Self-adaptive breaking and grabbing robot for multiple underground working conditions and control method

Abstract

The invention relates to the technical field of breaking and grabbing robots, and discloses a self-adaptive breaking and grabbing robot for multiple underground working conditions and a control method.The self-adaptive breaking and grabbing robot comprises a crawler-type base, a support, an equipment body and a trailer module; the rear side of the crawler-type base is detachably connected with a trailer module through a connecting module, an angle detection module is arranged in the connecting module, and the trailer module integrates a power generation module, an energy storage module and an accessory support. The side inclination module adapts to the complex inclined terrain, the angle detection module and the mechanical arm cooperate to achieve automatic positioning and replacement of accessories, the endurance is prolonged through the power generation-energy storage module, and the problems that existing equipment is poor in terrain adaptability, complex in accessory replacement, limited in endurance and insufficient in traction collaboration are solved; and the device has the beneficial effects of high automation degree, high operation efficiency, safety and reliability, and is suitable for underground multi-working-condition operation requirements of metal mines, coal mines and the like.

Description

Technical Field

[0001] This invention relates to the field of breaching and grasping robot technology, and more specifically, to an adaptive breaching and grasping robot and control method for multiple working conditions in underground mines. Background Technology

[0002] Underground adaptive rock breaking and grabbing robots are key operational equipment in underground resource extraction fields such as metal mines and coal mines. They are mainly used for various working conditions in underground roadways, including roughening, rock breaking, gangue grabbing, roadway support, and secondary crushing. Their core design goal is to adapt to the harsh environment of underground spaces, complex terrain, high dust, high humidity, and potential gas risks, replacing manual labor in high-risk and heavy-duty tasks. Existing underground rock breaking and grabbing robots are mostly based on tracked chassis, borrowing the mechanical arm structure design of excavators. They possess a certain rock breaking and grabbing capability and achieve human-machine separation through remote control or semi-automatic control, reducing operational safety risks. They have become one of the core pieces of equipment for "machine replacement" in the intelligent construction of mines, and are of great significance for improving underground operational efficiency and ensuring operational safety.

[0003] However, existing downhole breaker robots still have many technical pain points in practical applications, making it difficult to meet the high-efficiency operation requirements of complex downhole conditions: First, the robot's posture adjustment capability is insufficient. Most devices can only achieve 360° horizontal rotation and cannot adjust the vertical tilt angle. When facing complex terrain with unevenness and undulations, the robot body cannot accurately fit the working surface, resulting in many blind spots and poor adaptability to complex working surfaces. Second, the attachment carrying and replacement mechanism is imperfect. Existing equipment mostly carries 1-2 types of attachments per machine and lacks a dedicated attachment storage and transfer structure. When operating under multiple conditions, manual assistance is required to change attachments. The existing underground rock-breaking robots suffer from several drawbacks. First, they are cumbersome and time-consuming to operate, lacking automatic attachment positioning and thus unable to automate attachment replacement. Second, their limited battery life means the robot relies entirely on its own power module, and the lack of stable power supply in underground environments leads to frequent charging interruptions, severely impacting operational efficiency. Third, their insufficient coordination means that in some attempts to use trailers, the trailers are merely simple transport tools without integrated power generation and storage functions. Furthermore, the lack of angle detection at the connection between the trailer and the robot makes it impossible to accurately obtain attachment position information, leading to easy deviation and scraping of the roadway during towing, further limiting the improvement of automation levels. These pain points mean that the existing underground rock-breaking robots fail to meet the actual needs of intelligent mining operations in terms of adaptability, efficiency, and automation, necessitating targeted improvements and optimizations. Summary of the Invention

[0004] (a) Technical problems to be solved In view of the above situation and to overcome the shortcomings of the prior art, the present invention provides an adaptive breaking and grabbing robot and control method for multiple working conditions in downhole, aiming to solve the problems in the background art.

[0005] (II) Technical Solution To achieve the above objectives, the present invention is implemented through the following technical solution: an adaptive breaking and grabbing robot for multiple working conditions in downhole, comprising a tracked base, a support, and a main body of the equipment. The support is fixedly installed at the center of the upper surface of the tracked base to support the main body of the equipment and the tilting module, ensuring the structural load-bearing stability.

[0006] The upper end of the support is equipped with a tilting module for adjusting the vertical tilt angle of the equipment body to adapt to the inclined working face downhole. The tilting module includes an arc-shaped seat, a hydraulic motor, a gear, a slide rail, a slider, and an arc-shaped rack. The arc-shaped seat is made of Q355 high-strength alloy steel and is fixed to the upper end of the support with high-strength bolts. The hydraulic motor adopts an explosion-proof structure (IP67 protection level), is installed on the lower surface of the arc-shaped seat and located inside the support to avoid corrosion from downhole dust and moisture. The gear is installed on the output shaft of the hydraulic motor via a flat key, and the upper side of the gear penetrates the upper surface of the arc-shaped seat. The gear is made of 20CrMnTi alloy and has undergone carburizing and quenching treatment to improve wear resistance. The slide rail is located on the upper surface of the arc-shaped seat and the lower surface of the equipment body. A slider is fixedly connected to the inner wall of the slide rail. At least three sliders are provided on both the slide rail and the slide rail, and they are evenly distributed in a rectangular array to ensure that the main body of the equipment is subjected to balanced force during adjustment. Both the slide rail and the slider are arc-shaped (with a radius of curvature adapted to the adjustment stroke of -15° to 15°). The outer surface of the middle slider is provided with an arc-shaped rack that meshes with the outer surface of the gear. The meshing gap between the arc-shaped rack and the gear is controlled at 0.1 to 0.2 mm to ensure transmission accuracy. When the hydraulic motor drives the gear to rotate, the main body of the equipment slides along the slide rail through the arc-shaped rack, realizing the tilt adjustment within the range of -15° to 15° to meet the requirements of the inclined working surface.

[0007] The main body of the equipment is equipped with a control system and a tilt sensor. The control system uses a PLC controller as its core and integrates a CAN bus communication module to collect data from various modules and output control commands. The tilt sensor is used to detect the tilt angle of the working face in real time, with a detection response time of ≤20ms, providing data support for attitude adjustment. A robotic arm is installed on the main body of the equipment. The robotic arm has a multi-degree-of-freedom structure and can cover most underground working scenarios. The end of the robotic arm is equipped with a quick-connect coupling, which has both mechanical locking and hydraulic docking functions. A wireless transmission antenna is installed on the upper surface of the main body of the equipment to realize signal transmission between the control system and the remote controller and various modules, ensuring the stability of remote operation.

[0008] The outer surface of the tracked base is equipped with extendable legs. There are four extendable legs symmetrically distributed in a rectangular array. They are hydraulically driven and have a telescopic stroke of 0~300mm. When extended during operation, they can increase the ground contact area of ​​the equipment and improve its anti-tipping ability. The front side of the tracked base is equipped with a shovel plate. The shovel plate is made of high manganese steel with a thickness of ≥10mm. It can help clear gravel and debris from the working surface and provide a flat environment for breaking and grabbing operations.

[0009] A connecting module is installed on the rear side of the tracked base for quick connection and separation from the trailer module. The connecting module includes a first connecting clamp, a second connecting clamp, a hydraulic cylinder, and connecting rods. The first and second connecting clamps are made of Q355 alloy steel and are rotatably connected to the upper surface of the rear side of the tracked base via shafts. The hydraulic cylinder is fixedly connected to the upper surface of the rear side of the tracked base and is slightly higher than the upper surfaces of the first and second connecting clamps. The end of its telescopic rod is rotatably connected to two connecting rods via shafts. The other ends of the two connecting rods are rotatably connected to the upper surfaces of the first and second connecting clamps via shafts, respectively. When the hydraulic cylinder extends or retracts, it drives the two connecting clamps to open and close synchronously, achieving clamping or release from the quick-connect shaft.

[0010] An angle detection module is installed within the connection module to accurately detect the relative angle between the trailer and the main body of the equipment, providing data support for attachment positioning. The angle detection module includes a first rotating half-ring, a compression plate, a spring, a first pressure sensor, a second pressure sensor, and a second rotating half-ring. The first rotating half-ring is rotatably connected to the inner wall of the first connecting clamp via a deep groove ball bearing. The compression plate is fixedly connected to the outer side of the first rotating half-ring. The spring is mounted on the outer surface of the compression plate and is arc-shaped. The first and second pressure sensors are mounted opposite each other on the inner wall of the first connecting clamp, with the other ends of the two springs respectively abutting against the detection ends of the first and second pressure sensors. The second rotating half-ring is rotatably connected to the inner wall of the second connecting clamp via a deep groove ball bearing. When the first and second rotating half-rings are combined, they form a circular ring. Both inner walls are fixedly connected with protruding teeth. The detection range of the angle detection module is -90° to 90°. When the trailer and the main body of the equipment rotate relative to each other, the quick-connect shaft drives the first and second rotating half-rings to rotate, and the compression plate compresses the corresponding spring. The rotation angle is calculated by converting the pressure change of the pressure sensor.

[0011] A trailer module is detachably connected to the rear of the tracked base via a connecting module for storing attachments and providing additional power. The trailer module includes a trailer frame, wheels, a connecting frame, and a quick-connect axle. The trailer frame is welded from rectangular steel pipes, suitable for narrow underground tunnels. The wheels are located on the underside of the trailer frame and use explosion-proof tires, suitable for gravel and muddy surfaces. The connecting frame is installed on the front side of the trailer frame, and the quick-connect axle is fixedly installed at the end of the connecting frame, with its lower end snapped into the first and second connecting clamps. The outer surface of the quick-connect axle has a limiting groove that matches the protruding teeth, ensuring no relative sliding after connection.

[0012] The trailer frame has a power generation module and an energy storage module mounted on its rear side of the upper surface. The power generation module is a small explosion-proof diesel generator or explosion-proof motor, used to power the main body of the equipment and charge the energy storage module. The energy storage module is an explosion-proof lithium battery pack, serving as a backup power source to ensure continuous operation. The power generation module and energy storage module are equipped with a protective cover with a protection rating ≥ IP67, suitable for high dust and high humidity environments underground. An attachment bracket is mounted on the upper surface of the trailer frame, and the upper surface of the attachment bracket has slots for placing attachments, such as bucket slots and breaker slots. The equipment includes placement slots for shearing, auger drills, impact hammers, and hydraulic drills. The attachments can be buckets, shears, hydraulic auger pumps, hydraulic hammers, and hydraulic drills. Each attachment has a quick-change seat mounted on its upper end. A drive pipe connector is fixedly connected to the upper surface of the quick-change seat. The drive pipe connector is connected to the hydraulic interface of the corresponding attachment via a conduit. The inner side of the quick-change connector has a fitting that matches the drive pipe connector, allowing automatic connection of the hydraulic system within the equipment body to the attachment when switching between different attachments via the quick-change connector, eliminating the need for manual pipe connection.

[0013] This invention also discloses a control method for an adaptive breaking and grabbing robot for multiple working conditions in downhole operations, based on the aforementioned robot, specifically including the following steps: S1: Equipment Initialization and System Self-Test: Start the main body of the equipment and the trailer module. The system automatically tests the walking function of the tracked base, the adjustment function of the tilt module, the joint movement function of the robotic arm, the locking function of the quick-connect coupling, the clamping function of the connection module, the sensing function of the angle detection module, the power generation function of the power generation module, and the power supply function of the energy storage module to ensure that all components are working properly. Initialize the CAN bus communication parameters, the calibration parameters of the angle detection module, and the attachment position coordinate library. Establish a coordinate system with the center of the quick-connect shaft as the origin and preset the relative coordinates of the placement positions of each attachment, such as the bucket placement slot and the breaker shear placement slot. After the self-test passes, the outriggers extend to their maximum stroke to support the ground. The main body of the equipment is reset to a horizontal state through the tilt module. The power generation module is in standby mode, and the energy storage module supplies power to the control system.

[0014] S2: Terrain Adaptation and Attitude Adjustment: The tilt sensor built into the main body of the equipment detects the tilt angle of the working surface in real time, and the detection data is transmitted to the control system via a wireless transmission antenna. According to the operation requirements (such as the need for the main body of the equipment to be parallel to the working surface for prying operations), the control system sends an adjustment command to the tilt module. The hydraulic motor drives the gear to rotate, and the arc rack drives the main body of the equipment to tilt along the arc slide rail for adjustment. The slider slides along the slide rail to ensure the stability of the attitude. When the tilt sensor detects that the difference in tilt angle between the main body of the equipment and the working surface is ≤1°, the hydraulic motor locks, completing the attitude adjustment and ensuring that the working surface is in contact.

[0015] S3: Attachment Selection and Precise Positioning: The target attachment (such as a hydraulic hammer) is selected via a wireless remote control. After receiving the command, the control system triggers the angle detection module to work: the quick-connect shaft drives the first and second rotating half-rings to rotate, the compression plate compresses the corresponding side spring, and the first or second pressure sensor converts the pressure signal into an electrical signal and transmits it to the control system; the control system, combined with the trailer frame size parameters (such as the horizontal distance and vertical height between the attachment bracket and the quick-connect shaft), calculates the precise three-dimensional coordinates of the target attachment through trigonometric function calculations, with a coordinate error ≤ ±5mm, providing position data for attachment replacement.

[0016] S4: Robotic Arm Path Planning and Automatic Attachment Change: The control system plans the optimal movement path based on the three-dimensional coordinates of the attachment and the robotic arm's operational limitations (joint range of motion, operating radius), avoiding obstacles such as trailer modules and attachment supports. The robotic arm moves along the planned path, the quick-change connector aligns with the quick-change seat, and the hydraulic cylinder drives the locking pin to extend and engage with the locking hole of the quick-change seat. The inner connector of the quick-change connector and the drive pipeline connector automatically connect and seal. After the control system detects that the hydraulic pressure is stable, it sends a "replacement successful" signal to the remote controller via a wireless transmission antenna, and the robotic arm drives the attachment to reset to the initial working position.

[0017] S5: Setting and executing operation parameters: The operation parameters of the attachment (such as the impact frequency of the hydraulic hammer and the drilling speed of the hydraulic drill) are set by the remote control. The control system converts the parameters into control signals, which drive the hydraulic system in the main body of the equipment to work. The robotic arm drives the attachment to perform the breaking and grabbing operation according to the preset trajectory. The joint encoder of the robotic arm provides real-time feedback of the angle to ensure that the accuracy of the operation trajectory is ≤ ±5mm.

[0018] S6: Intelligent Power Supply Management and Switching: The power supply control module monitors the main power supply of the equipment, the power of the energy storage module, and the status of the power generation module in real time. When the main power supply of the equipment is below 20%, the power generation module is started to supply power and charge the energy storage module. When the main power supply of the equipment is above 80% and the energy storage module is fully charged, the power generation module stops and switches to the main power supply of the equipment. In case of power generation module failure, the power supply is automatically switched to the energy storage module and an early warning is issued to ensure uninterrupted operation.

[0019] S: Operation Monitoring and Safety Protection: During operation, the relative angle between the trailer and the main body of the equipment is monitored in real time. When the angle exceeds 30°, the turning speed of the tracked base is limited and a warning is issued to prevent the trailer from scraping against the roadway. The locking pressure of the quick-connect coupling is monitored. When it is lower than 15MPa, the attachment is retracted and relocked. If it fails, operation is prohibited to prevent the attachment from falling off. The concentration of underground gas and dust is monitored. When the concentration exceeds the standard, the emergency evacuation procedure is initiated, the outriggers are retracted, and the tracked base drives the equipment to move to a safe area at a speed of 0-3km / h to ensure the safety of the equipment and the operation.

[0020] S8: Work Completion and Equipment Reset: Send the "Work Complete" command, the robotic arm drives the attachment to return to the corresponding placement slot according to the planned path, the quick-connect coupling is unlocked; the extension legs are retracted, the main body of the equipment is reset to a horizontal state through the tilting module, the power generation module stops running, the system stores the work data (work duration, number of times the attachment is used, power supply switching records, etc.) and stands by, completing the work process.

[0021] (III) Beneficial Effects Compared with existing technologies, this invention provides an adaptive breaking and grabbing robot and control method for multiple working conditions in downhole operations, which has the following beneficial effects: 1. This adaptive grappling robot and control method for multiple working conditions in underground wells, through the coordinated arrangement of the tilting module's arc-shaped seat, hydraulic motor, gears, and arc-shaped rack, enables the equipment to adaptively adjust its posture in complex terrain. During operation, the hydraulic motor drives the gears and arc-shaped rack to mesh and transmit power, causing the main body of the equipment to tilt within a specified angle along the arc-shaped slide rail. The sliders and slide rails distributed in three rectangular arrays ensure stable and reliable adjustment, thus solving the problem that existing equipment can only rotate horizontally and cannot conform to inclined working surfaces. This expands the operating coverage area, reduces blind spots, and achieves the goal of adapting to uneven and undulating terrain in underground wells. The adaptability rate to complex working surfaces is significantly improved compared to traditional equipment.

[0022] 2. This adaptive grappling robot and control method for multiple working conditions in underground mining, through the collaborative design of the angle detection module, attachment bracket, and quick-change joint, enables the equipment to achieve automatic attachment positioning and rapid attachment replacement. During operation, the first and second pressure sensors of the angle detection module accurately detect the relative angle between the trailer and the main body of the equipment through the compression of springs. Combined with the attachment position coordinate library preset on the attachment bracket, the three-dimensional coordinates of the attachment are obtained through trigonometric function calculations. The robotic arm moves according to the planned path and automatically docks and locks with the quick-change seat through the quick-change joint, without manual assistance. This solves the pain points of existing equipment, such as limited attachment carrying capacity, cumbersome attachment replacement, and lack of automatic positioning function, thereby improving the efficiency of multi-working-condition operations, achieving the goal of automated attachment replacement, shortening attachment replacement time, and greatly improving work efficiency compared to traditional equipment.

[0023] 3. This adaptive breaker and grabbing robot and its control method for multiple working conditions in underground mines enhances the equipment's endurance through the coordinated setup of the power generation module and energy storage module in the trailer module. During operation, the power generation module can supply power to the main body of the equipment in real time while simultaneously charging the energy storage module. When the main body's own power level drops below 20%, it automatically switches to the power generation module for power supply; when the power level is above 80%, the power generation module stops working, and the energy storage module serves as a backup power source. This solves the pain point of existing equipment relying on its own power supply and having limited endurance, thereby extending the continuous working time and adapting to the unstable power supply environment underground. The extended continuous working time avoids operational interruptions caused by frequent charging.

[0024] 4. This adaptive grappling robot and control method for multiple working conditions underground utilizes the snap-fit ​​mechanism between the first and second connecting clamps of the connecting module and the quick-connect shaft, combined with the rotational adaptation design of the first and second rotating half-rings, to achieve stable towing performance. During operation, the hydraulic cylinder drives the two connecting clamps to clamp the quick-connect shaft, and the convex teeth engage with the limiting groove for positioning, preventing relative slippage. The first and second rotating half-rings can rotate synchronously with the trailer's steering, reducing stress concentration. This solves the problems of existing towing equipment being prone to deviation and scraping against tunnels, improving the overall operational stability of the equipment and achieving the goal of adapting to operations in narrow underground tunnels. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the first three-dimensional structure of the present invention; Figure 2 This is a schematic diagram of the second structure of the present invention; Figure 3 This is a schematic diagram of the overall structure of the robot of the present invention; Figure 4 This is a schematic diagram of the tracked base of the present invention; Figure 5 This is a schematic diagram of the arc-shaped seat of the present invention; Figure 6 This is a three-dimensional structural diagram of the main body of the device of the present invention, viewed from below. Figure 7 This is a three-dimensional structural diagram of the connection module of the present invention; Figure 8 This is a top view cross-sectional structural diagram of the connection module of the present invention; Figure 9 This is a schematic diagram of the structure of the first rotating half-ring and the second rotating half-ring of the present invention; Figure 10 This is a three-dimensional structural schematic diagram of the quick-change seat of the present invention; Figure 11 This is a schematic diagram of the trailer module of the present invention; Figure 12 This is a structural diagram of the trailer module of the present invention in use.

[0026] In the diagram: 1. Tracked base; 2. Support; 3. Arc-shaped seat; 4. Hydraulic motor; 5. Gear; 6. Slide rail; 7. Extending legs; 8. Shovel plate; 9. Main body of the equipment; 10. Slider; 11. Arc-shaped rack; 12. Robotic arm; 13. Quick-connect coupling; 14. First connecting clamp; 15. Second connecting clamp; 16. Hydraulic cylinder; 17. Connecting rod; 18. First rotating half-ring; 19. Extrusion plate; 20. Spring; 21. First pressure sensor; 22. Second pressure sensor; 23. Convex tooth; 24. Second rotating half-ring. 25. Moving half-ring; 26. Trailer frame; 27. Wheel; 28. Connecting frame; 29. ​​Quick-connect shaft; 30. Protective cover; 31. Power generation module; 32. Energy storage module; 33. Attachment bracket; 34. Bucket placement slot; 35. Bucket; 36. Breaker shear placement slot; 37. Breaker shear; 38. Auger placement slot; 39. Hydraulic auger pump; 40. Impact hammer placement slot; 41. Hydraulic hammer hammer; 42. Hydraulic drill placement slot; 43. Hydraulic drill; 44. Quick-change seat; 45. Drive pipeline connector; 46. Wireless transmission antenna. Detailed Implementation

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0028] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0029] In this invention, unless otherwise stated, the directional terms such as "up" and "down" generally refer to the directions shown in the accompanying drawings, or to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" generally refer to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0030] Please see Figures 1-6The adaptive breaker robot for multiple working conditions in downhole provided in this embodiment has a support 2 fixedly installed on the upper surface of its tracked base 1. The upper end of the support 2 is provided with a tilting module. The tilting module includes an arc-shaped seat 3, a hydraulic motor 4, a gear 5, a slide rail 6, a slider 10, and an arc-shaped rack 11. The arc-shaped seat 3 is fixedly installed on the upper end of the support 2 by high-strength bolts. The hydraulic motor 4 is installed on the lower surface of the arc-shaped seat 3 and is located inside the support 2. The gear 5 is installed on the output shaft of the hydraulic motor 4 by a flat key and its upper side penetrates through the upper surface of the arc-shaped seat 3. The slide rail 6 is opened on the upper surface of the arc-shaped seat 3. The lower surface of the main body 9 of the device is fixedly connected to a slider 10 adapted to the slide rail 6. Both the slide rail 6 and the slider 10 are The device is equipped with at least three evenly distributed rectangular arrays, all of which are arc-shaped. The outer surface of the slider 10 in the middle is provided with an arc-shaped rack 11 that meshes with the gear 5, with a meshing gap of 0.1~0.2mm. The main body 9 is equipped with a control system and an tilt sensor, with a detection response time ≤20ms. A multi-degree-of-freedom robotic arm 12 is installed on the main body 9. The end of the robotic arm 12 is equipped with a quick-change connector 13, and a wireless transmission antenna 45 is installed on its upper surface. The outer surface of the tracked base 1 is provided with four symmetrically distributed rectangular arrays of extended legs 7, and the front side is provided with a high-manganese steel shovel plate 8 (thickness ≥10mm), which constitutes the core structure for adaptive adjustment of attitude in complex terrain.

[0031] Specifically, during underground operations, the outriggers 7 extend to their maximum stroke to support the ground. The tilt sensor built into the main body 9 detects the tilt angle of the working surface in real time, and the data is transmitted to the control system via the wireless transmission antenna 45. When the working surface is tilted, the control system sends an adjustment command to the tilt module. The hydraulic motor 4 drives the gear 5 to rotate, and the gear 5 meshes with the arc-shaped rack 11 to drive the main body 9 to tilt along the arc-shaped slide rail 6. The rectangular array of sliders 10 slides along the slide rail 6 to ensure that the main body 9 is subjected to balanced force and has a stable posture during the adjustment process. When the tilt sensor detects that the difference in tilt angle between the main body 9 and the working surface is ≤1°, the hydraulic motor 4 locks, completing the posture adjustment and making the main body 9 fit precisely with the working surface. The shovel plate 8 can assist in clearing debris from the working surface and expand the operating coverage area.

[0032] Please see Figures 7-11The tracked base 1 of this adaptive grabbing robot for multiple working conditions in underground wells is equipped with a connection module on its rear side. The connection module includes a first connecting clamp 14, a second connecting clamp 15, a hydraulic cylinder 16, and a connecting rod 17. The first connecting clamp 14 and the second connecting clamp 15 are rotatably connected to the upper surface of the rear side of the tracked base 1 via a shaft. The hydraulic cylinder 16 is fixedly connected to the upper surface of the rear side of the tracked base 1. The end of the telescopic rod is rotatably connected to the two connecting rods 17 via a shaft. The other end of the connecting rod 17 is rotatably connected to the upper surfaces of the first connecting clamp 14 and the second connecting clamp 15, respectively. An angle detection module is installed inside the connection module, including a first rotating half-ring 18, a pressing plate 19, a spring 20, a first pressure sensor 21, a second pressure sensor 22, and a second rotating half-ring 24. The first rotating half-ring 18 is rotatably connected to the inner wall of the first connecting clamp 14, and the pressing plate 19 is fixedly connected to the upper surface of the first connecting clamp 14. A rotating half-ring 18 is mounted on the outer surface of the extrusion plate 19 in an arc shape. The first pressure sensor 21 and the second pressure sensor 22 are mounted opposite each other on the inner wall of the first connecting clamp 14. The other end of the spring 20 abuts against the detection end of the pressure sensor. The second rotating half-ring 24 is rotatably connected to the inner wall of the second connecting clamp 15. The two are combined into a ring. The inner walls are fixedly connected with protruding teeth 23. The detection range is -90° to 90°. The tracked base 1 is detachably connected to a trailer module through a connecting module. The trailer frame 25 of the trailer module is equipped with an attachment bracket 32, which has multiple attachment placement slots. The upper end of each attachment is equipped with a quick-change seat 43. The upper surface of the quick-change seat 43 is fixedly connected with a drive pipe connector 44. The inner side of the quick-change connector 13 is provided with a connector that is compatible with the drive pipe connector 44, which constitutes the key structure for automatic positioning and quick replacement of attachments.

[0033] Specifically, when changing attachments for multi-condition operations, the target attachment is selected via a wireless remote control, and the control system triggers the angle detection module to work: when the relative angle between the trailer and the main body of the equipment changes, the quick-connect shaft 28 drives the first rotating half-ring 18 and the second rotating half-ring 24 to rotate, the compression plate 19 compresses the corresponding side spring 20, and the first pressure sensor 21 or the second pressure sensor 22 converts the pressure signal into an electrical signal and transmits it to the control system; the control system, combined with the size parameters of the trailer frame 25, calculates the precise three-dimensional coordinates of the target attachment (error ≤ ±5mm) through trigonometric function calculations; then the control system plans the optimal motion path of the robotic arm 12, the robotic arm 12 moves according to the path, the quick-change connector 13 aligns with the quick-change seat 43, the hydraulic cylinder drives the locking pin to extend and lock, and the inner connector of the quick-change connector 13 and the drive pipeline connector 44 automatically connect and seal, and the attachment can be changed without manual assistance.

[0034] Please see Figures 11-12The trailer module of the adaptive grappling robot for multiple working conditions in the well has a power generation module 30 and an energy storage module 31 installed on the rear side of the upper surface of the trailer frame 25. The power generation module 30 is a small explosion-proof diesel generator or explosion-proof motor, and the energy storage module 31 is an explosion-proof lithium battery pack. Both are equipped with a protective cover 29 (protection level ≥ IP67). The power generation module 30 and the energy storage module 31 are electrically connected and are both linked to the power supply system of the main body 9. The main body 9 is equipped with a power supply control module, which constitutes the core structure for enhanced endurance.

[0035] Specifically, during downhole operations, the power supply control module monitors the power supply of the main equipment 9, the power level of the energy storage module 31, and the status of the power generation module 30 in real time. Initially, the energy storage module 31 supplies power to the control system, while the power generation module 30 is in standby mode. When the power level of the main equipment 9 is below 20%, the power supply control module automatically starts the power generation module 30. The power generation module 30 supplies power to the hydraulic system, robotic arm 12, and other components of the main equipment 9, and also charges the energy storage module 31. When the power level of the main equipment 9 is above 80% and the energy storage module 31 is fully charged, the power generation module 30 stops working and switches to the main equipment 9's own power supply. If the power generation module 30 malfunctions, the power supply control module immediately and automatically switches to the energy storage module 31 for power supply and issues an early warning through the wireless transmission antenna 45 to ensure uninterrupted operation.

[0036] Please see Figures 7-9 , Figures 11-12 The trailer module of the adaptive grappling robot for multiple working conditions in wells has a quick-connect shaft 28 fixedly installed at the end of the connecting frame 27. The lower end of the quick-connect shaft 28 is snapped into the inside of the first connecting clamp 14 and the second connecting clamp 15. The outer surface is provided with a limiting groove that matches the protruding teeth 23. The first rotating half ring 18 and the second rotating half ring 24 can rotate synchronously with the quick-connect shaft 28. The extension and retraction of the hydraulic cylinder 16 can drive the first connecting clamp 14 and the second connecting clamp 15 to open and close synchronously, forming a key structure for the stable towing cooperation.

[0037] Specifically, during trailer connection, the extension rod of the control hydraulic cylinder 16 extends, driving the first connecting clamp 14 and the second connecting clamp 15 to open synchronously via the connecting rod 17, aligning the quick-connect shaft 28 with the space between the two connecting clamps. The extension rod of the control hydraulic cylinder 16 then retracts, causing the two connecting clamps to clamp the quick-connect shaft 28. The protruding teeth 23 engage in the limiting groove of the quick-connect shaft 28 to prevent relative slippage. When traveling or turning underground, the quick-connect shaft 28 drives the first rotating half-ring 18 and the second rotating half-ring 24 to rotate synchronously. The compression plate 19 and the spring 20 buffer the rotational stress, reducing stress concentration at the connection point and preventing the trailer from deviating. The angle detection module monitors the relative angle between the trailer and the main body of the equipment in real time. When the angle exceeds 30°, the control system limits the turning speed of the tracked base 1 and issues a warning to prevent the trailer from scraping against narrow underground tunnels.

[0038] Equipment initialization and system self-test: In a safe area underground, the operator starts the main body 9 and trailer module using a portable wireless remote control. The system enters self-test mode, sequentially testing the functional status of the tracked base 1, tilting module, robotic arm 12, quick-connect coupling 13, connection module, angle detection module, power generation module 30, and energy storage module 31 to ensure that each component is normal. The CAN bus communication parameters (transmission rate 1Mbps), angle detection module calibration parameters, and attachment position coordinate library are initialized. A three-dimensional coordinate system is established with the center of quick-connect shaft 28 as the origin, and the relative coordinates of the placement positions of each attachment are preset. After the self-test passes, the extension legs 7 extend to their maximum stroke to support the ground, the main body 9 is reset to a horizontal state through the tilting module, the energy storage module 31 supplies power to the control system, and the power generation module 30 is in standby mode.

[0039] Terrain adaptation and attitude adjustment: The tilt sensor built into the main body 9 detects that the working surface is tilted by 6°. The detection data is transmitted to the control system via the wireless transmission antenna 45. The control system sends an adjustment command to the tilt module. The hydraulic motor 4 drives the gear 5 to rotate, which drives the main body 9 to tilt upward by 6° along the slide rail 6 through the arc rack 11. After the tilt sensor detects that the tilt angle difference between the main body 9 and the working surface is ≤1°, the hydraulic motor 4 locks, and the attitude adjustment is completed.

[0040] Attachment selection and precise positioning: The operator selects the hydraulic hammer 40 via remote control. After receiving the command, the control system triggers the angle detection module to work and detects that the relative angle between the trailer and the main body of the equipment is 10°. The control system, combined with the size parameters of the trailer frame 25 (horizontal distance between attachment bracket 32 ​​and quick-connect shaft 28 is 1200mm, vertical height is 800mm), calculates the three-dimensional coordinates of the hydraulic hammer 40 in the impact hammer placement slot 39 (X=1182mm, Y=173mm, Z=800mm) through trigonometric function calculations, with a coordinate error of ≤±5mm.

[0041] Robotic arm path planning and automatic attachment changing: The control system plans the optimal motion path based on the three-dimensional coordinates of the hydraulic hammer 40 and the working limitations of the robotic arm 12; the robotic arm 12 moves along the path, the quick-change connector 13 is precisely aligned with the quick-change seat 43, the hydraulic cylinder drives the locking pin to extend and lock, the drive pipeline is automatically connected, and after the control system detects that the hydraulic pressure is stable, it sends a "replacement successful" signal to the remote controller, and the robotic arm 12 drives the hydraulic hammer 40 to reset to the initial working position (500mm vertical distance from the working surface).

[0042] Operation parameter setting and execution: The operator sets the impact frequency and impact pressure of the hydraulic hammer 40 through the remote control. The control system converts the parameters into control signals to drive the hydraulic system to work. The robotic arm 12 drives the hydraulic hammer 40 to perform prying operations on the inclined working surface according to the trajectory of "point impact → surface coverage".

[0043] Intelligent power supply management and switching: After 1.5 hours of operation, when the power of the main body of the equipment drops to 18%, the power supply control module automatically starts the power generation module 30. The power generation module 30 supplies power to the main body of the equipment and charges the energy storage module 31, and the operation continues without interruption. When the power of the main body of the equipment rises to 85% and the energy storage module 31 is fully charged, the power generation module 30 automatically stops and switches to the main body of the equipment for power supply.

[0044] Operation monitoring and safety protection: During operation, the angle detection module detected that the angle between the trailer and the main body of the equipment was 25° (not exceeding the 30° safety threshold), the locking pressure of quick-connect coupling 13 was stable, and the underground gas concentration and dust concentration were within the safe range, and the equipment was operating normally; during the period, a warning occurred that the trailer angle was close to 30°, and the control system automatically limited the steering speed of the tracked base 1. After the operator adjusted the driving direction, the angle returned to normal.

[0045] After the length of prying work is completed, the operator sends the "work completed" command. The robotic arm 12 drives the hydraulic hammer 40 back to the impact hammer placement slot 39, and the quick-connect coupling 13 is unlocked. The extension legs 7 are retracted, the main body of the equipment 9 is reset to a horizontal state, the power generation module 30 stops running, the system stores the work data (work duration and amount of rock broken), and the equipment enters standby mode.

[0046] Of all the solutions mentioned above, those involving the connection between two components can be selected according to the actual situation, such as welding, bolt and nut connection, bolt or screw connection, or other known connection methods, which will not be elaborated here. For all the fixed connections mentioned above, welding is preferred. Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An adaptive breaking and grabbing robot for multiple working conditions in downhole operations, comprising a tracked base (1), a support (2), and a main body (9), wherein the support (2) is disposed on the upper surface of the tracked base (1), and the main body (9) is mounted on the support (2), characterized in that: The upper end of the support (2) is provided with a tilting module, which includes an arc-shaped seat (3), a hydraulic motor (4), a gear (5), a slide rail (6), a main body (9), a slider (10), and an arc-shaped rack (11). The arc-shaped seat (3) is fixedly installed on the upper end of the support (2). The hydraulic motor (4) is installed on the lower surface of the arc-shaped seat (3) inside the support (2). The gear (5) is installed on the output shaft of the hydraulic motor (4), and the upper side of the gear (5) penetrates the arc-shaped seat (3). On the upper surface, the slide rail (6) is opened on the upper surface of the arc-shaped seat (3). The lower surface of the device body (9) is fixedly connected to a slider (10) that is adapted to the inner side wall of the slide rail (6). The outer surface of the slider (10) is provided with an arc-shaped rack (11) that meshes with the outer surface of the gear (5). A robotic arm (12) is installed on the device body (9). A quick-change connector (13) is installed at the end of the robotic arm (12). A wireless transmission antenna (45) is installed on the upper surface of the device body (9).

2. The adaptive breaking and grasping robot for multiple working conditions in downhole operations according to claim 1, characterized in that: The slide rail (6) and slider (10) are each provided with at least three and are evenly distributed in a rectangular array. The arc-shaped rack (11) is provided on the outer surface of the middle slider (10). The slide rail (6) and slider (10) are both arc-shaped. The tilt adjustment angle range of the tilt module is -15° to 15°. The main body of the device (9) is provided with a control system. The control system collects data from each module. The main body of the device (9) is also provided with a tilt sensor.

3. The adaptive breaker and grabbing robot and control method for multiple working conditions in downhole operations as described in claim 1, characterized in that: The outer surface of the tracked base (1) is provided with extended legs (7), and four extended legs (7) are provided and symmetrically distributed in a rectangular array. The front side of the tracked base (1) is provided with a shovel plate (8), which is made of high manganese steel with a thickness of ≥10mm.

4. The adaptive breaking and grasping robot for multiple working conditions in downhole operations according to claim 1, characterized in that: A connecting module is installed on the rear side of the tracked base (1). The connecting module includes a first connecting clamp (14), a second connecting clamp (15), a hydraulic cylinder (16), and a connecting rod (17). The first connecting clamp (14) and the second connecting clamp (15) are rotatably connected to the upper surface of the rear side of the tracked base (1) through a shaft. The hydraulic cylinder (16) is fixedly connected to the upper surface of the rear side of the tracked base (1) and is slightly higher than the upper surface of the first connecting clamp (14) and the second connecting clamp (15). The connecting rod (17) is rotatably connected to the end of the telescopic rod of the hydraulic cylinder (16) through a shaft. There are two connecting rods (17), and the other end is rotatably connected to the upper surface of the first connecting clamp (14) and the second connecting clamp (15) through a shaft, respectively.

5. The adaptive breaking and grasping robot for multiple working conditions in downhole operations according to claim 4, characterized in that: An angle detection module is installed inside the connection module. The angle detection module includes a first rotating half-ring (18), a pressing plate (19), a spring (20), a first pressure sensor (21), a second pressure sensor (22), and a second rotating half-ring (24). The first rotating half-ring (18) is rotatably connected to the inner wall of the first connecting clamp (14). The pressing plate (19) is fixedly connected to the outer side of the first rotating half-ring (18). The spring (20) is installed on the outer surface of the pressing plate (19) and is arranged in an arc shape. Force sensor (21) is installed on the inner wall of the first connecting clamp (14), and second pressure sensor (22) is installed on the inner wall of the first connecting clamp (14) and is opposite to the first pressure sensor (21). There are two springs (20) and they are respectively installed on the two sides of the extrusion plate (19). The other ends of the two springs (20) abut against the detection ends of the first pressure sensor (21) and the second pressure sensor (22) respectively. The second rotating half ring (24) is rotatably connected to the inner wall of the second connecting clamp (15).

6. The adaptive breaking and grasping robot for multiple working conditions in downhole operations according to claim 5, characterized in that: When the first rotating half-ring (18) and the second rotating half-ring (24) are combined and spliced, they form a circular ring. The inner sidewalls of the first rotating half-ring (18) and the inner sidewalls of the second rotating half-ring (24) are both fixedly connected with protruding teeth (23). The detection range of the angle detection module is -90° to 90°.

7. The adaptive breaker and grabbing robot and control method for multiple working conditions in downhole operations as described in claim 1, characterized in that: The tracked base (1) is detachably connected to a trailer module via a connecting module. The trailer module includes a trailer frame (25), wheels (26), a connecting frame (27), and a quick-connect shaft (28). The wheels (26) are located on the lower side of the trailer frame (25). The connecting frame (27) is installed on the front side of the trailer frame (25). The quick-connect shaft (28) is fixedly installed on the end of the connecting frame (27). The lower end of the quick-connect shaft (28) is snapped into the inside of the first connecting clamp (14) and the second connecting clamp (15). The outer surface of the quick-connect shaft (28) is provided with a limiting groove that matches the protruding teeth (23).

8. The adaptive breaker and grabbing robot and control method for multiple working conditions in downhole operations as described in claim 7, characterized in that: A power generation module (30) and an energy storage module (31) are provided on the rear side of the upper surface of the trailer frame (25), and a protective cover (29) is installed on the outside of the power generation module (30) and the energy storage module (31). An attachment bracket (32) is installed on the upper surface of the trailer frame (25). The upper surface of the attachment bracket (32) is provided with bucket placement slots (33), breaker shear placement slots (35), auger drill placement slots (37), impact hammer placement slots (39) and hydraulic drill placement slots (41) for placing attachments. The attachments can be buckets (34), breaker shears (36), hydraulic auger pumps (37), etc. 8) Hydraulic hammer (40) and hydraulic drill (42), the upper end of the attachments is equipped with quick-change seat (43), the upper surface of the quick-change seat (43) is fixedly connected with drive pipe connector (44), the drive pipe connector (44) is fixedly connected to the shear (36), hydraulic spiral pump (38), hydraulic hammer (40) and hydraulic drill (42) through the conduit, and the inner side of the quick-change connector (13) is provided with a connector adapted to the drive pipe connector (44), so that when switching different attachments through the quick-change connector (13), the hydraulic system in the main body of the equipment (9) can be automatically connected to the attachment.

9. The control method for an adaptive breaker / grab robot for multiple working conditions in downhole operations according to claims 1-8, characterized in that: S1: Equipment initialization and system self-test: Start the main body of the equipment (9) and the trailer module. The system automatically detects the functional status of the tracked base (1), tilting module, robotic arm (12), quick-connect connector (13), connection module, angle detection module, power generation module (30) and energy storage module (31). Initialize the CAN bus communication parameters, angle detection module calibration parameters and attachment position coordinate library. Establish a coordinate system with the center of the quick-connect shaft (28) as the origin and preset the relative coordinates of the placement positions of each attachment. After the self-test is passed, the extension legs (7) extend to the maximum stroke to support the ground. The main body of the equipment (9) is reset to the horizontal state through the tilting module. The power generation module (30) is on standby and the energy storage module (31) supplies power to the control system. S2: Terrain adaptation and attitude adjustment: The tilt sensor built into the main body of the equipment (9) detects the tilt angle of the working surface in real time, and the data is transmitted to the control system via the wireless transmission antenna (45); the control system sends an adjustment command to the tilt module according to the operation requirements, the hydraulic motor (4) drives the gear (5) to rotate, and drives the main body of the equipment (9) to tilt along the arc slide rail (6) through the arc rack (11), and the slider (10) slides along the slide rail (6) to ensure the attitude is stable; when the tilt sensor detects that the difference between the tilt angle of the main body of the equipment (9) and the working surface is ≤1°, the hydraulic motor (4) locks, and the attitude adjustment is completed. S3: Attachment selection and precise positioning: Select the target attachment via wireless remote control. The angle detection module works: the quick-connect shaft (28) drives the first rotating half ring (18) and the second rotating half ring (24) to rotate. The extrusion plate (19) extrudes the corresponding side spring (20). The first pressure sensor (21) or the second pressure sensor (22) converts the pressure signal into an electrical signal and transmits it to the control system. The control system combines the size parameters of the trailer frame (25) and calculates the precise three-dimensional coordinates of the target attachment through trigonometric function calculation. The coordinate error is ≤ ±5mm. S4: Robotic arm path planning and automatic attachment replacement: The control system plans the optimal motion path based on the three-dimensional coordinates of the attachment and the operation constraints of the robotic arm (12); the robotic arm (12) moves along the path, the quick-change connector (13) aligns with the quick-change seat (43), the hydraulic cylinder drives the locking pin to extend and lock with the locking hole of the quick-change seat (43); the inner connector of the quick-change connector (13) and the drive pipeline connector (44) automatically connect and seal, and after the control system detects that the hydraulic pressure is stable, it sends back a "replacement successful" signal, and the robotic arm (12) drives the attachment to reset to the initial operation position. S5: Setting and executing operation parameters: The operation parameters of the attachment are set by the remote control. The control system converts the parameters into control signals to drive the hydraulic system to work. The robotic arm (12) drives the attachment to perform the cracking and grabbing operation according to the preset trajectory. The joint encoder of the robotic arm (12) provides real-time feedback of the angle to ensure that the accuracy of the operation trajectory is ≤ ±5mm. S6: Intelligent power supply management and switching: The power supply control module monitors the power supply of the main body (9), the power of the energy storage module (31), and the status of the power generation module (30) in real time; when the power of the main body is less than 20%, the power generation module (30) is started to supply power and charge the energy storage module (31); when the power of the main body is higher than 80% and the energy storage module (31) is fully charged, the power generation module (30) stops and switches to the main body power supply; when the power generation module (30) fails, it automatically switches to the energy storage module (31) for power supply and issues an early warning. S7: Operation monitoring and safety protection: Real-time monitoring of the relative angle between the trailer and the main body of the equipment. When the angle exceeds 30°, the turning speed of the tracked base (1) is limited and an early warning is issued; monitoring the locking pressure of the quick-connect coupling (13). When it is below 15MPa, the attachment is retracted and relocked. If it fails, the operation is prohibited; monitoring the concentration of underground gas and dust. When the concentration exceeds the standard, the emergency evacuation procedure is initiated, the outriggers (7) are retracted, and the tracked base (1) drives the equipment to move to a safe area. S8: Operation completed and equipment reset: Send the "Operation completed" command, the robotic arm (12) drives the attachment back to the corresponding placement slot, the quick-connect connector (13) is unlocked; the extension leg (7) is retracted, the main body of the equipment (9) is reset to the horizontal state, the power generation module (30) stops, the system stores the operation data and stands by.

10. The control method for an adaptive breaker / grab robot for multiple working conditions in downhole operations according to claim 9, characterized in that: In step 2, the detection response time of the tilt sensor is ≤10ms; in step 3, the detection response time of the angle detection module is ≤20ms; in step 6, the response time of the power supply switching is ≤1s; in step 7, after the emergency evacuation procedure is started, the equipment moving speed is maintained at 0-3km / h to ensure stable evacuation.

Images