An automated internal dam defect cone exploration device

Abstract

The application belongs to the technical field of dam cone detection, and discloses an automatic dam internal defect cone detection device, which comprises a drill rod storage structure, a cone detection vehicle and a loading and unloading structure. The drill rod storage structure comprises a first mobile vehicle body, a drill rod storage assembly, a mechanical hand, a drill rod conveying assembly and a plurality of first supporting legs. The first mobile vehicle body is movably arranged on the dam, and the first supporting legs are arranged on the first mobile vehicle body and have adjustable lengths. The drill rod storage structure can realize centralized storage, automatic taking and conveying of the drill rods. The drill rods conveyed to the frame body are automatically assembled on the drilling machine through the loading and unloading mechanism, without manual transfer and dismounting of the drill rods, so that the device has high work efficiency and is beneficial to improving the continuity of dam cone detection work. The plurality of first supporting legs form circumferential support for the first mobile vehicle body, so that the first mobile vehicle body has good stability under complex terrain conditions such as the dam top and the dam slope, effectively reduces the safety risk, and further improves the reliability of the cone detection process.

Description

Technical Field

[0001] This invention relates to the field of dam cone detection technology, and in particular to an automated dam internal defect cone detection device. Background Technology

[0002] As crucial infrastructure for flood control, disaster reduction, and water resource regulation, the long-term operational safety of dams directly impacts the safety of people's lives and property, as well as regional economic and social stability. Most dams utilize a mixed earth-rock filling structure, inevitably subject to various factors during long-term service, including changes in the natural environment, biological activity, and human disturbance. In particular, the nesting, feeding, and migration activities of organisms such as termites within the dam can disrupt the original dense structure of the soil, gradually forming interconnected channels, loose areas, and hidden cavities. This weakens the overall stability of the dam and can induce engineering safety hazards such as seepage and piping.

[0003] To address internal defects in dams caused by termite activity, engineering practice typically employs in-situ cone probing to obtain structural information, disturbance characteristics, and the distribution of abnormal areas within the dam. This information is then combined with multi-point, multi-depth detection results for comprehensive identification of potential hazards. Currently, tracked cone probing vehicles replace traditional manual labor in these operations. However, the storage, handling, and loading / unloading of drill rods remain primarily manual. Workers frequently have to get on and off the vehicle during drilling, manually handling, connecting, and disassembling the drill rods. This is not only labor-intensive but also poses significant safety hazards when operating on slopes or uneven ground. Furthermore, the dispersed storage locations and inefficient access routes for drill rods result in low installation and switching efficiency, leading to low drilling efficiency. In addition, actual dam cone probing operations are usually conducted in complex terrain conditions such as the dam crest, slope, or toe, characterized by steep slopes, uneven ground, and limited space. Existing drill rod storage facilities are mostly fixed structures, which can easily affect the progress of operations or even cause safety risks when working on slopes due to shifting center of gravity or insufficient support.

[0004] Therefore, there is an urgent need for an automated cone-shaped probe device for internal defects in dams that can centrally store drill rods and automatically transport and unload them. Summary of the Invention

[0005] The purpose of this invention is to provide an automated cone-shaped probe device for internal defects in dams, so as to solve the technical problems of low efficiency and high safety risks in manual handling and loading / unloading of drill rods in the prior art.

[0006] To achieve this objective, the present invention adopts the following technical solution: An automated cone-shaped detection device for internal defects in dams is provided, comprising: The drill pipe storage structure includes a first mobile vehicle body, a drill pipe storage assembly, a robotic arm, a drill pipe conveying assembly, and multiple first support legs. The first mobile vehicle body is movably mounted on a dam, and the multiple first support legs are spaced apart on the first mobile vehicle body, with the length of each first support leg being adjustable. The drill pipe storage assembly, the robotic arm, and the drill pipe conveying assembly are all mounted on the first mobile vehicle body. Multiple drill pipes are placed on the drill pipe storage assembly, and the robotic arm can grasp the drill pipes on the drill pipe storage assembly and place them on the drill pipe conveying assembly. The cone probe vehicle includes a second mobile vehicle body and a drilling rig. The second mobile vehicle body is movably mounted on the embankment, and the drilling rig is mounted on the second mobile vehicle body and perpendicular to the embankment. A loading and unloading structure is provided between the drill rod storage structure and the cone probe vehicle. The loading and unloading structure includes a frame and a loading and unloading mechanism. The frame is rotatably mounted on the drilling rig and is used to support the drill rods conveyed by the drill rod conveying assembly. The loading and unloading mechanism is movably mounted on the drilling rig and is capable of assembling the drill rods on the frame to the output end of the drilling rig.

[0007] As an optional solution for an automated dam internal defect cone probing device, the drill pipe storage assembly includes: Two mounting bases are spaced apart on the first mobile vehicle body; Two rotating plates are rotatably mounted on the side of the two mounting bases facing each other, and each rotating plate has multiple slots along the circumference. A connecting rod connects the two rotating plates; The two ends of the drill rod are respectively engaged in corresponding slots on the two rotating plates.

[0008] As an optional solution for an automated dam internal defect cone detection device, multiple drill rod storage components are provided, and the robotic arm is capable of grabbing any drill rod on any of the drill rod storage components.

[0009] As an optional solution for an automated dam internal defect cone detection device, the drill rod conveying assembly includes multiple transmission components, which are spaced apart on the first moving vehicle body along a first direction. Each transmission component is provided with a limit groove, and the drill rod is driven to abut against the limit groove.

[0010] As an optional solution for an automated cone probing device for internal defects in dams, the frame is provided with two support plates, which are arranged at an angle and form a support groove for supporting the drill rod.

[0011] As an optional solution for an automated dam internal defect cone detection device, the frame is equipped with two locking components, which are located on both sides of the support groove and can clamp the two ends of the drill rod in a corresponding manner.

[0012] As an optional solution for an automated dam internal defect cone detection device, the frame has a first state and a second state. In the first state, the drill rod is set at an angle to the output direction of the drilling rig; in the second state, the drill rod is parallel to the output direction of the drilling rig.

[0013] As an optional solution for an automated dam internal defect cone detection device, multiple robotic arms are provided, and multiple robotic arms can simultaneously grasp one drill rod.

[0014] As an optional solution for an automated dam internal defect cone detection device, a first support plate is provided at the end of the first support leg facing the dam.

[0015] As an optional solution for an automated dam internal defect cone detection device, the cone detection vehicle also includes multiple second support legs, which are spaced apart on the second mobile vehicle body, and the length of each second support leg is adjustable.

[0016] The beneficial effects of this invention are: This invention provides an automated cone probing device for internal defects in dams, comprising a drill rod storage structure, a cone probing vehicle, and a loading and unloading structure. The drill rod storage structure includes a first mobile vehicle body, a drill rod storage assembly, a robotic arm, a drill rod conveying assembly, and multiple first support legs. The first mobile vehicle body is movably mounted on the dam, and the multiple first support legs are spaced apart on the first mobile vehicle body, with the length of each first support leg being adjustable. The drill rod storage assembly, robotic arm, and drill rod conveying assembly are all mounted on the first mobile vehicle body. Multiple drill rods are placed on the drill rod storage assembly, and the robotic arm can grasp the drill rods from the drill rod storage assembly and place them on the drill rod conveying assembly. The cone probing vehicle includes a second mobile vehicle body and a drilling rig. The second mobile vehicle body is movably mounted on the dam, and the drilling rig is mounted on the second mobile vehicle body and perpendicular to the dam. The loading and unloading structure is located between the drill rod storage structure and the cone probing vehicle. The loading and unloading structure includes a frame and a loading and unloading mechanism. The frame is rotatably mounted on the drilling rig and is used to support the drill rods conveyed by the drill rod conveying assembly. The loading and unloading mechanism is movably mounted on the drilling rig and can assemble the drill rods on the frame to the output end of the drilling rig.

[0017] The drill rod storage structure enables centralized storage, automatic retrieval, and transportation of drill rods. Drill rods transported to the frame are automatically assembled onto the drilling rig via a loading and unloading mechanism, eliminating the need for manual transfer and loading / unloading. This high efficiency improves the continuity of cone penetration testing for termite nests and hidden defects in dams. Multiple first support legs provide circumferential support to the first moving vehicle, ensuring good stability and leveling capability in complex terrain conditions such as dam crests and slopes. This effectively reduces safety risks caused by changes in vehicle posture during cone penetration operations, thereby enhancing the reliability of the testing process. Attached Figure Description

[0018] Figure 1 This is an isometric view of the automated cone probing device for internal defects in dams provided in the specific embodiments of the present invention; Figure 2 This is an isometric view of the drill pipe storage structure provided in the specific embodiments of the present invention; Figure 3 This is an isometric drawing of the cone probe vehicle and loading / unloading structure provided in the specific embodiments of the present invention.

[0019] In the picture: 1. Drill pipe storage structure; 11. First moving vehicle body; 12. Drill pipe storage assembly; 121. Mounting base; 122. Rotating plate; 1220. Slot; 123. Connecting rod; 13. Robotic arm; 131. Support rod; 14. Drill pipe conveying assembly; 141. Transmission component; 1410. Limiting groove; 15. First supporting leg; 151. First supporting plate; 2. Cone probe vehicle; 21. Second mobile vehicle body; 22. Drilling rig; 221. Clamping mechanism; 23. Second support leg; 231. Second support plate; 3. Loading and unloading structure; 31. Frame; 311. Support plate; 312. Locking assembly; 32. Loading and unloading mechanism; 4. Dynamic structure. Detailed Implementation

[0020] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0021] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0022] In the description of this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0023] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0024] Most dams are constructed using a mixture of earth and rock, and during their long service life, they are inevitably affected by various factors such as changes in the natural environment, biological activities, and human disturbance. Among these, the nesting, feeding, and migration activities of organisms such as termites inside the dam can damage the original dense structure of the soil, gradually forming through-holes, loose areas, and hidden cavities, thereby weakening the overall stability of the dam and inducing engineering safety hazards such as seepage and piping.

[0025] To address internal defects in dams caused by termite activity, engineering practice typically employs in-situ cone probing to obtain structural information, disturbance characteristics, and the distribution of abnormal areas within the dam body. This information is then combined with multi-point, multi-depth detection results to comprehensively identify potential hazards. Both multi-hole continuous testing and long-hole probing require a large number of drill rods, necessitating flexible configuration of different specifications and lengths based on varying detection depths and technological requirements.

[0026] Currently, tracked cone drilling operations use tracked cone drilling vehicles to replace traditional manual labor. However, the storage, handling, and loading / unloading of drill rods are still primarily done manually. Workers frequently have to get on and off the vehicles during drilling to manually move, connect, and disassemble the drill rods. This is not only labor-intensive but also poses significant safety hazards when operating on slopes or uneven ground. Furthermore, the dispersed storage locations and inefficient retrieval paths of the drill rods result in low installation and switching efficiency, leading to low drilling efficiency. In addition, actual dam cone drilling operations are typically conducted in complex terrain conditions such as dam crests, slopes, or toes, characterized by steep slopes, uneven ground, and limited space. Existing drill rod storage facilities are mostly fixed structures, which are prone to shifting the center of gravity or insufficient support when working on slopes, affecting the progress of the operation and even causing safety risks.

[0027] like Figures 1 to 3 As shown, the automated dam internal defect cone probing device provided in this embodiment includes a drill rod storage structure 1, a cone probing vehicle 2, and a loading and unloading structure 3. The drill rod storage structure 1 includes a first mobile vehicle body 11, a drill rod storage assembly 12, a robotic arm 13, a drill rod conveying assembly 14, and multiple first support legs 15. The first mobile vehicle body 11 is movably mounted on the dam, and the multiple first support legs 15 are spaced apart on the first mobile vehicle body 11, with the length of each first support leg 15 being adjustable. The drill rod storage assembly 12, the robotic arm 13, and the drill rod conveying assembly 14 are all mounted on the first mobile vehicle body 11. Multiple drill rods are placed on the drill rod storage assembly 12, and the robotic arm 13 can grab the drill rods on the drill rod storage assembly 12 and place them on the drill rod conveying assembly 14. The cone probing vehicle 2 includes a second mobile vehicle body 21 and a drilling rig 22. The second mobile vehicle body 21 is movably mounted on the dam, and the drilling rig 22 is mounted on the second mobile vehicle body 21 and perpendicular to the dam. The loading and unloading structure 3 is located between the drill pipe storage structure 1 and the cone probe 2. The loading and unloading structure 3 includes a frame 31 and the loading and unloading structure 3. The frame 31 is rotatably mounted on the drilling rig 22 and is used to support the drill pipes conveyed by the drill pipe conveying assembly 14. The loading and unloading mechanism 32 is movably mounted on the drilling rig 22 and can assemble the drill pipes on the frame 31 to the output end of the drilling rig 22.

[0028] The drill rod storage structure 1 enables centralized storage, automatic retrieval, and transportation of drill rods. Drill rods transported to the frame 31 are automatically assembled onto the drilling rig 22 via the loading and unloading mechanism 32, eliminating the need for manual transfer and loading / unloading. This high efficiency improves the continuity of cone penetration testing for termite nests and internal hidden defects in dams. Multiple first support legs 15 provide circumferential support to the first moving vehicle 11, ensuring good stability and leveling capability in complex terrain conditions such as dam crests and slopes. This effectively reduces safety risks caused by changes in vehicle posture during cone penetration testing, thereby improving the reliability of the testing process.

[0029] Specifically, both the first mobile vehicle body 11 and the second mobile vehicle body 21 are tracked vehicles, capable of adapting to the mobile operation needs under complex working conditions such as embankment crests and dam slopes. The aforementioned tracked vehicles adopt the steel track structure commonly used in engineering machinery, and the width of the track plates can be set to 300mm~450mm to enhance the ground pressure adaptability on earth-rock dams and soft wet dam slopes.

[0030] The drilling rig 22 is positioned at the front of the second mobile vehicle 21, with its output axis pointing towards the direction of the dam coning operation. It is used to drive the coning drill rod to rotate and propel it axially. The drilling rig 22 can be hydraulically driven or electro-hydraulic hybrid driven. Its rated torque and thrust are designed to match the dam soil conditions. For example, the rated output torque can be set between 2 kN·m and 6 kN·m to meet the coning requirements for termite nest activity channels and loose areas. The drilling rig 22 can be adjusted in multiple levels according to the coning depth and dam strata conditions to accommodate the coning requirements of different dam filling materials, such as soft soil, fill soil, and locally dense interlayers.

[0031] The spindle of the drilling rig 22 adopts a hollow structure, and a quick-connect joint for the drill pipe is provided at the lower end of the spindle. The joint can adopt a common threaded structure or a pin-locking structure to achieve quick assembly and disassembly of the drill pipe during taper drilling operations. A clamping mechanism 221 is provided at the lower end of the spindle of the drilling rig 22. The clamping mechanism 221 is used to clamp the drill pipe to ensure the stability and directional accuracy of the drill pipe.

[0032] To ensure the stability of the device during the cone probing operation and reduce the swaying amplitude of the tracked vehicle, the first moving body 11 is provided with multiple first support legs 15 spaced apart along the circumference, and the second moving body 21 is provided with multiple second support legs 23 spaced apart along the circumference. The first support legs 15 and the second support legs 23 can adopt a hydraulic telescopic structure, and the length of both can be adjusted, generally ranging from 400mm to 600mm.

[0033] A first support plate 151 is provided at the end of the first support leg 15 facing the embankment. The first support plate 151 can increase the contact area between the first support leg 15 and the embankment, provide independent support for the first moving vehicle body 11, reduce the additional load on the first moving vehicle body 11 caused by the manipulator 13's rod-picking action, and improve the stability of the first moving vehicle body 11.

[0034] A second support plate 231 is provided at the end of the second support leg 23 facing the embankment. The second support plate 231 can increase the contact area between the second support leg 23 and the embankment, thereby further improving the stability of the second mobile vehicle body 21.

[0035] The aforementioned support plate can be equipped with an anti-slip structure on the side facing the embankment. The anti-slip structure can be an anti-slip mat, such as a rubber mat, or an anti-slip protrusion. The protective protrusion can be a dotted protrusion or a textured protrusion of any shape. Its function is to increase the contact friction between the support plate and the embankment and improve the stability of the device. The specific form can refer to the existing technology and is not specifically limited here, as long as it can increase the friction force.

[0036] In addition, since the support plate is in direct contact with the dam, it is prone to wear and damage and needs to be replaced regularly. Therefore, the support plate is detachably installed at the end of the corresponding support leg to facilitate the disassembly and replacement of the support plate. The specific installation method of detachability can be threaded connection, plug-in connection or snap-fit ​​connection, etc. Those skilled in the art know how to achieve detachable connection, and will not be described in detail here.

[0037] Optionally, the drill pipe storage assembly 12 includes a connecting rod 123, two mounting seats 121, and two rotating plates 122. The two mounting seats 121 are spaced apart on the first moving vehicle body 11. The two rotating plates 122 are rotatably mounted on the sides of the two mounting seats 121 facing each other. Each rotating plate 122 has multiple slots 1220 circumferentially. The connecting rod 123 connects the two rotating plates 122. The two ends of the drill pipe are correspondingly engaged in the slots 1220 on the two rotating plates 122 to achieve centralized storage of multiple drill pipes. The included angle between two adjacent slots 1220 on the rotating plate 122 is set to 15°~30°, so that the storage capacity of the drill pipe storage assembly 12 can reach 12~24 pipes, which meets the continuous operation requirements of multi-station cone probing detection of termite hazards in dams.

[0038] Specifically, the first moving vehicle body 11 is equipped with a power structure 4, which drives the two rotating plates 122 of the drill rod storage assembly 12 to rotate synchronously around the axis of the connecting rod 123, so that the target drill rod rotates to the set rod retrieval position, facilitating the gripping of the target drill rod by the robotic arm 13. The power structure 4 is preferably a geared motor with a rated power of 0.75kW to 1.5kW, or a hydraulic motor with a rated torque of 300N·m to 800N·m, to meet the stable rotation requirements under multiple drill rod load conditions.

[0039] For example, in this embodiment, the mounting base 121, the rotating plate 122, and the connecting rod 123 are preferably welded from Q355B structural steel. The length of a single drill rod is 1000mm~1500mm, and the outer diameter is φ42mm~φ60mm. The number of drill rods stored in each drill rod storage assembly 12 can be set to 6~12 rods depending on the space conditions of the vehicle.

[0040] More specifically, each slot 1220 is equipped with a limiting structure for limiting and fixing the end of the drill rod, ensuring that the drill rod will not fall out of the corresponding slot 1220 during rotation with the rotating plate 122. The aforementioned limiting structure can be a spring pin, hydraulic lock, or electromagnetic lock structure, which limits the drill rod axially and radially when not in the rod-removing state, preventing the drill rod from shaking due to external force vibration and avoiding the drill rod from slipping off when working on slopes.

[0041] Furthermore, multiple drill pipe storage components 12 are provided, and the robotic arm 13 can grasp drill pipes from any of the drill pipe storage components 12. Cone drilling operations require multi-hole continuous testing, and long-hole drilling requires multiple drill pipes to be spliced ​​sequentially, both requiring a large number of drill pipes for continuous operation. Multiple drill pipe storage components 12 can store a large number of drill pipes, ensuring the continuous operation of cone drilling. In addition, the drill pipes stored in the multiple drill pipe storage components 12 can be of the same type and size, or different, allowing operators to flexibly adjust according to actual operational needs.

[0042] For example, in this embodiment, two drill pipe storage components 12 are provided; in other embodiments, the number of drill pipe storage components can be set as needed, and no specific limitation is made here.

[0043] Optionally, multiple robotic arms 13 are provided, and multiple robotic arms 13 can simultaneously grasp a drill rod to improve the stability of grasping the target drill rod. Specifically, multiple robotic arms 13 are spaced apart on the support rod 131, and the support rod 131 is arranged parallel to the drill rods stored on the drill rod storage assembly 12. The robotic arm 13 adopts a multi-joint robotic arm or sliding rail robotic arm 13 structure, preferably a multi-degree-of-freedom robotic arm 13 structure, including at least a rotation joint, a pitch joint, and a telescopic joint. Its end is provided with a gripping structure for holding the drill rod. The gripping structure can be a hydraulic gripper or an electric gripper. The gripping range preferably covers the diameter range of the tapered rod from φ42mm to φ60mm, and the drill rod is stably gripped through a limiting mechanism or force feedback to prevent the drill rod from slipping or falling off during rotation. The part of the gripping structure that contacts the drill rod can be covered with high-friction rubber or polyurethane material to prevent the drill rod from being scratched.

[0044] For example, in this embodiment, two robotic arms 13 are provided, and the support rod 131 is located between the two drill rod storage components 12; in other embodiments, the specific number of robotic arms 13 can be set as needed, and is not specifically limited here.

[0045] The device also includes a control structure (not shown in the figure), which controls the rotation of the rotating plate 122 of the drill rod storage assembly 12, as well as the movement and gripping of the robotic arm 13. Furthermore, the control logic of the robotic arm 13 is linked to the control logic of the drill rod storage assembly 12. When the target drill rod on the drill rod storage assembly 12 rotates to the rod-picking position, the robotic arm 13 performs the rod-picking and gripping actions, and places the picked-up drill rod onto the drill rod conveying assembly 14.

[0046] Specifically, the rotating plate 122 can achieve indexing rotation under the control of the control structure, with each rotation angle corresponding to the interval angle between two adjacent slots 1220. The indexing action of the robotic arm 13 and the rotating plate 122 are coordinated in a timing sequence. When a drill rod needs to be picked up, the control structure drives the rotating plate 122 and the connecting rod 123 to rotate, so that the position of the target drill rod is precisely aligned with the picking position of the robotic arm 13, ensuring the continuity and reliability of the drill rod picking and placing process. To improve the positioning accuracy of the drill rod, an encoder or limit switch can be installed on the connecting rod 123 to control the indexing positioning error within ±1° for each operation.

[0047] The control structure described above is an existing controller, which uses a microcontroller or programmable logic controller as its core processing unit, and the relevant control logic is programmed onto the controller. The specific structure of the controller and the corresponding control logic are well-known and mature technologies in the fields of automation control and Internet of Things applications. Therefore, the specific circuit configuration of the controller and the detailed implementation of the control logic are not described in detail here.

[0048] In addition, the drill rod is arranged horizontally or slightly tilted when stored, so that its center of gravity is located within the projection range of the first mobile vehicle 11, thereby reducing the risk of the first mobile vehicle 11 overturning when operating on a slope.

[0049] Optionally, the drill pipe conveying assembly 14 includes multiple transmission components 141, which are spaced apart along a first direction on the first moving body 11. Each transmission component 141 is provided with a limiting groove 1410, and the drill pipe is driven to abut against the limiting groove 1410. The robot arm 13 places the drill pipe removed from the drill pipe storage assembly 12 into the limiting grooves 1410 of the multiple transmission components 141 to convey the drill pipe to the frame 31 of the loading and unloading structure 3. At the same time, the drill pipe can automatically adjust its posture during the conveying process to ensure that the drill pipe is in a horizontal state.

[0050] The drill pipe storage assembly 12, the robotic arm 13, and the drill pipe conveying assembly 14 are continuously connected in space to form an automatic drill pipe supply channel. The effective length of the drill pipe conveying assembly 14 can be set according to the structural dimensions of the first moving vehicle 11, preferably 1.2m to 2.0m. During the conveying process, the drill pipe can maintain axial stability and avoid bending or displacement.

[0051] Specifically, the transmission component 141 is a roller type or a slide rail type, and its conveying length is typically 800mm~1200mm. In this embodiment, the transmission component 141 is a roller type, and two transmission components 141 are spaced apart; in other embodiments, the specific number of transmission components 141 can be set as needed, and is not specifically limited here.

[0052] To improve conveying accuracy, limit stops or position sensors are installed on the drill pipe conveying assembly 14. The position sensors are used to detect whether the drill pipe has reached the predetermined loading / unloading position. When the drill pipe is delivered to the predetermined loading / unloading position, the control structure sends a signal to the loading / unloading structure 3 to proceed to the next loading / unloading operation.

[0053] Optionally, the frame 31 is provided with two support plates 311, which are arranged at an included angle and form a support groove. The support groove is used to support the drill rod and limit the drill rod radially to ensure the accurate position of the drill rod centerline. Specifically, in this embodiment, the two support plates 311 are arranged in a V-shape.

[0054] Furthermore, the frame 31 is equipped with two locking components 312, which are located on both sides of the support groove and can clamp the two ends of the drill rod one by one to ensure the stability of the drill rod. Specifically, the locking components 312 can be mechanical locking structures, such as clamping blocks or buckles, or they can be clamping clamps or similar structures, as long as they can achieve the fixed clamping of the drill rod. The specific structure and principle are based on existing technology and will not be elaborated on here.

[0055] Furthermore, the frame 31 has a first state and a second state. In the first state, the drill rod is set at an angle to the output direction of the drilling rig 22; in the second state, the drill rod is parallel to the output direction of the drilling rig 22. Specifically, in this embodiment, in the first state, both the drill rod and the frame 31 are set along a first horizontal direction, that is, perpendicular to the output direction of the drilling rig 22. In the second state, both the drill rod and the frame 31 are parallel to the output direction of the drilling rig 22. Specifically, before the drill rod is conveyed to the frame 31, the frame 31 is in the first state. The drill rod conveying assembly 14 conveys the drill rod into the support groove of the frame 31. After the two locking assemblies 312 lock the drill rod onto the frame 31, the frame 31 rotates to the second state, making the drill rod parallel to the output direction of the drilling rig 22, so that the drill rod can be assembled onto the drilling rig 22. Subsequently, the loading and unloading mechanism 32 assembles the drill rod onto the output end of the drilling rig 22. Driven by the output end of the drilling rig 22, the drill rod can drill into the dam.

[0056] Both ends of the aforementioned drill rods are equipped with connecting threads, allowing multiple drill rods to be assembled and connected sequentially to meet the depth requirements of long borehole exploration. The loading / unloading mechanism 32 uses a motor commonly used in this field. The loading / unloading mechanism 32 can slide vertically relative to the drilling rig 22 and also slide relative to the drilling rig 22 along a first direction. When it is necessary to install the drill rod on the frame 31 onto the drilling rig 22, the loading / unloading mechanism 32 first moves away from the output end of the drilling rig 22, and then moves along the first horizontal direction towards the frame 31. When the loading / unloading mechanism 32 moves above the drill rod, it engages with the drill rod, allowing the drill rod to be first assembled onto the loading / unloading mechanism 32. The loading / unloading mechanism 32 then moves towards the drilling rig 22, aligning the drill rod with the output end of the drilling rig 22. After alignment, the loading / unloading mechanism 32 and the drill rod rotate synchronously, splicing the drill rod with the previous drill rod. The disassembly and retrieval process of the drill rod is simply the reverse of the above steps.

[0057] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An automated cone-shaped probe for internal defects in dams, characterized in that, include: The drill rod storage structure (1) includes a first mobile vehicle body (11), a drill rod storage component (12), a robotic arm (13), a drill rod conveying component (14), and a plurality of first support legs (15). The first mobile vehicle body (11) is movably mounted on the dam. The plurality of first support legs (15) are spaced apart on the first mobile vehicle body (11), and the length of each first support leg (15) is adjustable. The drill rod storage component (12), the robotic arm (13), and the drill rod conveying component (14) are all mounted on the first mobile vehicle body (11). The drill rod storage component (12) holds a plurality of drill rods. The robotic arm (13) can grab the drill rods on the drill rod storage component (12) and place the drill rods on the drill rod conveying component (14). The cone probe vehicle (2) includes a second mobile vehicle body (21) and a drilling rig (22). The second mobile vehicle body (21) is movably mounted on the dam, and the drilling rig (22) is mounted on the second mobile vehicle body (21) and perpendicular to the dam. The loading and unloading structure (3) is located between the drill rod storage structure (1) and the cone probe vehicle (2). The loading and unloading structure (3) includes a frame (31) and a loading and unloading mechanism (32). The frame (31) is rotatably mounted on the drilling rig (22). The frame (31) is used to support the drill rods conveyed by the drill rod conveying assembly (14). The loading and unloading mechanism (32) is movably mounted on the drilling rig (22) and can assemble the drill rods on the frame (31) to the output end of the drilling rig (22).

2. The automated cone-shaped probe for internal defects in dams according to claim 1, characterized in that, The drill pipe storage assembly (12) includes: Two mounting bases (121) are spaced apart on the first mobile vehicle body (11); Two rotating plates (122) are rotatably mounted on the side of the two mounting bases (121) facing each other, and each rotating plate (122) has multiple slots (1220) circumferentially. A connecting rod (123) is connected between the two rotating plates (122); The two ends of the drill rod are respectively locked in the corresponding slots (1220) on the two rotating plates (122).

3. The automated cone-shaped probe for internal defects in dams according to claim 1, characterized in that, Multiple drill rod storage components (12) are provided, and the robotic arm (13) is capable of grabbing any drill rod on any of the drill rod storage components (12).

4. The automated cone-shaped probe for internal defects in dams according to claim 1, characterized in that, The drill pipe conveying assembly (14) includes a plurality of transmission components (141), which are spaced apart on the first moving vehicle body (11) along a first direction. Each transmission component (141) is provided with a limiting groove (1410), and the drill pipe is driven to abut against the limiting groove (1410).

5. The automated cone probe device for detecting internal defects in dams according to claim 1, characterized in that, The frame (31) is provided with two support plates (311), which are arranged at an angle and form a support groove, which is used to support the drill rod.

6. The automated cone probe device for detecting internal defects in dams according to claim 5, characterized in that, The frame (31) is provided with two locking components (312), which are respectively located on both sides of the support groove and can clamp the two ends of the drill rod in a corresponding manner.

7. The automated cone probe device for detecting internal defects in dams according to claim 6, characterized in that, The frame (31) has a first state and a second state. In the first state, the drill rod is set at an angle to the output direction of the drilling machine (22). In the second state, the drill rod is parallel to the output direction of the drilling machine (22).

8. The automated cone probe for internal defects in dams according to any one of claims 1-7, characterized in that, Multiple robotic arms (13) are provided, and multiple robotic arms (13) can simultaneously grasp one drill rod.

9. The automated cone probe for internal defects in dams according to any one of claims 1-7, characterized in that, The first support leg (15) is provided with a first support plate (151) at the end facing the dam.

10. The automated cone-shaped probe for internal defects in dams according to any one of claims 1-7, characterized in that, The cone probe vehicle (2) also includes a plurality of second support legs (23), which are spaced apart on the second mobile vehicle body (21), and each second support leg (23) has an adjustable length.

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