat 5 is inserted into the drilling hole, the electromagnet 32 is powered off; during the wall-attached plate 7 is attached to the inner wall of the drilling hole, the electromagnet 32 is powered off; during the laser measurement, the electromagnet 32 is powered off; after the wall-attached plate 7 is folded and attached to the laser seat 5, the electromagnet 32 is powered on again.

[0039] In the embodiment, before the mechanical arm 3 drives the laser seat 5 to be inserted into the drilling hole, the electromagnet 32 is powered on, so that the first iron block 411 is magnetically attracted by the electromagnet 32; after the laser seat 5 is inserted into the drilling hole, the electromagnet 32 is powered off; during the wall-attached plate 7 is attached to the inner wall of the drilling hole, the electromagnet 32 is powered off; during the laser measurement, the electromagnet 32 is powered off; after the wall-attached plate 7 is folded and attached to the laser seat 5, the electromagnet 32 is powered on again.

[0040] In the process that the driven member 6 is driven away from the bottom of the driven groove 52 under the hydraulic action, the driven member 6 drives the wall-attached plate 7 away from the laser emission receiver 51, the two wall-attached plates 7 are separated and move away from each other, and the two semicircular plates 71 are synchronously driven to move away from each other in the process that the two wall-attached plates 7 move away from each other, so that the laser emission receiver 51 is exposed from the inside of the two wall-attached plates 7 and the inside of the semicircular plates 71. After the wall-attached plate 7 is attached to the arc-shaped inner wall of the hole, the direction of the emitted light of the laser emission receiver 51 is adjusted, and then the laser emission receiver 51 is used for laser measurement. After the measurement is completed, the measuring disc 4 is driven away from the hole, the driven member 6 approaches the bottom of the driven groove 52, the driven member 6 drives the wall-attached plate 7 to move, the two wall-attached plates 7 move towards each other, the wall-attached plate 7 drives the semicircular plate 71 to move synchronously, and after the two wall-attached plates 7 are combined into a sleeve shape, the two wall-attached plates 7 cover the lateral space of the laser emission receiver 51. After the two semicircular plates 71 are combined into a disc shape, the two semicircular plates 71 shield the emission and reception end of the laser emission receiver 51. In this way, the entire laser emission receiver 51 is shielded after stopping working, so as to avoid the attachment of dust and debris in the process of stopping working, realize the protection of the laser emission receiver 51, and prepare for the next laser measurement.

[0041] In embodiment 3, the driven member 6 is composed of a plurality of driven sleeves 61 and a single driven rod 62; the plurality of driven sleeves 61 are mutually slidingly and sealingly sleeved; the outermost driven sleeve 61 is slidingly and sealingly connected with the driven groove 52, and the innermost driven sleeve 61 is slidingly and sealingly connected with the outer wall of the driven rod 62; the driven rod 62 is fixedly connected with the inside of the wall-attached plate 7; the driven groove 52 and the inner wall of the driven sleeve 61 are provided with anti-disengagement grooves 63; the anti-disengagement grooves 63 are slidingly connected with anti-disengagement blocks 64; the innermost anti-disengagement block 64 is fixedly connected with the outer wall of the driven rod 62, and the other anti-disengagement blocks 64 are fixedly connected with the outer walls of the corresponding driven sleeves 61.

[0042] In the case of liquid entering the driven grooves 52, the hydraulic pressure inside the driven grooves 52 increases, the liquid pushes the driven rods 62 and the driven sleeves 61 outwards, the driven rods 62 drive the corresponding anti-disengagement blocks 64 to slide along the corresponding anti-disengagement grooves 63, the innermost driven grooves 52 slide outwards, the adjacent two driven sleeves 61 are in sliding sealing connection, the innermost driven sleeve 61 drives the corresponding anti-disengagement block 64 to slide along the corresponding anti-disengagement groove 63, the outermost driven sleeve 61 slides along the driven groove 52, and the outermost driven sleeve 61 drives the corresponding anti-disengagement block 64 to slide along the corresponding anti-disengagement groove 63, so that the plurality of driven sleeves 61 and the single driven rod 62 can extend out of the driven grooves 52 under the action of hydraulic pressure, so that the two wall-attached plates 7 are further away from each other, and in the case of liquid flowing back in the driven grooves 52, the plurality of driven sleeves 61 and the single driven rod 62 can retract into the driven grooves 52, achieving the folding of all the driven sleeves 61 and the single driven rod 62, and the two wall-attached plates 7 are also close to each other and in contact.

[0043] In embodiment 4, the wall-attached plate 7 is composed of a first arc-shaped plate 72 away from the mechanical arm 3 and a second arc-shaped plate 73 close to the mechanical arm 3; the first arc-shaped plate 72 is fixedly connected with the semicircular plate 71; the second arc-shaped plate 73 is fixedly connected with the driven member 6; the position where the second arc-shaped plate 73 contacts the first arc-shaped plate 72 is provided with an unfolding groove 74; an unfolding strip 75 is slidingly connected in the unfolding groove 74; the unfolding strip 75 is fixedly connected with the first arc-shaped plate 72; the unfolding groove 74 and the inside of the driven groove 52 are in communication through a second liquid hole 76; the second liquid hole 76 penetrates through the driven member 6 and the second arc-shaped plate 73.

[0044] In this embodiment, the unfolding strip 75 and the bottom of the unfolding groove 74 are connected through a second spring 77.

[0045] After the laser emission receiver 51 is inserted into the inside of the borehole, the control drive ring 43 extrudes the liquid in the proximal arm cavity 421, so that the liquid flows into the driven groove 52, the liquid in the driven groove 52 flows into the unfolding groove 74 along the second liquid hole 76, the liquid in the unfolding groove 74 pushes the unfolding strip 75 away from the bottom of the unfolding groove 74, so that the first arc-shaped plate 72 is away from the corresponding second arc-shaped plate 73, so that the coverage of the wall-attached plate 7 in the axial direction of the laser emission receiver 51 is extended, so that after the extended wall-attached plate 7 contacts the arc-shaped inner wall of the borehole, the emission direction of the laser emission receiver 51 is more accurate in parallel with the central axis of the borehole, improving the accuracy of the emission direction adjustment of the laser emission receiver 51, and during the resetting of the drive ring 43, the space of the proximal arm cavity 421 expands to form negative pressure, the liquid in the unfolding groove 74 flows back to the driven groove 52 along the second liquid hole 76, and the liquid in the driven groove 52 flows back to the proximal arm cavity 421 along the first liquid hole 44, the unfolding strip 75 retracts into the unfolding groove 74 after the liquid in the unfolding groove 74 flows away, so that the first arc-shaped plate 72 is close to the second arc-shaped plate 73, the driven part 6 retracts into the driven groove 52 after the liquid in the driven groove 52 flows away, so that the driven part 6 drives the wall-attached plate 7 to approach the laser emission receiver 51, and the shortened wall-attached plate 7 is beneficial to the entry before the borehole measurement, which is convenient for operation.

[0046] Further, the unfolding strip 75 is connected to the bottom of the unfolding groove 74 through the second spring 77, so that in the case that the liquid flows into the driven groove 52, the liquid flows into the unfolding groove 74 along the second liquid hole 76, the second spring 77 pushes the unfolding strip 75 away from the bottom of the unfolding groove 74, the first arc-shaped plate 72 is away from the second arc-shaped plate 73, and only after the first arc-shaped plate 72 and the second arc-shaped plate 73 are completely away from each other, the driven part 6 will be stretched out of the driven groove 52 under the action of hydraulic pressure, the priority of the extension of the wall-attached plate 7 is higher than that of the driven part 6 stretching out of the driven groove 52, so that in the process of laser measurement facing the borehole with a smaller diameter, the wall-attached plate 7 will also be successfully unfolded; during the process of the space of the proximal arm cavity 421 expanding to form negative pressure, the unfolding strip 75 retracts into the unfolding groove 74 against the second spring 77.

[0047] Embodiment 5: The mutual away position of the two first arc-shaped plates 72 and the mutual away position of the two second arc-shaped plates 73 are provided with sliding rods 8; the outer wall of the sliding rod 8 is provided with a sliding groove 81 along the axial direction; the sliding block 82 is slidingly connected in the sliding groove 81; the sliding block 82 is connected to the end wall of the sliding groove 81 through the third spring 83 on both sides; the sliding block 82 is fixedly connected with the corresponding first arc-shaped plate 72 and the second arc-shaped plate 73.

[0048] In the process of driving the follower 6 to drive the wall-attached plate 7 to adhere to the inner wall of the drill hole, the first arc-shaped plate 72 and the second arc-shaped plate 73 in the wall-attached plate 7 will contact the inner wall of the drill hole through the sliding rod 8. On the one hand, the sliding rod 8 can replace the wall-attached plate 7 to contact the inner wall of the drill hole, so as to realize the adjustment and positioning of the emission direction of the laser emission receiver 51. On the other hand, in the process of turning adjustment of the laser emission receiver 51, the wall-attached plate 7 can produce activity with the sliding rod 8, so as to avoid the damage of the drill hole caused by the direct friction of the wall-attached plate 7 to the inner wall of the drill hole, and reduce the generation of dust. The generation of dust will affect the laser measurement. The contact position of the sliding rod 8 and the inner wall of the drill hole can be roughly set. In this way, in the process of activity of the wall-attached plate 7 with the laser emission receiver 51, the wall-attached plate 7 can drive the sliding block 82 to slide along the sliding groove 81, that is, the wall-attached plate 7 and the sliding rod 8 produce activity. The sliding block 82 in the initial state is located at the middle position of the sliding groove 81 under the balance of the third spring 83. In this way, the sliding block 82 reserves a sliding space in the sliding groove 81. After completing the laser measurement and folding the wall-attached plate 7, the sliding rod 8 will also be separated from the contact with the inner wall of the drill hole, and the sliding block 82 will be reset to return to the middle position in the sliding groove 81.

[0049] Embodiment 6: the measuring disc 4 is movably connected with the driving rod 46 through the driving hole 48; the diameter of the driving hole 48 is greater than that of the driving rod 46.

[0050] The external gas can enter the distal arm cavity 422 through the gap between the driving hole 48 and the outer wall of the driving rod 46, and the gas in the distal arm cavity 422 can also flow out along the driving hole 48.

[0051] Embodiment 7: a drill hole device suitable for the high-precision laser measurement and positioning structure described above, the drill hole device comprising a traveling vehicle 1; the traveling vehicle 1 is connected with a drill hole assembly 2 at the front end; the drill hole device is provided with a receiving unit and a feedback unit; the feedback unit is connected with the receiving unit; the mechanical arm 3 is fixedly connected at the front end of the traveling vehicle 1; the feedback unit is connected with the laser emission receiver 51; the receiving unit is connected with the drill hole assembly 2.

[0052] The output end of the robotic arm 3 drives the laser emitter-receiver 51 to perform laser measurement for drilling. The laser measurement data is fed back to the receiving unit through the feedback unit. The receiving unit analyzes the data and transmits it to the drilling assembly 2. The drilling assembly 2 adjusts the drilling depth according to the laser measurement results to further improve the drilling accuracy. The robotic arm 3 and the drilling assembly 2 can also be installed separately at the front end of the traveling vehicle 1, so that the combination of the traveling vehicle 1, the robotic arm 3, and the laser emitter-receiver 51 is a dedicated laser measurement device, the combination of the traveling vehicle 1 and the drilling assembly 2 is a dedicated drilling device, and the combination of the traveling vehicle 1, the drilling assembly 2, the robotic arm 3, and the laser emitter-receiver 51 is a device integrating drilling and laser measurement. The specific combination and installation are based on the usage requirements, and any combination is within the protection scope of this invention. The traveling vehicle 1 can adopt a tracked travel design.

[0053] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the appendix. Figure 1 The orientations or positional relationships shown are for the convenience of describing the present invention and simplifying the description only, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and should not be construed as indicating or implying relative importance.

[0054] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A high-precision laser measurement and positioning structure, comprising a robotic arm; the robotic arm is capable of multi-segment rotation and extension; characterized in that: The output end of the robotic arm is fixedly connected to a ball-shaped rod; the spherical part of the ball-shaped rod is connected to a ball sleeve; a measuring disk is fixedly connected to the outer wall of the ball sleeve away from the ball-shaped rod; a laser base is fixedly connected to the side of the measuring disk away from the ball sleeve; a laser emitter and receiver is fixedly connected to the end of the laser base away from the measuring disk; symmetrically arranged driven grooves are provided on the arc-shaped outer wall of the laser base; a driven element is slidably and sealed within the driven groove; a wall-mounted plate is vertically and fixedly connected to the end of the driven element away from the bottom of the driven groove; the length direction of the wall-mounted plate is consistent with the axial direction of the laser base; an annular drive groove is provided inside the measuring disk; a drive ring is slidably and sealed within the drive groove; the drive ring divides the drive groove into a proximal arm cavity and a distal arm cavity; The proximal arm cavity is connected to the bottom of the driven tank through the first liquid hole; the side of the drive ring near the robotic arm is connected to the inner wall of the drive tank by the first spring; the side of the drive ring away from the robotic arm is fixedly connected to the pressing ring by the drive rod; the drive rod passes through the measuring disk and is movably connected to the measuring disk.

2. The high-precision laser measurement and positioning structure according to claim 1, characterized in that: A first iron block is embedded in the inner wall of the ball sleeve; an electromagnet is embedded in the spherical part of the ball stick; the first iron block and the electromagnet are attracted by magnetism.

3. The high-precision laser measurement and positioning structure according to claim 1, characterized in that: The wall-mounted plate is arc-shaped; two wall-mounted plates can be combined into a sleeve shape; a semi-circular plate is fixedly connected to the end of the wall-mounted plate away from the measuring plate; two semi-circular plates can be combined into a disc shape.

4. The high-precision laser measurement and positioning structure according to claim 1, characterized in that: The driven component is composed of multiple driven sleeves and a single driven rod; the multiple driven sleeves are slidably and sealingly fitted together; the outermost driven sleeve is slidably and sealingly connected to the driven groove, and the innermost driven sleeve is slidably and sealingly connected to the outer wall of the driven rod; the driven rod is fixedly connected to the inner side of the wall plate; the driven groove and the inner wall of the driven sleeve are provided with anti-detachment grooves; anti-detachment blocks are slidably connected in the anti-detachment grooves; the innermost anti-detachment block is fixedly connected to the outer wall of the driven rod, and the other anti-detachment blocks are fixedly connected to the outer walls of the corresponding driven sleeves.

5. The high-precision laser measurement and positioning structure according to claim 3, characterized in that: The wall-mounted plate is composed of a first arc-shaped plate away from the robotic arm and a second arc-shaped plate close to the robotic arm; the first arc-shaped plate is fixedly connected to a semi-circular plate; the second arc-shaped plate is fixedly connected to a driven member; an unfolding groove is provided at the contact position between the second arc-shaped plate and the first arc-shaped plate; an unfolding strip is slidably connected in the unfolding groove; the unfolding strip is fixedly connected to the first arc-shaped plate; the interior of the unfolding groove and the driven groove are connected through a second liquid hole; the second liquid hole passes through the driven member and the second arc-shaped plate.

6. The high-precision laser measurement and positioning structure according to claim 5, characterized in that: The unfolding strip is connected to the bottom of the unfolding groove by a second spring.

7. The high-precision laser measurement and positioning structure according to claim 5, characterized in that: Sliding rods are provided at the positions where the two first arc-shaped plates are far apart from each other and at the positions where the two second arc-shaped plates are far apart from each other; a sliding groove is provided on the outer wall of the sliding rod along the axial direction; a sliding block is slidably connected in the sliding groove; the two sides of the sliding block are connected to the inner wall of the end of the sliding groove by a third spring; the sliding block is fixedly connected to the corresponding first arc-shaped plate and second arc-shaped plate.

8. The high-precision laser measurement and positioning structure according to claim 1, characterized in that: The measuring disk is movably connected to the driving rod through a driving hole; the diameter of the driving hole is larger than that of the driving rod.

9. A drilling device, applicable to the high-precision laser measurement and positioning structure according to any one of claims 1-8, characterized in that: The drilling equipment includes a traveling vehicle; a drilling assembly is connected to the front end of the traveling vehicle; a receiving unit and a feedback unit are provided inside the drilling equipment; the feedback unit is connected to the receiving unit; a robotic arm is fixedly connected to the front end of the traveling vehicle; the feedback unit is connected to a laser emission receiver; and the receiving unit is connected to the drilling assembly.

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