Special operation robot for geological survey

Abstract

The special operation robot comprises a tubular robot shell, hemispherical equipment mounting covers are arranged on the left side and the right side of the robot shell correspondingly, geological exploration equipment is mounted in the equipment mounting covers, and a driving mechanism is mounted in the robot shell. The driving mechanism comprises a motor, the motor is located on the left side of the interior of the robot shell, the motor is sleeved with a plurality of guide rings, an arc-shaped sliding sleeve is arranged between the guide rings and the motor, the guide rings are slidably sleeved with the arc-shaped sliding sleeve, one side of the arc-shaped sliding sleeve is fixedly connected with the motor, and a notch is formed in the other side of the arc-shaped sliding sleeve. When the device overturns and rolls, the wheels located at the bottom can still make contact with the ground, the motor in the device can be located at the bottom all the time and drive the wheels at the bottom to rotate, and therefore the device can still advance continuously when overturning.

Description

Technical Field

[0001] This invention relates to the field of special-purpose robots, and more particularly to a special-purpose robot for geological surveying. Background Technology

[0002] Geological survey robots are automated operating devices that can effectively replace or assist human workers in completing various geological exploration tasks. With their excellent environmental adaptability and high-precision operation, these devices have driven the geological exploration industry to transform from a "labor-intensive" to a "robot-replacement" model, becoming a key piece of equipment for solving exploration challenges in extreme environments and improving the efficiency and accuracy of exploration work.

[0003] Depending on their application scenarios, geological survey robots can be categorized into several types, each with its own functional focus and working collaboratively. Ground survey robots are equipped with tracked or wheeled mobile platforms and various detection equipment such as lidar and inertial navigation. They can move autonomously in complex terrains such as steep slopes, deserts, and permafrost, completing tasks such as rock sample collection, geological structure scanning and marking, and can replace manual labor in many areas inaccessible to humans. Underwater survey robots employ a biomimetic multi-segment structure design, enabling them to penetrate deep into the ocean for strata drilling and in-situ monitoring. For example, my country's independently developed deep-sea drilling robot can operate normally in waters at depths of thousands of meters, accurately collecting various data related to strata structure and resources. Aerial survey robots, with drone swarms as their core component, primarily undertake wide-area scanning and remote sensing tasks, rapidly covering large survey areas and reducing workloads that would traditionally take months to complete by humans to just a few days. Underground survey robots are mainly used in underground operations such as mines and tunnels, enabling integrated operations of borehole positioning and core sampling, effectively reducing the safety risks of underground survey operations.

[0004] The integrated application of multiple core technologies provides strong support for the efficient operation of geological survey robots. At the perception level, these robots employ multi-sensor fusion technology, utilizing equipment such as lidar and hyperspectral cameras to achieve 3D terrain reconstruction and precise identification of geological features, with detection accuracy reaching the centimeter level. At the decision-making level, relying on deep learning algorithms, the robot can autonomously plan its work path and avoid various obstacles, achieving a geological feature identification accuracy rate exceeding 90%. At the execution level, its equipped robotic arm can complete standardized sample collection and packaging work with an error controlled within 3%, while its onboard X-ray fluorescence spectrometer can perform on-site elemental composition detection, significantly shortening the data processing cycle.

[0005] Compared to traditional manual surveying methods, geological surveying robots have significant advantages. First, these devices can enter high-risk working environments such as radioactive mining areas, the deep sea, and polar regions, minimizing the risk of injury or death to workers. Second, their operational efficiency is several times higher than manual surveying; a robot swarm can complete a survey of 1,000 square kilometers in just a few months, while traditional manual surveying takes one to two years. Third, they can effectively reduce surveying costs, decrease manpower input and equipment wear and tear, and improve the accuracy of survey data through standardized operating procedures, providing reliable data support for subsequent geological analysis.

[0006] Currently, geological survey robots have been widely used in various fields such as mineral resource exploration, geological disaster early warning, and deep-sea resource exploration. However, there are still many shortcomings of this type of robot. For example, when walking on rugged terrain, the robot often overturns due to the bumpy road surface, causing the robot to get trapped. If the robot is in a high-risk working environment, it is very difficult to rescue it. Therefore, how to ensure that geological survey robots can walk stably without overturning has become an urgent problem to be solved by the industry. Summary of the Invention

[0007] The purpose of this invention is to provide a special-purpose robot for geological surveying to solve the above-mentioned technical problems.

[0008] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A special-purpose robot for geological exploration includes a tubular robot shell with hemispherical equipment mounting covers on both the left and right sides of the robot shell. The equipment mounting covers are used to install geological exploration equipment, and a useful drive mechanism is installed inside the robot shell.

[0009] Preferably, the drive mechanism includes a motor located inside the robot housing on the left side. Multiple guide rings are fitted around the outside of the motor. An arc-shaped sliding sleeve is provided between the guide rings and the motor, slidingly mounted on the guide rings. One side of the arc-shaped sliding sleeve is fixedly connected to the motor, and the other side has a notch. Multiple supports are provided between the guide rings and the robot housing. One end of each support is fixedly connected to the guide ring, and the other end is fixedly connected to the robot housing. The power output end of the motor is fixedly connected to one end of a first rotating shaft. A drive gear is fitted onto the first rotating shaft, and the drive gear is fixedly connected to the first rotating shaft. Multiple sets of wheel assemblies are arranged in a circular array along the circumference of the robot housing inside the robot housing, and the drive gear is connected to the wheel assemblies.

[0010] Preferably, the wheel assembly includes a driven gear, which is sleeved on a second rotating shaft. The second rotating shaft is fixedly connected to the driven gear, and transmission components are connected to both ends of the second rotating shaft. A mounting groove is provided on the surface of the robot shell, and the transmission components are located in the mounting groove. Multiple driven components are installed on the inner wall of the mounting groove.

[0011] Preferably, the transmission assembly includes a gearbox, the power input end of the gearbox is connected to a second rotating shaft, the power output end of the gearbox is connected to a third rotating shaft, a wheel is mounted on the third rotating shaft, the wheel is fixedly connected to the third rotating shaft, the gearbox is fixedly connected to a first base, and the top of the first base is connected to the robot shell through a lifting assembly.

[0012] Preferably, the lifting assembly includes a telescopic rod located inside a telescopic tube, a limiting ring sleeved on the outside of the telescopic rod, the limiting ring being fixedly connected to the top of the telescopic tube, the telescopic rod being slidably engaged with the limiting ring, a spring sleeved on the telescopic rod located inside the telescopic tube, the bottom of the spring being fixedly connected to the telescopic rod; the telescopic rod being fixedly connected to the robot shell, and the telescopic tube being fixedly connected to the first base.

[0013] Preferably, the driven component includes a second base, which is also connected to the inner wall of the mounting groove via a lifting component. The telescopic rod of the lifting component on the second base is fixedly connected to the inner wall of the mounting groove, and the telescopic tube of the lifting component on the second base is fixedly connected to the second base. The second base is fixedly connected to a fourth rotating shaft, and a bearing is sleeved on the fourth rotating shaft. The inner ring of the bearing is fixedly connected to the fourth rotating shaft, and a wheel is fixedly sleeved on the outer ring of the bearing.

[0014] Preferably, a plurality of guide motors are provided on the equipment mounting cover located on the right side, the plurality of guide motors are arranged around the equipment mounting cover, the guide motors are fixedly connected to the equipment mounting cover, the power output end of the guide motors is fixedly connected to the fifth rotating shaft, a second bearing is sleeved on the fifth rotating shaft, the inner ring of the second bearing is fixedly connected to the fifth rotating shaft, and a guide wheel is fixedly sleeved on the outer ring of the second bearing.

[0015] Preferably, the guide motor is wirelessly connected to the controller, and the controller is used to control the forward and reverse rotation of the guide motor.

[0016] The beneficial effects of this invention are: This invention designs a special working robot for geological exploration. When the device overturns and rolls, the wheels at the bottom will still be in contact with the ground, and the motor in the device can always be located at the bottom and drive the wheels at the bottom to rotate, so that the device can continue to move forward even when it overturns. Attached Figure Description

[0017] Figure 1This is a schematic diagram of the structure of a special operation robot for geological exploration according to the present invention; Figure 2 This is a schematic diagram of the connection structure of a motor, driving gear, and driven gear of a special operation robot for geological exploration according to the present invention. Figure 3 This is a schematic diagram of the wheel assembly of a special-purpose robot for geological exploration according to the present invention; Figure 4 This is a schematic diagram of the lifting assembly of a special operation robot for geological exploration according to the present invention; Figure 5 This is a schematic diagram of the arc-shaped sliding sleeve of a special operation robot for geological exploration according to the present invention; Figure 6 This invention relates to a special-purpose robot for geological surveying. Figure 1 Enlarged schematic diagram of part A; Reference numerals: 1. Transmission assembly; 2. Driven assembly; 3. Robot shell; 4. Motor; 5. Equipment mounting cover; 6. Guide ring; 7. Mounting groove; 8. Driven gear; 9. Bracket; 10. First rotating shaft; 11. Driving gear; 12. Arc-shaped sliding sleeve; 13. Second rotating shaft; 14. Notch; 15. Guide wheel; 16. Second bearing; 17. Fifth rotating shaft; 18. Guide motor; 101. First base; 102. Wheel; 103. Third shaft; 104. Gearbox; 105. Lifting assembly; 1051. Telescopic rod; 1052. Limiting ring; 1053. Spring; 1054. Telescopic tube; 201. Fourth pivot; 202. Second base; 203. Bearing. Detailed Implementation

[0018] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0019] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not 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 limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] Example 1 like Figure 1-5 As shown, a special operation robot for geological exploration includes a robot shell 3, with hemispherical equipment mounting covers 5 on both the left and right sides of the robot shell 3. The equipment mounting covers 5 are used to install geological exploration equipment, and useful drive mechanisms are installed inside the robot shell 3.

[0022] The drive mechanism includes a motor 4, which is located inside the robot shell 3 on the left side. Six guide rings 6 are fitted on the outside of the motor 4. An arc-shaped sliding sleeve 12 is provided between the guide rings 6 and the motor 4. The arc-shaped sliding sleeve 12 is slidably fitted on the guide rings 6. One side of the arc-shaped sliding sleeve 12 is fixedly connected to the motor 4, and a notch 14 is opened on the other side of the arc-shaped sliding sleeve 12. Four brackets 9 are provided between the guide rings 6 and the robot shell 3. One end of the bracket 9 is fixedly connected to the guide rings 6, and the other end of the bracket 9 is fixedly connected to the robot shell 3. The power output end of the motor 4 is fixedly connected to one end of the first rotating shaft 10. An active gear 11 is fitted on the first rotating shaft 10 and is fixedly connected to the first rotating shaft 10. Multiple sets of wheel assemblies are arranged in a circular array along the circumference of the robot shell 3 inside the robot shell 3. The active gear 11 is connected to the wheel assemblies.

[0023] Surveying equipment such as lidar and hyperspectral cameras are installed on the equipment mounting cover 5. Through holes can be opened on the equipment mounting cover 5 for camera operation.

[0024] Because the robot shell 3 is tubular and multiple sets of wheel assemblies are arranged in a circular array around the circumference of the robot shell 3, when the device overturns during walking, the robot shell 3 rolls on the ground, but some wheel assemblies are still in contact with the ground, ensuring that the device can continue to walk.

[0025] Example 2 like Figure 1-5As shown, while other parts are the same as in Embodiment 1, the difference between this embodiment and Embodiment 1 is that: the wheel assembly includes a driven gear 8, the driven gear 8 is sleeved on the second rotating shaft 13, the second rotating shaft 13 is fixedly connected to the driven gear 8, and transmission components 1 are connected to both the left and right ends of the second rotating shaft 13. The surface of the robot shell 3 is provided with a mounting groove 7, the transmission components 1 are located in the mounting groove 7, and multiple driven components 2 are installed on the inner wall of the mounting groove 7.

[0026] The transmission assembly 1 includes a gearbox 104. The power input end of the gearbox 104 is connected to the second rotating shaft 13, and the power output end of the gearbox 104 is connected to the third rotating shaft 103. A wheel 102 is mounted on the third rotating shaft 103 and is fixedly connected to the third rotating shaft 103. The gearbox 104 is fixedly connected to the first base 101, and the top of the first base 101 is connected to the robot shell 3 through a lifting assembly 105.

[0027] The lifting assembly 105 includes a telescopic rod 1051, which is located inside the telescopic tube 1054. A limiting ring 1052 is sleeved on the outside of the telescopic rod 1051. The limiting ring 1052 is fixedly connected to the top of the telescopic tube 1054. The telescopic rod 1051 and the limiting ring 1052 are slidably engaged. A spring 1053 is sleeved on the telescopic rod 1051, which is located inside the telescopic tube 1054. The bottom of the spring 1053 is fixedly connected to the telescopic rod 1051. The telescopic rod 1051 is fixedly connected to the robot shell 3, and the telescopic tube 1054 is fixedly connected to the first base 101.

[0028] Driven component 2 includes a second base 202, which is also connected to the inner wall of the mounting groove 7 via a lifting component 105. The telescopic rod 1051 of the lifting component 105 on the second base 202 is fixedly connected to the inner wall of the mounting groove 7, and the telescopic tube 1054 of the lifting component 105 on the second base 202 is fixedly connected to the second base 202. The second base 202 is fixedly connected to the fourth rotating shaft 201, and a bearing 203 is sleeved on the fourth rotating shaft 201. The inner ring of the bearing 203 is fixedly connected to the fourth rotating shaft 201, and a wheel 102 is fixedly sleeved on the outer ring of the bearing 203.

[0029] Under the influence of gravity, the motor 4 is located at the bottom of the guide ring 6. The motor 4 drives the drive gear 11 to rotate through the first rotating shaft 10. The drive gear 11 meshes with the two driven gears 8 located at the bottom, thereby causing the drive gear 11 to drive the driven gears 8 to rotate. The driven gears 8 drive the second rotating shaft 13 to rotate. The second rotating shaft 13 drives the third rotating shaft 103 to rotate through the gearbox 104. The third rotating shaft 103 drives the wheel 102 located at the bottom of the entire device to rotate, thereby enabling the device to move on the ground.

[0030] When the device overturns, the entire device rolls a certain distance and then stops. At this time, the motor 4 is no longer located at the bottom of the guide ring 6. Under the action of gravity, the motor 4 slides along the guide ring 6 through the arc-shaped sliding sleeve 12, causing the motor 4 to move back to the bottom. A notch 14 is provided on one side of the arc-shaped sliding sleeve 12 so that the arc-shaped sliding sleeve 12 does not detach from the guide ring 6. When the arc-shaped sliding sleeve 12 moves to the support 9, the support 9 is located in the notch 14 so that the support 9 will not obstruct the sliding of the arc-shaped sliding sleeve 12.

[0031] As the motor 4 moves to the bottom of the guide ring 6, the motor 4 drives the drive gear 11 to move synchronously through the first rotating shaft 10. During the movement of the drive gear 11, it squeezes the driven gear 8 that is in contact with it, causing the driven gear 8 to pass through the second rotating shaft 13, gearbox 104, first base 101, telescopic tube 1054, limit ring 1052 and compression spring 1053 in sequence. When the drive gear 11 is no longer in contact with the driven gear 8, the driven gear 8 moves in the opposite direction and resets under the elastic force of the spring 1053.

[0032] When the motor 4 moves to the bottom, the motor 4 engages between the two driven gears 8 at the bottom and meshes with the two driven gears 8, thereby driving the wheel 102 at the bottom to rotate again, so that the device continues to move.

[0033] By setting multiple driven components, the number of wheels 102 can be increased, making the device more stable when moving.

[0034] Example 3 like Figure 1-6 As shown, while other parts are the same as in Embodiment 2, the difference between this embodiment and Embodiment 2 is that: multiple guide motors 18 are provided on the equipment mounting cover 5 on the right side, the multiple guide motors 18 are arranged around the equipment mounting cover 5, the guide motors 18 are fixedly connected to the equipment mounting cover 5, the power output end of the guide motors 18 is fixedly connected to the fifth rotating shaft 17, a second bearing 16 is sleeved on the fifth rotating shaft 17, the inner ring of the second bearing 16 is fixedly connected to the fifth rotating shaft 17, a guide wheel 15 is fixedly sleeved on the outer ring of the second bearing 16, the guide motors 18 are wirelessly connected to the controller, and the controller is used to control the forward and reverse rotation of the guide motors 18.

[0035] The controller controls the forward and reverse rotation of the motor 18. The motor 18 controls the rotation of the guide wheel 15 through the fifth rotating shaft 17 and the second bearing 16 in sequence, thereby controlling the movement direction of the device.

[0036] 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 this invention is defined by the appended claims and their equivalents.

Claims

1. A special-purpose robot for geological surveying, characterized in that: The robot includes a tubular robot shell (3), with hemispherical equipment mounting covers (5) on both the left and right sides of the robot shell (3). The equipment mounting covers (5) are used to install geological survey equipment, and useful drive mechanisms are installed inside the robot shell (3).

2. The special-purpose robot for geological exploration according to claim 1, characterized in that: The driving mechanism includes a motor (4), which is located inside the robot shell (3) on the left side. Multiple guide rings (6) are fitted around the outside of the motor (4). An arc-shaped sliding sleeve (12) is provided between the guide rings (6) and the motor (4). The arc-shaped sliding sleeve (12) is slidably fitted onto the guide rings (6). One side of the arc-shaped sliding sleeve (12) is fixedly connected to the motor (4), and a notch (14) is provided on the other side. A gap is provided between the guide rings (6) and the robot shell (3). Multiple brackets (9) are provided, one end of which is fixedly connected to a guide ring (6), and the other end of which is fixedly connected to the robot shell (3). The power output end of the motor (4) is fixedly connected to one end of the first rotating shaft (10). An active gear (11) is sleeved on the first rotating shaft (10). The active gear (11) is fixedly connected to the first rotating shaft (10). Multiple sets of wheel assemblies are arranged in a circular array along the circumference of the robot shell (3) inside the robot shell (3). The active gear (11) is connected to the wheel assembly.

3. The special-purpose robot for geological exploration according to claim 2, characterized in that: The wheel assembly includes a driven gear (8), which is sleeved on a second rotating shaft (13). The second rotating shaft (13) is fixedly connected to the driven gear (8). Both ends of the second rotating shaft (13) are connected to transmission components (1). The robot shell (3) has a mounting groove (7) on its surface. The transmission component (1) is located in the mounting groove (7). Multiple driven components (2) are installed on the inner wall of the mounting groove (7).

4. A special-purpose robot for geological exploration according to claim 3, characterized in that: The transmission assembly (1) includes a gearbox (104), the power input end of the gearbox (104) is connected to the second rotating shaft (13), the power output end of the gearbox (104) is connected to the third rotating shaft (103), a wheel (102) is mounted on the third rotating shaft (103), the wheel (102) is fixedly connected to the third rotating shaft (103), the gearbox (104) is fixedly connected to the first base (101), and the top of the first base (101) is connected to the robot shell (3) through a lifting assembly (105).

5. A special-purpose robot for geological exploration according to claim 4, characterized in that: The lifting assembly (105) includes a telescopic rod (1051), which is located inside the telescopic tube (1054). A limiting ring (1052) is sleeved on the outside of the telescopic rod (1051). The limiting ring (1052) is fixedly connected to the top of the telescopic tube (1054). The telescopic rod (1051) and the limiting ring (1052) are slidably connected. A spring (1053) is sleeved on the telescopic rod (1051). The spring (1053) is located inside the telescopic tube (1054). The bottom of the spring (1053) is fixedly connected to the telescopic rod (1051). The telescopic rod (1051) is fixedly connected to the robot shell (3), and the telescopic tube (1054) is fixedly connected to the first base (101).

6. A special-purpose robot for geological exploration according to claim 5, characterized in that: The driven component (2) includes a second base (202), which is also connected to the inner wall of the mounting groove (7) via a lifting component (105). The telescopic rod (1051) of the lifting component (105) on the second base (202) is fixedly connected to the inner wall of the mounting groove (7). The telescopic tube (1054) of the lifting component (105) on the second base (202) is fixedly connected to the second base (202). The second base (202) is fixedly connected to the fourth rotating shaft (201). A bearing (203) is sleeved on the fourth rotating shaft (201). The inner ring of the bearing (203) is fixedly connected to the fourth rotating shaft (201). A wheel (102) is fixedly sleeved on the outer ring of the bearing (203).

7. A special-purpose robot for geological exploration according to claim 6, characterized in that: Multiple guide motors (18) are provided on the equipment mounting cover (5) located on the right side. The multiple guide motors (18) are arranged around the equipment mounting cover (5). The guide motors (18) are fixedly connected to the equipment mounting cover (5). The power output end of the guide motors (18) is fixedly connected to the fifth rotating shaft (17). A second bearing (16) is sleeved on the fifth rotating shaft (17). The inner ring of the second bearing (16) is fixedly connected to the fifth rotating shaft (17). A guide wheel (15) is fixedly sleeved on the outer ring of the second bearing (16).

8. A special-purpose robot for geological exploration according to claim 7, characterized in that: The guide motor (18) is wirelessly connected to the controller, which controls the forward and reverse rotation of the guide motor (18).

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