A cable trench drilling robot

Abstract

The present application relates to the technical field of drilling robots, in particular to a cable trench drilling robot, which is used to solve the problem of poor drilling effect of manual drilling and poor vibration isolation of conventional drilling devices; the robot comprises a chassis mechanism, a winch mechanism and a drilling mechanism; the winch mechanism comprises a lifting hook, the lifting hook hoists the drilling mechanism through a flexible rope; the drilling mechanism comprises a drilling mounting plate, the lifting hook is hoisted on the hoisting plate, the hoisting plate can vertically slide on the drilling mounting plate, and after the second hydraulic push rod output end abuts against the inner wall of the trench, the hoisting plate can slide up on the drilling mounting plate, so that the flexible rope changes from the taut state to the relaxed state, thereby isolating the drilling reaction force; when the robot is drilling, the flexible rope changes from the taut state to the relaxed state, the reaction force generated by drilling is no longer transmitted to the winch mechanism and the chassis mechanism, the vibration interference is completely isolated, and the drilling precision and operation stability are significantly improved.

Description

Technical Field

[0001] This invention relates to the field of drilling robot technology, specifically to a cable trench drilling robot. Background Technology

[0002] Cable trenches, as narrow underground concrete structures used for laying cables in power transmission systems, require extensive drilling operations on their sidewalls during cable support installation, line modification, and maintenance. Currently, cable trench sidewall drilling is commonly carried out manually using handheld impact drills. Workers must enter the narrow cable trench to manually support the drill and apply thrust to complete the drilling.

[0003] The existing manual drilling method has many drawbacks: First, the narrow space inside the cable trench restricts the operator's posture, and relying on manual experience to control the drilling angle and depth makes it difficult to ensure the accuracy and consistency of the hole position; Second, the impact reaction force generated during concrete drilling is large, making it difficult for the operator to hold the drill firmly, which can easily cause the drill to deviate, the hole diameter to be out of round, and there is also a safety hazard of the equipment rebounding and injuring people; Third, manual drilling requires repeated measurement and positioning, and moving of the equipment, resulting in low construction efficiency and high labor intensity; Fourth, continuous vibration can easily cause the power harness and control circuit to loosen and fall off, causing problems such as power outages and contact arcing, affecting construction safety and equipment reliability.

[0004] While some auxiliary drilling devices exist in existing technologies, most are simple support structures that still require manual positioning and operation. They also generally use rigid connections, which directly transmit the vibration and reaction force generated during drilling to the entire machine, exacerbating equipment swaying and loosening of wiring. At the same time, conventional hoisting and moving mechanisms only achieve simple lifting and lowering and do not have reaction force isolation structures designed for the narrow space of cable trenches. They cannot fundamentally solve problems such as vibration transmission, positioning instability, and easy loosening of wiring harnesses, making it difficult to meet the needs of automated, high-precision, and high-safety cable trench drilling construction. Summary of the Invention

[0005] This invention provides a cable trench drilling robot to solve the problems of poor results from manual drilling and poor vibration isolation of conventional drilling devices.

[0006] To alleviate the above-mentioned technical problems, the technical solution provided by the present invention is as follows:

[0007] A cable trench drilling robot includes a chassis mechanism, a hoisting mechanism, and a drilling mechanism; The chassis mechanism travels along the trench direction and adapts to the trench width. The winch mechanism is installed on the chassis mechanism and includes a hook. The hook suspends the drilling mechanism via a flexible rope. The drilling mechanism includes a drilling mounting plate. A shock-absorbing support wheel is mounted at one end of the drilling mounting plate, and a second hydraulic push rod is mounted in the middle. The output end of the second hydraulic push rod extends away from the shock-absorbing support wheel to abut against the inner wall of the trench. A lifting plate is mounted on the drilling mounting plate, and a hook is suspended from the lifting plate. The lifting plate can slide vertically on the drilling mounting plate. After the output end of the second hydraulic push rod abuts against the inner wall of the trench, the lifting plate can slide upwards on the drilling mounting plate, thereby changing the flexible rope from a taut state to a slack state, thus isolating the drilling reaction force.

[0008] Furthermore, a passive cylinder is mounted on the drilling mounting plate, and the lifting plate is mounted on the output end of the passive cylinder; The output end of the second hydraulic push rod is connected to a hollow round tube via a first coupling. A plug rod is slidably connected inside the hollow round tube. One end of the plug rod is fixedly connected to a wall support plate, and the other end is connected to a spring between the plug rod and the hollow round tube. A pipe connects the hollow round tube and the passive cylinder. After the second hydraulic push rod extends so that the wall support plate abuts against the inner wall of the trench, the plug rod can slide into the hollow round tube, thereby extending the passive cylinder so that the hoisting plate moves up onto the drilling mounting plate.

[0009] Furthermore, the chassis mechanism includes a rigid frame, a wheel guide frame, a clamping sleeve, a drive wheel, a one-way wheel, and a clamping mechanism; The wheel guide frame is mounted on the rigid frame and includes a slide rail, a wheel, a wheel mounting plate, and a limiting block. The drive wheel is mounted on the wheel mounting plate, and the wheel mounting plate is connected to the wheel. The wheel can move along the slide rail to adapt to grooves of different widths. The tightening mechanism is nested inside the tightening sleeve. The tightening sleeve is threaded with a locking screw, which abuts against the tightening mechanism to achieve height positioning. The end of the tightening mechanism is rotatably connected to a guide wheel, which is pressed against the trench wall to form lateral support.

[0010] Furthermore, the clamping mechanism includes a clamping housing, bolts, pins, an embedded push rod, a wheel frame, and wheel mounting screws; The wheel frame is fixedly connected to the end of the embedded top rod. The guide wheel is installed on the wheel frame by the wheel mounting screw. The tightening housing is slidably connected to the inside of the embedded top rod. The bolt is threadedly connected to the embedded top rod and rotatably connected to the tightening housing. Thus, when the bolt rotates, it can drive the embedded top rod to slide inside the tightening housing. The pin passes through the tightening housing and abuts against the embedded top rod. The embedded top rod can slide infinitely in and out of the tightening housing. Thus, the guide wheel can abut against the inner wall of the groove of different widths.

[0011] Furthermore, the chassis mechanism also includes a winch mounting plate, and the winch mechanism is fixedly mounted on the winch mounting plate of the chassis mechanism; The hoisting mechanism includes a servo motor, a motor mounting plate, a second coupling, a coil, a coil fixing plate, a reducer, a wheel fixing block, a pulley, a wheel fixing shaft, a belt, a linear guide mechanism, an upper fixing plate, a lower fixing plate, and a linear guide support. The motor mounting plate is connected to the winch mounting plate, the servo motor is mounted on the winch mounting plate, the servo motor is connected to the pulley via the second coupling, the pulley is connected to the wheel fixing shaft, the wheel fixing shaft is rotatably connected to the wheel fixing block, the wheel fixing block is fixedly connected to the winch mounting plate, two sets of pulleys are provided, the belt drive is connected between the two sets of pulleys, the upper fixing plate is connected to the optical axis linear guide mechanism, the lower fixing plate is connected to the upper fixing plate, the belt is sandwiched between the lower fixing plate and the upper fixing plate, the optical axis linear guide support is connected to the winch mounting plate, and the optical axis linear guide mechanism is connected to the optical axis linear guide support; The reel is connected to the reducer, the flexible rope is stored in the reel, and the pulley and belt work together to drive the optical axis linear guide mechanism to move laterally, thereby adjusting the drilling position.

[0012] Furthermore, the drilling mechanism also includes an impact drill, a drill bit, a drill mounting plate, a linear guide, a slider, and a first hydraulic push rod; The impact drill is fixed on the drill mounting plate, which is slidably connected to the linear guide rail via the slider. The output end of the first hydraulic push rod is connected to the drill mounting plate and drives the drill mounting plate to feed along the linear guide rail.

[0013] Furthermore, the first hydraulic push rod is hinged to the drill mounting plate via a first hinge shaft, and the tail portions of the first hydraulic push rod and the second hydraulic push rod are respectively fixed to the hydraulic cylinder fixing plate via a second hinge shaft. The hydraulic cylinder fixing plate is fixed to the drill mounting plate via a hydraulic cylinder fixing flange.

[0014] Furthermore, a ranging sensor, an IMU sensor, a lidar, and a binocular camera are integrated and mounted on the rigid frame of the chassis mechanism.

[0015] Furthermore, the chassis mechanism is provided with a space for accommodating the drilling mechanism.

[0016] Furthermore, the chassis mechanism also includes a support column, which is connected between the winch mounting plate and the rigid frame.

[0017] The beneficial effects of this invention are analyzed as follows: A cable trench drilling robot includes a chassis mechanism, a hoisting mechanism, and a drilling mechanism. The chassis mechanism travels along the trench direction and adapts to the trench width. The hoisting mechanism is mounted on the chassis mechanism and includes a hook that suspends the drilling mechanism via a flexible rope. The drilling mechanism includes a drilling mounting plate with shock-absorbing support wheels at its ends and a second hydraulic push rod at its center. The output end of the second hydraulic push rod extends away from the shock-absorbing support wheels to abut against the inner wall of the trench. A lifting plate is mounted on the drilling mounting plate, and the hook is suspended from the lifting plate. The lifting plate can slide vertically on the drilling mounting plate. After the output end of the second hydraulic push rod abuts against the inner wall of the trench, the lifting plate can slide upwards on the drilling mounting plate, thereby changing the flexible rope from a taut state to a slack state, thus isolating the drilling reaction force.

[0018] The chassis mechanism is erected on top of the cable trench and is used to move along the extension direction of the cable trench. It can adaptively adjust according to the actual width of the trench to ensure stable movement and prevent falls. The winch mechanism is fixedly installed above the chassis mechanism. The drilling mechanism is hoisted, raised, lowered, and moved laterally through hooks and flexible ropes. When not in operation, the drilling mechanism is stored inside the chassis mechanism. When in operation, it is lowered to the designated position in the trench. The shock-absorbing support wheel is pressed against one side of the trench wall, and the second hydraulic push rod extends to drive the wall support plate to press against the other side of the trench wall, forming a bidirectional rigid fixation. At this time, the hoisting plate moves up relative to the drilling mounting plate, so that the flexible rope changes from taut to slack. The reaction force generated by drilling is no longer transmitted to the winch mechanism and chassis mechanism, completely isolating vibration interference and significantly improving drilling accuracy and operational stability. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the working state structure of the present invention; Figure 2 This is a schematic diagram of the overall structure of the present invention; Figure 3 This is an isometric view of the chassis module of the present invention; Figure 4 This is a front view of the chassis module of the present invention; Figure 5 This is a schematic diagram of the drive wheel guide rail frame of the present invention; Figure 6 This is a schematic diagram of the clamping mechanism of the present invention; Figure 7 This is a schematic diagram of the structure of the hoisting module of the present invention; Figure 8 This is a schematic diagram of the drilling module of the present invention. Figure 1 ; Figure 9 This is a schematic diagram of the drilling module of the present invention. Figure 2 ; Figure 10 This is a schematic diagram of the structure of the second hydraulic push rod of the present invention; Figure 11 This is a schematic diagram of the passive cylinder of the present invention; Figure 12 This is a schematic diagram of the lifting ring structure of the present invention; Figure 13 This is a schematic diagram of the insertion rod of the present invention.

[0020] In the diagram: 1. Chassis mechanism; 2. Winching mechanism; 3. Drilling mechanism; 4. Winching mounting plate; 5. Distance sensor; 6. Wheel guide rail frame; 61. Limit block; 62. Rail wheel; 63. Wheel mounting plate; 64. Slide rail; 7. Locking screw; 8. Rigid frame; 9. Tightening sleeve; 10. Drive wheel; 11. One-way wheel; 12. Support column; 13. IMU sensor; 14. LiDAR; 15. Binocular camera; 16. Tightening mechanism; 161. Tightening housing; 162. Bolt; 163. Pin; 164. Embedded top rod; 165. Wheel frame; 166. Wheel mounting screw; 167. Guide wheel; 17. Servo motor; 18. Motor mounting plate; 19. Second coupling; 20. Wire reel; 21. Hook; 22. Reel fixing plate; 23. Reducer; 24. 25. Wheel fixing block; 26. Pulley; 27. Wheel fixing shaft; 28. Belt; 29. ​​Linear guide rail mechanism; 30. Upper fixing plate; 31. Lower fixing plate; 32. Linear guide rail support; 33. Drill bit; 34. First hinge shaft; 35. Impact drill; 36. First hydraulic push rod; 37. Second hinge shaft; 38. Linear guide rail; 39. Drill mounting plate; 40. Shock-absorbing support wheel; 41. Hydraulic cylinder fixing plate; 42. Hydraulic cylinder fixing flange; 43. Lifting plate; 44. Lifting ring; 45. Drill mounting plate; 46. Slider; 47. Shock-absorbing wheel mounting seat; 48. Second hydraulic push rod; 49. Hydraulic cylinder stop flange; 50. First coupling; 51. Hollow round tube; 52. Round tube flange; 53. Wall support plate; 54. Passive cylinder; 55. Insert rod; 66. Spring. Detailed Implementation

[0021] 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.

[0022] Examples, such as Figures 1-13 As shown, a cable trench drilling robot includes a chassis mechanism 1, a hoisting mechanism 2, and a drilling mechanism 3. The chassis mechanism 1 travels along the trench direction and adapts to the trench width. The hoisting mechanism 2 is mounted on the chassis mechanism 1 and includes a hook 21. The hook 21 suspends the drilling mechanism 3 via a flexible rope. The drilling mechanism 3 includes a drilling mounting plate 38. The end of the drilling mounting plate 38 is equipped with a shock-absorbing support wheel 39, and the middle is equipped with a second hydraulic push rod 47. The output end of the second hydraulic push rod 47 extends away from the shock-absorbing support wheel 39 to abut against the inner wall of the trench. A lifting plate 42 is mounted on the drilling mounting plate 38, and the hook 21 is suspended on the lifting plate 42. The lifting plate 42 can slide vertically on the drilling mounting plate 38. After the output end of the second hydraulic push rod 47 abuts against the inner wall of the trench, the lifting plate 42 can slide upward on the drilling mounting plate 38, thereby changing the flexible rope from a taut state to a slack state, thus isolating the drilling reaction force.

[0023] The working mechanism of the cable trench drilling robot provided in this embodiment is as follows: The chassis mechanism 1 is erected on the top of the cable trench and is used to move along the extension direction of the cable trench. It can be adaptively adjusted according to the actual width of the trench to ensure stable movement and prevent falling. The winch mechanism 2 is fixedly installed above the chassis mechanism 1. The drilling mechanism 3 is hoisted, lifted and moved laterally through the hook 21 and flexible rope. When not in operation, the drilling mechanism 3 is stored inside the chassis mechanism 1. When in operation, it is lowered to the designated position in the trench. The shock-absorbing support wheel 39 is pressed against one side of the trench wall, and the second hydraulic push rod 47 extends to drive the wall support plate 52 to press against the other side of the trench wall, forming a bidirectional rigid fixation. At this time, the hoisting plate 42 moves upward relative to the drilling mounting plate 38, so that the flexible rope changes from taut to slack. The reaction force generated by drilling is no longer transmitted to the winch mechanism 2 and the chassis mechanism 1, completely isolating vibration interference and significantly improving drilling accuracy and operational stability. The side of the drilling mounting plate 38 is connected to a shock-absorbing wheel mounting seat 46, and the shock-absorbing support wheel 39 is rotatably connected to the shock-absorbing wheel mounting seat 46. The lifting plate 42 is equipped with a lifting ring 43 for connecting the hook 21.

[0024] Among the optional methods in this embodiment, the more preferred one is: A passive cylinder 53 is mounted on the drilling mounting plate 38, and a lifting plate 42 is mounted on the output end of the passive cylinder 53. The output end of the second hydraulic push rod 47 is connected to a hollow round tube 50 through a first coupling 49. An insert rod 54 is slidably connected inside the hollow round tube 50. One end of the insert rod 54 is fixedly connected to a wall support plate 52, and the other end is connected to a spring 55 between the insert rod 54 and the hollow round tube 50. A pipe connects the hollow round tube 50 and the passive cylinder 53. The second hydraulic push rod 47 extends so that after the wall support plate 52 abuts against the inner wall of the trench, the insert rod 54 can slide into the hollow round tube 50, thereby extending the passive cylinder 53 and causing the lifting plate 42 to move upward onto the drilling mounting plate 38.

[0025] The hollow tube 50 and the second hydraulic push rod 47 are respectively installed on the drilling mounting plate 38 through the hydraulic cylinder stop flange 48 and the tube flange 51. After the second hydraulic push rod 47 pushes the hollow tube 50 and the wall support plate 52 to press against the trench wall, it continues to pressurize the insertion rod 54 to compress the spring 55 and retract it into the hollow tube 50. The gas inside the hollow tube 50 enters the passive cylinder 53 through the pipeline, driving the passive cylinder 53 to extend, thereby driving the lifting plate 42 to move upward, realizing the automatic relaxation of the flexible rope. The reaction force isolation action can be completed without electrical control. The structure is simple and the response is reliable.

[0026] Among the optional methods in this embodiment, the more preferred one is: The chassis mechanism 1 includes a rigid frame 8, a wheel guide frame 6, a clamping sleeve 9, a drive wheel 10, a one-way wheel 11, and a clamping mechanism 16. The wheel guide frame 6 is mounted on the rigid frame 8 and includes a slide rail 64, a rail wheel 62, a wheel mounting plate 63, and a limiting block 61. The drive wheel 10 is mounted on the wheel mounting plate 63, which is connected to the rail wheel 62. The rail wheel 62 can move along the slide rail 64 to adapt to grooves of different widths. The clamping mechanism 16 is nested in the clamping sleeve 9. A locking screw 7 is threaded onto the clamping sleeve 9. The locking screw 7 can abut against the clamping mechanism 16 to achieve height positioning. A guide wheel 167 is rotatably connected to the end of the clamping mechanism 16. The guide wheel 167 is pressed against the groove wall to form lateral support.

[0027] The rigid frame 8 is the overall load-bearing structure of the chassis mechanism 1. The drive wheel 10 is adjusted in distance from the rail wheel 62 along the slide rail 64 via the wheel mounting plate 63 to adapt to different specifications of cable trench width. The clamping mechanism 16 can be adjusted up and down in the clamping sleeve 9 and fixed by the locking screw 7. The end guide wheel 167 is always close to the inner wall of the cable trench, which not only provides lateral support for the robot, but also prevents it from falling into the trench during walking.

[0028] Among the optional methods in this embodiment, the more preferred one is: The clamping mechanism 16 includes a clamping housing 161, a bolt 162, a pin 163, an embedded push rod 164, a wheel frame 165, and a wheel mounting screw 166. The wheel frame 165 is fixedly connected to the end of the embedded push rod 164. The guide wheel 167 is mounted on the wheel frame 165 by the wheel mounting screw 166. The clamping housing 161 is slidably connected to the inside of the embedded push rod 164. The bolt 162 is threadedly connected to the embedded push rod 164 and rotatably connected to the clamping housing 161. Thus, when the bolt 162 rotates, it can drive the embedded push rod 164 to slide inside the clamping housing 161. The pin 163 passes through the clamping housing 161 and abuts against the embedded push rod 164. The embedded push rod 164 can slide infinitely in and out of the clamping housing 161. Thus, the guide wheel 167 can abut against the inner wall of the groove of different widths.

[0029] The rotating bolt 162 can drive the embedded top rod 164 to extend and retract infinitely relative to the outer shell 161, so that the guide wheel 167 tightly presses against the side wall of the cable trench. The pin 163 passes through the outer shell 161 and the embedded top rod 164 to achieve positioning and locking, ensuring that it will not loosen under strong vibration and reaction force, thus forming a stable support.

[0030] Among the optional methods in this embodiment, the more preferred one is: The chassis mechanism 1 also includes a winch mounting plate 4, and the winch mechanism 2 is fixedly mounted on the winch mounting plate 4 of the chassis mechanism 1. The winch mechanism 2 includes a servo motor 17, a motor mounting plate 18, a second coupling 19, a coil 20, a coil fixing plate 22, a reducer 23, a wheel fixing block 24, a pulley 25, a wheel fixing shaft 26, a belt 27, a linear guide mechanism 28, an upper fixing plate 29, a lower fixing plate 30, and a linear guide support 31. The motor mounting plate 18 is connected to the winch mounting plate 4, the servo motor 17 is mounted on the winch mounting plate 4, the servo motor 17 is connected to the pulley 25 through the second coupling 19, the pulley 25 is connected to the wheel fixing shaft 26, and the wheel fixing shaft 27 is connected to the pulley 28. The 6 is rotatably connected to the wheel fixing block 24, which is fixedly connected to the winch mounting plate 4. Two sets of pulleys 25 are provided, and the belt 27 is connected between the two sets of pulleys 25. The upper fixing plate 29 is connected to the optical axis linear guide mechanism 28, and the lower fixing plate 30 is connected to the upper fixing plate 29. The belt 27 is sandwiched between the lower fixing plate 30 and the upper fixing plate 29. The optical axis linear guide support 31 is connected to the winch mounting plate 4, and the optical axis linear guide mechanism 28 is connected to the optical axis linear guide support 31. The spool 20 is connected to the reducer 23, and the flexible rope is stored in the spool 20. The pulleys 25 and the belt 27 cooperate to drive the optical axis linear guide mechanism 28 to move laterally, thereby adjusting the drilling position.

[0031] The optical axis linear guide support 31 is fixedly installed on the hoist mounting plate 4, providing a rigid installation reference and horizontal positioning for the optical axis linear guide mechanism 28. The optical axis linear guide mechanism 28 includes an optical axis and a linear bearing. The linear bearing can make stable, low-friction, and high-precision linear reciprocating motion along the optical axis. When the belt 27 moves, the belt 27 is clamped by the upper belt fixing plate 29 and the lower belt fixing plate 30, and the power of the belt 27 is transmitted to the optical axis linear guide mechanism 28, so that the linear bearing moves laterally left and right along the optical axis, thereby driving the hook 21 and the drilling mechanism 3 to achieve precise lateral positioning. Servo motor 17 drives reel 20 to rotate via reducer 23, realizing the winding and unwinding of flexible rope and completing the lifting and lowering of drilling mechanism 3; at the same time, servo motor 17 drives pulley 25 and belt 27 to move via second coupling 19, belt 27 drives optical axis linear guide mechanism 28 to move laterally, realizing precise left and right positioning of drilling mechanism 3. Lifting and lateral movement are integrated into the same module, with a compact structure, suitable for narrow cable trench space.

[0032] Among the optional methods in this embodiment, the more preferred one is: The drilling mechanism 3 also includes an impact drill 34, a drill bit 32, a drill mounting plate 44, a linear guide rail 37, a slider 45, and a first hydraulic push rod 35. The impact drill 34 is fixed on the drill mounting plate 44, and the drill mounting plate 44 is slidably connected to the linear guide rail 37 through the slider 45. The output end of the first hydraulic push rod 35 is connected to the drill mounting plate 44 and drives the drill mounting plate 44 to feed along the linear guide rail 37.

[0033] The impact drill 34 and the mounting plate 44 are pushed by the first hydraulic push rod 35 and fed steadily in a straight line along the linear guide 37. The linear guide 37 and the slider 45 constrain the feed direction to avoid drilling deviation and ensure the consistency of hole position, hole depth and angle, so as to realize automated and precise drilling.

[0034] Among the optional methods in this embodiment, the more preferred one is: The first hydraulic push rod 35 is hinged to the drill mounting plate 44 via the first hinge shaft 33. The tail parts of the first hydraulic push rod 35 and the second hydraulic push rod 47 are respectively fixed to the hydraulic cylinder fixing plate 40 via the second hinge shaft 36. The hydraulic cylinder fixing plate 40 is fixed to the drill mounting plate 38 via the hydraulic cylinder fixing flange 41.

[0035] The first hydraulic push rod 35 and the second hydraulic push rod 47 share the same hydraulic cylinder fixing plate 40 and drilling mounting plate 38 mounting reference, ensuring high coaxiality and good synchronization between the clamping action and the drilling feed action, further improving drilling stability and accuracy.

[0036] Among the optional methods in this embodiment, the more preferred one is: The chassis mechanism 1 has a rigid frame 8 on which a ranging sensor 5, an IMU sensor 13, a lidar 14 and a binocular camera 15 are integrated and installed.

[0037] Multi-sensor fusion enables real-time measurement of cable trench width, robot posture feedback, 3D environmental mapping, and on-site image transmission, providing data support for adaptive adjustment of drive wheel spacing, positioning of drilling mechanism 3, and automatic walking, thereby improving the overall intelligence and automation level of the machine.

[0038] Among the optional methods in this embodiment, the more preferred one is: The chassis mechanism 1 has a space for accommodating the drilling mechanism 3.

[0039] In non-operational state, the drilling mechanism 3 can be completely stored in the internal space of the chassis mechanism 1, reducing the overall size, improving the robot's mobility, and avoiding collisions and interference with the trench structure when entering or leaving the cable trench.

[0040] Among the optional methods in this embodiment, the more preferred one is: The chassis mechanism 1 also includes a support column 12, which is connected between the winch mounting plate 4 and the rigid frame 8.

[0041] The support column 12 provides stable and rigid support for the winch mounting plate 4 and the winch mechanism 2, distributes the load of the winch mechanism 2 and the drilling mechanism 3, prevents deformation and loosening during long-term operation, and ensures the structural strength and service life of the whole machine.

[0042] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A cable trench drilling robot, characterized in that: It includes a chassis mechanism (1), a hoisting mechanism (2), and a drilling mechanism (3). The chassis mechanism (1) travels along the trench direction and adapts to the trench width. The winch mechanism (2) is installed on the chassis mechanism (1). The winch mechanism (2) includes a hook (21). The hook (21) suspends the drilling mechanism (3) through a flexible rope. The drilling mechanism (3) includes a drilling mounting plate (38), with a shock-absorbing support wheel (39) mounted at the end of the drilling mounting plate (38) and a second hydraulic push rod (47) mounted in the middle. The output end of the second hydraulic push rod (47) extends away from the shock-absorbing support wheel (39) to abut against the inner wall of the trench. A lifting plate (42) is mounted on the drilling mounting plate (38), and the hook (21) is suspended on the lifting plate (42). The lifting plate (42) can slide vertically on the drilling mounting plate (38). After the output end of the second hydraulic push rod (47) abuts against the inner wall of the trench, the lifting plate (42) can slide upward on the drilling mounting plate (38), thereby changing the flexible rope from a taut state to a slack state, thus isolating the drilling reaction force. A passive cylinder (53) is mounted on the drilling mounting plate (38), and the lifting plate (42) is mounted on the output end of the passive cylinder (53); The output end of the second hydraulic push rod (47) is connected to a hollow round tube (50) through a first coupling (49). A plug rod (54) is slidably connected inside the hollow round tube (50). One end of the plug rod (54) is fixedly connected to a wall support plate (52), and the other end is connected to a spring (55) between the hollow round tube (50). A pipe connects the hollow round tube (50) and the passive cylinder (53). After the second hydraulic push rod (47) extends so that the wall support plate (52) abuts against the inner wall of the trench, the plug rod (54) can slide into the hollow round tube (50), thereby extending the passive cylinder (53) so that the lifting plate (42) moves up to the drilling mounting plate (38).

2. The cable trench drilling robot according to claim 1, characterized in that: The chassis mechanism (1) includes a rigid frame (8), a wheel guide frame (6), a clamping sleeve (9), a drive wheel (10), a one-way wheel (11), and a clamping mechanism (16). The wheel guide frame (6) is mounted on the rigid frame (8) and includes a slide rail (64), a wheel (62), a wheel mounting plate (63), and a limiting block (61). The drive wheel (10) is mounted on the wheel mounting plate (63), which is connected to the wheel (62). The wheel (62) can move along the slide rail (64) to adapt to grooves of different widths. The tightening mechanism (16) is nested inside the tightening sleeve (9). The tightening sleeve (9) is threaded with a locking screw (7). The locking screw (7) can abut against the tightening mechanism (16) to achieve height positioning. The end of the tightening mechanism (16) is rotatably connected with a guide wheel (167). The guide wheel (167) is pressed against the trench wall to form lateral support.

3. The cable trench drilling robot according to claim 2, characterized in that: The clamping mechanism (16) includes a clamping housing (161), bolts (162), pins (163), an embedded push rod (164), a wheel frame (165), and wheel mounting screws (166). The wheel frame (165) is fixedly connected to the end of the embedded top rod (164). The guide wheel (167) is installed on the wheel frame (165) by the wheel mounting screw (166). The tightening housing (161) is slidably connected to the inside of the embedded top rod (164). The bolt (162) is threadedly connected to the embedded top rod (164) and rotatably connected to the tightening housing (161). Thus, when the bolt (162) rotates, it can drive the embedded top rod (164) to slide inside the tightening housing (161). The pin (163) passes through the tightening housing (161) and abuts against the embedded top rod (164). The embedded top rod (164) can slide infinitely on the tightening housing (161). Thus, the guide wheel (167) can abut against the inner wall of the groove of different widths.

4. The cable trench drilling robot according to claim 2, characterized in that: The chassis mechanism (1) also includes a winch mounting plate (4), and the winch mechanism (2) is fixedly mounted on the winch mounting plate (4) of the chassis mechanism (1); The hoisting mechanism (2) includes a servo motor (17), a motor mounting plate (18), a second coupling (19), a coil (20), a coil fixing plate (22), a reducer (23), a wheel fixing block (24), a pulley (25), a wheel fixing shaft (26), a belt (27), an optical axis linear guide mechanism (28), an upper fixing plate (29), a lower fixing plate (30), and an optical axis linear guide support (31). The motor mounting plate (18) is connected to the winch mounting plate (4), the servo motor (17) is mounted on the winch mounting plate (4), the servo motor (17) is connected to the pulley (25) through the second coupling (19), the pulley (25) is connected to the wheel fixing shaft (26), the wheel fixing shaft (26) is rotatably connected to the wheel fixing block (24), the wheel fixing block (24) is fixedly connected to the winch mounting plate (4), and there are two sets of pulleys (25). The belt (27) is connected between two sets of pulleys (25). The upper fixed plate (29) is connected to the optical axis linear guide mechanism (28). The lower fixed plate (30) is connected to the upper fixed plate (29). The belt (27) is sandwiched between the lower fixed plate (30) and the upper fixed plate (29). The optical axis linear guide support (31) is connected to the hoist mounting plate (4). The optical axis linear guide mechanism (28) is connected to the optical axis linear guide support (31). The reel (20) is connected to the reducer (23), the flexible rope is stored in the reel (20), and the pulley (25) cooperates with the belt (27) to drive the optical axis linear guide mechanism (28) to move laterally, thereby adjusting the drilling position.

5. The cable trench drilling robot according to claim 1, characterized in that: The drilling mechanism (3) also includes an impact drill (34), a drill bit (32), a drill mounting plate (44), a linear guide rail (37), a slider (45), and a first hydraulic push rod (35). The impact drill (34) is fixed on the drill mounting plate (44), and the drill mounting plate (44) is slidably connected to the linear guide rail (37) through the slider (45). The output end of the first hydraulic push rod (35) is connected to the drill mounting plate (44) and drives the drill mounting plate (44) to feed along the linear guide rail (37).

6. The cable trench drilling robot according to claim 5, characterized in that: The first hydraulic push rod (35) is hinged to the drill mounting plate (44) via the first hinge shaft (33). The tails of the first hydraulic push rod (35) and the second hydraulic push rod (47) are respectively fixed to the hydraulic cylinder fixing plate (40) via the second hinge shaft (36). The hydraulic cylinder fixing plate (40) is fixed to the drill mounting plate (38) via the hydraulic cylinder fixing flange (41).

7. The cable trench drilling robot according to claim 1, characterized in that: The chassis mechanism (1) has a rigid frame (8) on which a ranging sensor (5), an IMU sensor (13), a lidar (14), and a binocular camera (15) are integrated and installed.

8. The cable trench drilling robot according to claim 1, characterized in that: The chassis mechanism (1) is provided with a space for accommodating the drilling mechanism (3).

9. The cable trench drilling robot according to claim 4, characterized in that: The chassis mechanism (1) also includes a support column (12), which is connected between the winch mounting plate (4) and the rigid frame (8).

Images