A bore-scope robot

Abstract

The application discloses a borehole peeping robot, and relates to the technical field of borehole detection in underground coal mines.The borehole peeping robot comprises a main body, a walking wheel assembly and a linear driving mechanism.The walking wheel assembly comprises a wheel arm and a roller.The one end of the wheel arm is hinged to the main body through a hinge shaft, and the other end is connected with the roller.The linear driving mechanism is connected with the main body.A hinge rod is arranged between the output end of the linear driving mechanism and the wheel arm.The one end of the hinge rod is hinged to the output end of the linear driving mechanism, and the other end of the hinge rod is hinged to the middle part of the wheel arm.By arranging the linear driving mechanism and introducing the hinge rod between the output end of the linear driving mechanism and the wheel arm to form a connecting rod transmission structure, when the linear driving mechanism operates, the output end drives the wheel arm to rotate around the hinge shaft on the main body through the hinge rod, so that the included angle between the wheel arm and the main body is changed, and the robot can dynamically adjust the overall size according to the real-time change of the borehole diameter.

Description

Technical Field

[0001] This invention relates to the field of underground borehole detection technology in coal mines, and in particular to a borehole inspection robot. Background Technology

[0002] Borehole inspection technology is an important means of controlling the stability of surrounding rock and detecting the development characteristics of rock mass fractures in underground coal mines. As coal resource mining gradually shifts to deeper levels, accurately detecting the development and expansion characteristics of fractures in coal and rock masses under the dual effects of deep geostress and mining disturbance is of great significance for ensuring the long-term serviceability of mining roadways and the reliability of support design.

[0003] Existing borehole inspection devices typically consist of a probe, connecting rod or push rod, cable, display, and recorder. They acquire borehole wall images to analyze the surrounding rock structure by pushing the probe to a predetermined position within the borehole. However, in practical applications, existing devices generally suffer from the following technical problems: The pushing method is outdated, relying on manual, segment-by-segment push-pull, resulting in high labor intensity, low efficiency, and difficulty in meeting the detection needs of deep, long-distance boreholes; Borehole adaptability is poor, as the external dimensions of existing inspection devices are fixed. When encountering fractured rock zones or fault structures that cause borehole diameter contraction, the equipment cannot dynamically adjust its own diameter, easily becoming stuck, making normal advancement or retrieval difficult, and in severe cases, even causing the instrument to be lost underground; Adaptability to complex borehole trajectories is insufficient, as boreholes drilled by directional drilling rigs often have complex trajectories such as curves and bends, and existing rigid push rod inspection devices cannot pass through curved borehole sections.

[0004] Therefore, there is an urgent need for a drilling inspection robot that can actively adjust its outer diameter to adapt to different hole diameters. Summary of the Invention

[0005] The purpose of this invention is to provide a drilling inspection robot to solve the problems existing in the prior art, which can actively adjust the outer diameter to adapt to different borehole diameters.

[0006] To achieve the above objectives, the present invention provides the following solution: This invention provides a drilling and inspection robot, comprising a main body, a walking wheel assembly, and a linear drive mechanism. The walking wheel assembly includes a wheel arm and a roller. One end of the wheel arm is hinged to the main body via a hinge shaft, and the other end is connected to the roller. The linear drive mechanism is connected to the main body. A hinge rod is provided between the output end of the linear drive mechanism and the wheel arm. One end of the hinge rod is hinged to the output end of the linear drive mechanism, and the other end of the hinge rod is hinged to the middle of the wheel arm.

[0007] As one implementation, the linear drive mechanism is an electric push rod.

[0008] As one embodiment, the hinge rod is provided with a shock-absorbing spring.

[0009] As one embodiment, the walking wheel assembly includes three wheel arms evenly distributed along the circumference of the main body.

[0010] As one embodiment, the walking wheel assembly includes four wheel arms evenly distributed along the circumference of the main body.

[0011] In one embodiment, a travel drive motor is provided on the wheel arm, and the output shaft of the travel drive motor is connected to the roller drive through a bevel gear set.

[0012] As one implementation, the driving motor is a reversible micro speed-regulating motor.

[0013] As one embodiment, the fuselage body includes at least two fuselage sections, and adjacent fuselage sections are connected by universal joints or ball joints.

[0014] As one embodiment, a shear pin is provided at the connection between the linear drive mechanism and the main body of the machine body, and the shear pin has a preset breaking threshold.

[0015] As one embodiment, it also includes a spy camera assembly, which is installed at the front end of the main body of the device. The spy camera assembly includes a camera, a fill light, and a transparent protective cover.

[0016] The present invention achieves the following technical effects compared to the prior art: The drilling inspection robot of this invention employs a linear drive mechanism, with a hinged rod connecting the output end of the linear drive mechanism to the wheel arm, forming a linkage transmission structure. When the linear drive mechanism operates, its output end drives the wheel arm to rotate around the hinge axis on the main body via the hinged rod, thereby changing the angle between the wheel arm and the main body. When the wheel arm extends outward, the roller moves away from the main body, increasing its outer diameter to accommodate larger boreholes; when the wheel arm retracts inward, the roller moves closer to the main body, decreasing its outer diameter to pass through narrower borehole sections. This active diameter-changing capability allows the robot to dynamically adjust its outer dimensions according to real-time changes in the borehole diameter, fundamentally solving the jamming problem caused by fixed outer dimensions. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1This is a schematic diagram of the overall structure of a drilling inspection robot according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a walking wheel assembly according to an embodiment of the present invention, which includes three wheel arms; Figure 3 This is a schematic diagram of a walking wheel assembly according to an embodiment of the present invention, which includes four wheel arms; Figure 4 This is a schematic diagram of a shearing pin according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the shear pin fracture state according to an embodiment of the present invention; Figure 6 From left to right, these are schematic diagrams illustrating the process of a drilling inspection robot in an embodiment of the present invention releasing itself from a jammed state; Figure 7 From left to right, these are schematic diagrams illustrating the alternating passage mode of a drilling inspection robot through narrow sections according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the process of a drilling inspection robot passing through a curved section according to an embodiment of the present invention; The components include: 1. Main body; 2. Wheel arm; 3. Roller; 4. Linear drive mechanism; 5. Hinge rod; 6. Shock-absorbing spring; 7. Travel drive motor; 8. Bevel gear set; 9. Ball joint; 10. Shear pin; 11. Encoder; 12. Camera; 13. Fill light; and 14. Transparent protective cover. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] The purpose of this invention is to provide a drilling inspection robot to solve the problems existing in the prior art, which can actively adjust the outer diameter to adapt to different borehole diameters.

[0021] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] like Figures 1-8As shown, this embodiment provides a drilling inspection robot, including a main body 1, a walking wheel assembly, and a linear drive mechanism 4. The walking wheel assembly includes a wheel arm 2 and a roller 3. One end of the wheel arm 2 is hinged to the main body 1 via a hinge shaft, and the other end is connected to the roller 3. The linear drive mechanism 4 is connected to the main body 1. A hinge rod 5 is provided between the output end of the linear drive mechanism 4 and the wheel arm 2. One end of the hinge rod 5 is hinged to the output end of the linear drive mechanism 4, and the other end of the hinge rod 5 is hinged to the middle of the wheel arm 2. When the output end of the linear drive mechanism 4 extends, it pushes the hinge rod 5, which drives the wheel arm 2 to rotate around the hinge axis away from the main body 1, causing the roller 3 to unfold outward. At this time, the overall outer diameter of the robot increases, allowing it to walk close to the borehole wall with a larger diameter. When the output end of the linear drive mechanism 4 retracts, it pulls the hinge rod 5. The hinge rod 5 drives the wheel arm 2 to rotate around the hinge axis towards the main body 1, causing the roller 3 to retract inward. At this time, the overall outer diameter of the robot decreases, allowing it to pass through the drilling section with the reduced diameter or to release from the jamming state. Therefore, the robot can actively adjust its own outer diameter according to the real-time changes in the drilling diameter through the extension and retraction of the linear drive mechanism 4 to adapt to drilling holes of different diameters.

[0023] Optionally, the linear drive mechanism 4 can be a hydraulic push rod or a pneumatic push rod, as long as it can provide linear reciprocating motion.

[0024] Optionally, the main body 1 can be a cylindrical shell structure, or a square or other cross-sectional shape shell structure.

[0025] It is understood that the rollers described in this invention are not limited to traditional single rigid wheel structures. Under the technical concept of this invention, "roller" generally refers to any mobile device that can be installed at the end of a wheel arm and generate relative motion through contact with the borehole wall to support and drive the robot's movement. Specific implementations include, but are not limited to: traditional rollers with a single wheel body, Mecanum wheels, combined wheel assemblies composed of multiple sub-rollers, omnidirectional ball wheels, annular track assemblies, variable diameter wheels, and any combination of the above forms. Any wheeled or tracked structure that can achieve robot movement through contact with the borehole wall falls within the equivalent substitution category of the rollers described in this invention and is protected within the scope of this invention.

[0026] In one embodiment, roller 3 is a Mecanum wheel, with multiple freely rotatable rollers distributed around the outer circumference of the hub. The roller axes form a certain angle with the hub axis. When the other end of wheel arm 2 is directly connected to the hub axis of the Mecanum wheel and the hub is driven to rotate by the travel drive motor, the direction of the friction force generated by the contact between the Mecanum wheel and the borehole wall can be flexibly adjusted by the passive rotation of the rollers. This allows the robot to not only move forward and backward inside the borehole, but also adjust its posture circumferentially along the borehole wall, improving the robot's posture adaptability in areas with uneven or partially collapsed borehole walls.

[0027] In one embodiment, roller 3 is an omnidirectional ball wheel, consisting of a main ball that can rotate in any direction and a ball seat supporting the main ball. The other end of wheel arm 2 is connected to the ball seat of the omnidirectional ball wheel, and the main ball contacts the bore wall, allowing it to roll freely in any direction. Compared to Mecanum wheels, omnidirectional ball wheels achieve omnidirectional movement without relying on the passive rotation of rollers, resulting in a more compact structure and suitability for applications with smaller bore diameters or higher travel resistance.

[0028] In one embodiment, roller 3 is a combined wheel assembly. The combined wheel assembly includes a wheel frame and multiple sub-rollers mounted on the wheel frame. The axles of all sub-rollers are aligned, and the other end of the wheel arm 2 is connected to the wheel frame. When the combined wheel assembly is in contact with the bore wall, the multiple sub-rollers share the load of the machine body, increasing the contact area with the bore wall, reducing the local pressure exerted by a single roller on the bore wall, decreasing the risk of sinking when traveling on soft or broken bore walls, and improving throughput.

[0029] In one implementation, roller 3 is a track assembly. The track assembly includes a bracket, a drive wheel, a driven wheel, and a track. The other end of the wheel arm 2 is connected to the bracket, and the output shaft of the travel drive motor is connected to the drive wheel for transmission. The track assembly forms a large contact area with the borehole wall, providing stable traction even under extremely harsh borehole wall conditions such as soft mudstone or water-bearing fractured zones, significantly improving the robot's passability under special geological conditions.

[0030] As one implementation, the main body 1 is made of high-strength lightweight alloy material, and a sealed cavity is formed inside it to accommodate the control system and power module.

[0031] As one implementation method, the linear drive mechanism 4 is an electric actuator. Electric actuators have the advantages of compact structure, simple control, and fast response. Specifically, the built-in screw and nut mechanism of the electric actuator can convert the rotational motion of the motor into the linear reciprocating motion of the telescopic rod, directly driving the hinge rod 5 to rotate the wheel arm 2. In the confined space and complex working conditions of underground coal mines, compared with hydraulic or pneumatic drive methods, electric actuators do not require additional hydraulic pump stations or air pressure sources, resulting in higher system integration and better reliability.

[0032] Optionally, the motor of the electric actuator can be a stepper motor, which precisely controls the displacement of the telescopic rod through pulse signals, thereby precisely controlling the unfolding angle of the wheel arm 2 and achieving precise adjustment of the diameter.

[0033] Optionally, the electric linear actuator can also be an electromagnetic linear actuator or a piezoelectric actuator to adapt to different power supply conditions and response speed requirements.

[0034] As one implementation, a shock-absorbing spring 6 is provided on the hinge rod 5. During the robot's movement, the impact and vibration generated by the roller 3 contacting the hole wall are transmitted to the hinge rod 5 through the wheel arm 2. The shock-absorbing spring 6 can absorb and buffer this vibration energy, reduce the impact of vibration on the internal transmission structure of the linear drive mechanism 4, extend the service life of the electric push rod, and improve the robot's walking stability on uneven hole walls.

[0035] Optionally, the shock-absorbing spring 6 is mounted on the hinge shaft between the hinge rod 5 and the wheel arm 2, or on the hinge shaft between the hinge rod 5 and the output end of the linear drive mechanism 4.

[0036] Optionally, the shock-absorbing spring 6 can be a coil spring, a disc spring, or a rubber shock-absorbing block, as long as it can provide elastic shock absorption and cushioning.

[0037] Optionally, the shock absorber spring 6 can also be replaced with a hydraulic damper or a pneumatic damper to provide a certain damping effect while absorbing shock.

[0038] In one embodiment, the traveling wheel assembly includes three wheel arms evenly distributed around the circumference of the main body 1. The three wheel arms are evenly distributed at 120 degrees around the main body 1, forming a stable three-point support structure. When all three sets of rollers are in contact with the borehole wall, the main body 1 automatically centers itself at the borehole center. The three-point support geometry provides good support stability and anti-overturning capability. Furthermore, the three-wheel arm design has fewer components, making driving and control simpler, which helps reduce the overall weight and complexity of the control system.

[0039] Optionally, the three wheel arms can be located at the same axial position of the fuselage body 1, forming a set of three-wheel support structures; or they can be arranged at intervals along the axial direction of the fuselage body 1 to form multiple sets of three-wheel support structures, so as to increase the fuselage support length and improve the stability of travel.

[0040] In one embodiment, the traveling wheel assembly includes four wheel arms evenly distributed around the circumference of the main body 1. The four wheel arms are evenly distributed at 90-degree angles around the main body 1, forming a support structure of four sets of rollers. Compared to the three-wheel arm design, the four-wheel arm configuration has more contact points with the borehole wall. When passing through a partially collapsed or large pit in the borehole wall, the remaining rollers can still provide sufficient support, preventing the machine from tilting or jamming due to local support failure. The four-wheel arm design is more suitable for drilling environments with larger borehole diameters or poor borehole wall conditions.

[0041] Optionally, the four wheel arms can be located at the same axial position of the fuselage body 1, forming a set of four-wheel support structures; or they can be arranged at intervals along the axial direction of the fuselage body 1 to form multiple sets of four-wheel support structures, so as to increase the fuselage support length and improve the stability of travel.

[0042] In one implementation, each arm of the main body 1 is equipped with an independent linear drive mechanism 4, a hinge rod 5, and a hinge shaft. Each linear drive mechanism 4 can independently control the extension and retraction of its output end, thereby allowing each arm to adjust its rotation angle around its own hinge shaft individually. Thus, when the robot passes through a drilling section with partial wall collapse or irregular hole diameter changes, each arm can independently adjust its extension range according to the hole wall condition at its location, achieving asymmetrical posture control of each arm. This ensures that the roller 3 always effectively contacts the hole wall, preventing overall machine support failure due to local defects in the hole wall.

[0043] In one embodiment, a drive motor 7 is mounted on the wheel arm 2, and the output shaft of the drive motor 7 is connected to the roller 3 via a bevel gear set 8. Specifically, the drive motor 7 is mounted on the inner side of the wheel arm 2, and its output shaft is typically parallel to the length direction of the wheel arm 2 or the axial direction of the machine body 1, while the axle direction of the roller 3 is perpendicular to the length direction of the wheel arm 2. The bevel gear set 8 reverses the rotational motion of the output shaft of the drive motor 7 and transmits it to the axle of the roller 3, causing the roller 3 to rotate around its own axis, thereby driving the entire machine to move along the borehole. The bevel gear set 8 allows the drive motor 7 to be compactly arranged on the inner side of the wheel arm 2, reducing the overall dimensions, while simultaneously achieving a change in the direction of power transmission.

[0044] Optionally, the bevel gear set 8 can be replaced with a worm gear transmission pair or a face gear transmission pair, as long as it can realize the power reversal transmission between intersecting or staggered shafts.

[0045] Optionally, the travel drive motor 7 can be a DC brushless motor or a DC brushed motor.

[0046] As one implementation, the travel drive motor 7 is a reversible micro-speed-adjustable motor. This reversible micro-speed-adjustable motor can rotate forward and backward, thus driving the robot to move forward and backward in the borehole, achieving bidirectional movement. The speed adjustment function allows for adjustment of the travel speed according to drilling conditions; for example, it can pass through broken sections at a low speed to reduce disturbance to the borehole wall, and appropriately increase the speed in intact sections to improve detection efficiency. Its miniaturized design allows it to be integrated within the limited space of the wheel arm 2 without significantly increasing the weight and volume of the wheel arm 2.

[0047] Optionally, the speed regulation method of the travel drive motor 7 can be stepless speed regulation, which is achieved by changing the power supply voltage or the pulse width modulation duty cycle; or it can be speed regulation in stages, which is achieved by switching different speed levels by switching different reduction ratios.

[0048] In one embodiment, the main body 1 includes at least two body sections, which are connected by a universal joint or ball joint 9. The universal joint or ball joint 9 allows the adjacent body sections to deflect relative to each other in any direction. When the robot enters the curved drilling section, the front body section and the rear body section can deflect along the curvature of the drilling hole, allowing the entire robot to bend and pass through the drilling trajectory without getting stuck or unable to enter the curved section due to the rigidity of the body.

[0049] In this embodiment, the robot's minimum turning radius is determined by both the length of a single section of the robot body and the diameter of the borehole, and the calculation formula is as follows: ; Among them, R min R is the minimum turning radius, i.e., the design value of the turning radius, in meters; L is the length of a single fuselage section, in meters; D is the borehole diameter, in meters. This calculation formula is derived based on the geometric constraints of the two ends of the single fuselage section located on the inner wall of the curved section of the borehole. The smaller the length L of the single fuselage section, or the larger the borehole diameter D, the greater the minimum turning radius R. min The smaller the diameter, the greater the bend in the borehole the robot can pass through.

[0050] Optionally, the universal joint can be a cross-shaped universal joint, a ball cage universal joint, or a flexible coupling, as long as it can provide two or more rotational degrees of freedom.

[0051] Optionally, an elastic sealing sleeve can be installed between adjacent machine bodies to prevent mud and water from entering the rotation gap of the universal joint or ball joint 9.

[0052] In one embodiment, a shear pin 10 is provided at the connection between the linear drive mechanism 4 and the main body 1. The shear pin 10 has a preset fracture threshold. During normal operation, the load borne by the shear pin 10 is far below the fracture threshold, serving as a normal connection and force transmission function. When the robot encounters extreme conditions, such as a power outage or the linear drive mechanism 4 losing power and burning out, making it unable to retract actively, the operator increases the drag force on the main body 1 on the ground. The drag force is transmitted to the shear pin 10 through the main body 1. When the pull force exceeds the preset fracture threshold of the shear pin 10, the shear pin 10 breaks. At this time, the constraint of the linear drive mechanism 4 on the wheel arm 2 is released. Under the combined action of the drag force and the pressure of the hole wall, the wheel arm 2 passively retracts towards the main body 1, reducing the robot's outer diameter, thereby allowing it to disengage from the jamming position and achieving mechanical passive escape in a completely power-off state. This embodiment provides the robot with a final passive safety guarantee. Even if all electrical systems fail, the robot can still escape mechanically, avoiding the risk of equipment falling into the well and significantly improving the success rate of escape under extreme conditions.

[0053] Optionally, the material of the shear pin 10 can be low carbon steel or brass. The setting of the breaking threshold is determined by a combination of the safety tension of the cable used to drag the main body 1 and the structural strength of the body. It is usually preset to 1.5 to 2 times the normal working load of the body.

[0054] Optionally, the shear pin 10 can be replaced with other mechanical weak points such as shear screws or pull pins.

[0055] As one embodiment, a viewing probe assembly is also included. The viewing probe assembly is mounted on the front end of the main body 1 and includes a camera 12, a supplementary light 13, and a transparent protective cover 14. The camera 12 is used to acquire real-time images of the borehole wall, the supplementary light 13 provides illumination for the camera 12, and the transparent protective cover 14 protects the camera 12 and the supplementary light 13 from damage to the optical components caused by borehole wall debris, mud, etc. The viewing probe assembly moves along the borehole with the robot, transmitting borehole wall image data via cable to a ground display and recorder for operators to observe and analyze the development of surrounding rock fractures in real time. The transparent protective cover 14 is made of wear-resistant materials, such as tempered glass or polycarbonate, ensuring both image clarity and resistance to impact and abrasion from borehole wall debris.

[0056] Optionally, camera 12 can be a high-definition wide-angle camera to obtain a larger aperture wall imaging range.

[0057] Optionally, the fill light 13 can be a ring light source of light-emitting diodes, evenly distributed around the camera 12 to provide a shadowless lighting effect.

[0058] As one implementation, an encoder 11 is installed at the end of the axle of each roller to collect the number of rotations of the roller 3 in real time in order to calculate the robot's walking distance.

[0059] Optionally, encoder 11 is a miniature magnetic encoder.

[0060] The working process of the drilling inspection robot according to one embodiment of the present invention is as follows: During normal movement, the control system monitors the current of the drive motor 7 and the extension angle of the wheel arm 2 in real time. If the current of the drive motor 7 exceeds a preset threshold and the extension angle of the wheel arm 2 no longer changes, the robot is considered stuck. At this time, the control system automatically initiates a one-key retraction program, or initiates it manually according to the operator's command: each electric push rod retracts synchronously, its extension rod pulls the hinge rod 5, and the hinge rod 5 drives each wheel arm to rotate around the hinge axis towards the main body 1 and retract. As the wheel arm 2 retracts, each roller disengages from the hole wall or reduces the contact force with the hole wall, the overall outer diameter of the robot decreases significantly, and the stuck state is released. The operator slowly drags the cable on the ground to pull the robot out of the stuck section to a safe area. After confirming that the robot has reached a safe position, the electric push rod extends again, the wheel arm 2 re-extracts, the roller 3 adheres to the hole wall, and the robot resumes normal movement.

[0061] When the robot detects a narrowing section of the borehole ahead, it enters a pattern of alternating passage through the narrow section. The robot has at least two sets of wheel assemblies arranged along the axis of its main body. The specific steps for alternating passage are as follows: First, the control system retracts the electric push rod corresponding to the front wheel arm, causing the front wheel arm to fold into a folded state. The front rollers detach from the hole wall or approach the main body 1. At this time, the rear wheel arm remains in an extended state, and the rear rollers continue to adhere to the hole wall and provide driving force. Then, the rear travel drive motor 7 drives the robot to move forward as a whole, with the front wheel arm passing through the narrow section in a folded state. After the front wheel arm passes through the narrow section, the front electric push rod extends, and the front wheel arm unfolds and adheres to the hole wall. At this time, the front rollers provide support and driving force. Next, the rear electric push rod retracts, and the rear wheel arm folds into a folded state. The front travel drive motor 7 drives the robot to continue moving forward, with the rear wheel arm passing through the narrow section in a folded state. Finally, after the rear wheel arm passes through the narrow section, the rear electric push rod extends, and the rear wheel arm unfolds and adheres to the hole wall. At this point, both the front and rear wheel arms have returned to their extended states, and the robot has successfully passed through the narrow section and continues normal movement. Throughout the alternating passage process, at least one set of wheel arms' rollers 3 always keeps in contact with the hole wall and provides driving force to ensure that the robot does not lose its ability to move.

[0062] The pulse signals fed back by the encoders 11 mounted on the axle ends of each roller, combined with the known diameter of the roller 3, are used to calculate the robot's real-time walking distance using the following formula: ; Where S represents the travel distance in meters; N represents the number of pulses collected by encoder 11; D represents the diameter of roller 3 in meters; and P represents the number of pulses per revolution of encoder 11. When the travel distance data shows that the front wheel arm has completely passed through the narrow section, the control system automatically triggers the state switch of wheel arm 2 without manual judgment.

[0063] When the robot enters the curved section of the directional drilling, the main body 1 consists of two flexible sections, front and rear, connected by universal joints or ball joints 9, each with its own independently configured wheel assembly. In the curved section, the front and rear sections of the robot body rotate relative to each other in accordance with the borehole curvature. The universal joints or ball joints 9 allow this rotation without generating excessive structural internal stress. Simultaneously, the extension angle of each wheel arm is independently fine-tuned by its own electric actuator. The wheel arm 2 located inside the curved section can have its extension angle appropriately reduced, while the wheel arm 2 located outside the curved section can have its extension angle appropriately increased. This ensures that each roller effectively adheres to the borehole wall even when the robot body is rotated, maintaining stable support and driving force. Through the coordinated operation of the flexible universal joint connection and the independent extension angle of each wheel arm, the robot can adaptively traverse curves with a radius not less than the minimum turning radius R. min The drilling trajectory. Minimum turning radius R min The calculation formula is as before.

[0064] If the robot encounters a serious malfunction inside the borehole, resulting in a complete power outage, and the electric actuator fails to retract actively while the robot is stuck, the operator gradually increases the tension on the cable from the ground. This tension is transmitted through the cable to the main body 1, and then to the connection point between the electric actuator and the main body 1. When the tension exceeds the preset breaking threshold of the shear pin 10 at this connection point, the shear pin 10 breaks, releasing the constraint of the electric actuator on the wheel arm 2. Under the combined action of the dragging force and the borehole wall pressure, the wheel arm 2 passively folds and retracts towards the main body 1, reducing the robot's outer diameter. The operator can then pull the robot out of the stuck position, achieving safe recovery in a completely power-off state.

[0065] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A drilling and inspection robot, characterized in that, The device includes a main body (1), a walking wheel assembly, and a linear drive mechanism (4). The walking wheel assembly includes a wheel arm (2) and a roller (3). One end of the wheel arm (2) is hinged to the main body (1) via a hinge shaft, and the other end is connected to the roller (3). The linear drive mechanism (4) is connected to the main body (1). A hinge rod (5) is provided between the output end of the linear drive mechanism (4) and the wheel arm (2). One end of the hinge rod (5) is hinged to the output end of the linear drive mechanism (4), and the other end of the hinge rod (5) is hinged to the middle part of the wheel arm (2).

2. The drilling inspection robot according to claim 1, characterized in that, The linear drive mechanism (4) is an electric push rod.

3. The drilling inspection robot according to claim 2, characterized in that, The hinge rod (5) is provided with a shock-absorbing spring (6).

4. The drilling inspection robot according to claim 1, characterized in that, The walking wheel assembly includes three wheel arms (2) evenly distributed circumferentially along the main body (1) of the fuselage.

5. The drilling inspection robot according to claim 1, characterized in that, The walking wheel assembly includes four wheel arms (2) evenly distributed circumferentially along the main body (1) of the fuselage.

6. The drilling inspection robot according to claim 1, characterized in that, The wheel arm (2) is equipped with a travel drive motor (7), and the output shaft of the travel drive motor (7) is connected to the roller (3) through a bevel gear set (8).

7. The drilling inspection robot according to claim 6, characterized in that, The driving motor (7) is a reversible micro speed-regulating motor.

8. The drilling inspection robot according to claim 1, characterized in that, The fuselage body (1) includes at least two fuselage sections, and the two adjacent fuselage sections are connected by a universal joint or ball joint (9).

9. The drilling inspection robot according to claim 1, characterized in that, The linear drive mechanism (4) is provided with a shear pin (10) at the connection between itself and the main body (1), and the shear pin (10) has a preset breaking threshold.

10. The drilling inspection robot according to any one of claims 1 to 9, characterized in that, It also includes a spy camera assembly, which is installed at the front end of the main body (1). The spy camera assembly includes a camera (12), a fill light (13), and a transparent protective cover (14).

Images