An intelligent drilling robot suitable for operation in a special-shaped space

Abstract

The application discloses a kind of intelligent drilling robots suitable for special-shaped space operation, belong to drilling robot technical field.The robot includes frame body, support unit, walking unit, attached unit, telescopic device and control system;Frame body is cylindrical structure, inside is equipped with drilling inner tube, drilling inner tube top end is equipped with top cover and sealing plate constitute double seal;Telescopic device is composed of rotating table, outer screw rod, limit rod, and outer screw rod bottom end is equipped with drilling motor, drill bit and six groups of pressure sensors, frame body bottom is equipped with underframe and dynamic monitoring probe;Attached unit includes first air bag and second air bag that are arranged alternately, each air bag is equipped with independent air pump and air pressure sensor.The application solves the problem that the traditional drilling equipment is poor in special-shaped space adaptability, weak in attitude control and dependent on manual operation, adapts to mine roadway and other special-shaped restricted space, has high degree of intelligence, high operation safety and efficiency, and can be widely applied to drilling operation in various special-shaped spaces.

Description

Technical Field

[0001] This specification relates to the field of microelectrode fabrication technology, and more particularly to an intelligent drilling robot suitable for operations in irregular spaces. Background Technology

[0002] In confined spaces such as mine tunnels, underground utility tunnels, reinforcement of old buildings, and tunnel construction, traditional drilling equipment generally suffers from numerous shortcomings and technical defects. First, traditional drilling equipment has poor environmental adaptability, struggling to adapt to uneven, narrow, and irregular working spaces, making it prone to safety hazards such as machine jamming and overturning during operation. Second, conventional drilling equipment has weak drilling posture control capabilities; uneven force on the drill bit during drilling can easily cause deviation, reducing drilling accuracy and easily leading to drill bit chipping, wear, or even direct damage. Third, traditional fixed support structures are limited in form and cannot quickly adapt to different interior wall dimensions and terrain conditions, easily leading to slippage and support failure in soft ground and undulating rock walls. Simultaneously, existing drilling equipment has a low level of intelligence, lacking multi-dimensional real-time condition monitoring and adaptive posture adjustment mechanisms, heavily relying on manual on-site operation. Workers must enter confined and dangerous spaces, resulting in high labor intensity, high operational risks, and difficulty in guaranteeing overall construction efficiency and operational safety.

[0003] In response to the technical pain points of the existing technologies, such as poor spatial adaptability, low attitude control accuracy, insufficient support stability, low level of intelligence, and high operational safety risks, it is necessary to develop an intelligent drilling robot with a reasonable structural layout, adaptability to irregular spaces, and real-time attitude monitoring and autonomous adjustment functions to meet the actual needs of automated drilling operations in complex and restricted spaces. Summary of the Invention

[0004] In view of this, the purpose of one or more embodiments of this specification is to address the problems of existing conventional drilling equipment, such as weak adaptability to irregular spaces, easy deviation in drilling posture, unstable support and fixation, reliance on manual operation, and low operational safety.

[0005] For the purposes described above, one or more embodiments of this specification provide an intelligent drilling robot suitable for operations in irregular spaces, including a frame, and a support unit, a walking unit, and an attachment unit installed around the frame.

[0006] The frame is a cylindrical structure, and a drilling inner cylinder is installed inside the frame. A top cover is threaded onto the top of the drilling inner cylinder, and a sealing plate is threaded onto the upper surface of the top cover. A telescopic device is installed on the inner wall of the drilling inner cylinder, and the telescopic device constitutes the drill bit telescopic structure.

[0007] Furthermore, the telescopic structure includes a rotary table, an external screw, and a limiting rod; the outer periphery of the rotary table is fixed to the inner wall of the drilling inner cylinder by a positioning plate, and an internal threaded sleeve is provided on the inner wall of the rotary table, the internal threaded sleeve being threadedly connected to the external screw; When the rotary table rotates, it drives the external screw to rotate and lift through threaded transmission.

[0008] Furthermore, an auxiliary plate is fixedly installed near the bottom of the outer screw, and a limiting rod is provided on the upper surface of the auxiliary plate, with the top of the limiting rod penetrating through the positioning plate; The positioning plate has an inner cavity corresponding to the limit rod, and the inner cavity is filled with lubricating oil.

[0009] Furthermore, a drilling motor is provided at the center of the bottom end of the external screw, and a drill bit is fixedly installed at the bottom end of the drilling motor; The drilling motor has a rated power of 1.5 to 5 kW and an operating speed of 50 to 300 r / min.

[0010] Furthermore, six sets of pressure sensors are evenly arranged around the drilling motor on the lower surface of the outer screw. The pressure sensors have a range of 0 to 50 kN and an accuracy class of not less than 0.5. A base frame is installed on the lower surface of the frame, and dynamic monitoring probes are evenly distributed on the lower surface of the base frame.

[0011] Furthermore, the attachment unit includes a first airbag and a second airbag, both of which are composed of multiple independent airbags, and each airbag is matched with an air pump. The air pump has a flow rate of 5-20 L / min and a working air pressure of 0.1-0.5 MPa; the airbag groups of the first airbag and the second airbag are arranged alternately.

[0012] Furthermore, each airbag is equipped with a pressure sensor inside, the pressure sensor having a range of 0 to 1 MPa and an accuracy class of not less than 0.2.

[0013] Furthermore, the support unit and the walking unit are both located on the frame between the first airbag and the second airbag, and there are two sets of each support unit and walking unit arranged in a cross shape.

[0014] Furthermore, the support unit includes a movable frame and a support telescopic rod, wherein the support telescopic rod is a hydraulic telescopic rod and the working pressure of the hydraulic system is 10-20 MPa; The walking unit includes a mobile frame and gas spring rollers. The gas spring rollers are installed inside the mobile frame via an electric rotating wheel. The electric rotating wheel drives a motor with a speed of 10 to 50 r / min. The working inflation pressure of the gas spring rollers is 0.1 to 0.3 MPa.

[0015] Furthermore, a control system is also provided, which adopts a layered architecture of a sensing and acquisition layer, a core control layer, and an execution and driving layer. The control system has a preset pressure imbalance threshold of 30% for single force deviation and a posture deviation threshold of ±5°. It can automatically adjust the drilling posture of the whole machine by linking the attachment unit and support unit based on the data collected by the pressure sensor and dynamic monitoring probe.

[0016] As can be seen from the above, the beneficial effects of an intelligent drilling robot suitable for operations in irregular spaces provided by one or more embodiments of this specification are as follows: Strong adaptability to irregular spaces: The present invention uses an interlaced airbag assembly as an attachment support structure, which can adapt to the uneven inner wall contour of irregular spaces for self-inflating support. Combined with the cross-shaped support unit and walking unit, it can adapt to narrow, undulating, and irregular restricted working spaces, and is applicable to a wide range of scenarios.

[0017] High controllability of drilling posture: By collecting circumferential force data of the drill bit in real time through pressure sensors and capturing changes in the drill bit's working posture in real time by dynamic monitoring probes, the drill bit's deviation and force imbalance can be accurately determined, and the attachment unit can be linked to complete the fine adjustment of the machine body's posture, always maintaining the optimal drilling conditions of the drill bit, improving drilling accuracy, and extending the service life of equipment and drill bit.

[0018] Flexible support and movement switching: The hydraulic support telescopic rod and the inflatable gas spring roller work together to quickly switch between fixed support in place and autonomous movement in space, without the need for manual disassembly and assembly of auxiliary tools, greatly improving the convenience of operation.

[0019] High degree of intelligence and automation: Equipped with an independent control system, it can realize unmanned operation of the entire process, including autonomous walking, obstacle avoidance, fixed-point support, automatic drilling, and attitude adaptive correction. No personnel are required to enter dangerous and irregular spaces on-site for operation, effectively reducing construction safety risks. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in one or more embodiments of this specification or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only one or more embodiments of this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Fig. 1 This is a schematic diagram of the overall structure of the present invention; Fig. 2 This is a schematic diagram of the cross-sectional structure of the present invention; Fig. 3 This is a cross-sectional structural diagram of the present invention from another perspective; Fig. 4 This is a schematic diagram of the assembly structure of the walking unit of the present invention.

[0022] In the diagram: 1. Frame; 12. First airbag; 13. Moving frame; 14. Air support roller; 15. Second airbag; 16. Air pump; 17. Support telescopic rod; 18. Groove; 2. Top cover; 21. Sealing plate; 3. Drilling inner cylinder; 31. Rotary table; 32. Inner cavity; 33. Limiting rod; 34. Auxiliary plate; 35. Drilling motor; 36. Drill bit; 37. Pressure sensor; 38. Base frame; 39. Dynamic monitoring probe; 310. External screw. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments.

[0024] It should be noted that, unless otherwise defined, the technical or scientific terms used in one or more embodiments of this specification should have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and similar words used in one or more embodiments of this specification do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0025] Example 1: like Figs. 1-4 As shown, this embodiment of the invention provides an intelligent drilling robot suitable for operations in irregular spaces, including a frame 1, and a support unit, a walking unit, and an attachment unit installed around the frame 1.

[0026] The frame 1 adopts an integrated cylindrical structure design and is made of high-strength, wear-resistant metal. The overall structure has high rigidity and strong resistance to deformation, making it suitable for long-term operation under complex conditions. A drilling inner cylinder 3 is fixedly installed inside the hollow cavity of the frame 1. The drilling inner cylinder 3 is coaxially arranged with the frame 1 to ensure coaxiality and smooth movement of the subsequent drill bit lifting and drilling.

[0027] The top of the drilling inner cylinder 3 is fitted with a top cover 2 using a threaded connection. The connection thread between the top cover 2 and the drilling inner cylinder 3 is a trapezoidal sealing thread, which ensures a tight connection and excellent sealing performance. The upper surface of the top cover 2 is also fitted with a sealing plate 21 using a threaded connection. A sealing gasket is placed between the top cover 2 and the sealing plate 21 to form a double sealing protection structure, which effectively prevents external dust and moisture from entering the interior of the drilling inner cylinder 3, avoids corrosion and damage to the internal transmission structure and electrical components, and ensures long-term stable operation of the equipment.

[0028] The inner wall of the drilling inner cylinder 3 is fixedly equipped with a telescopic device, which constitutes a transmission structure that enables the vertical extension and retraction of the drill bit. The telescopic structure is mainly composed of a rotary table 31, an external screw 310, and a limiting rod 33. The rotary table 31 is an overall annular component, and its periphery is fixedly connected to the inner wall of the drilling inner cylinder 3 via a positioning plate. The positioning plate is fixedly connected to the inner wall of the drilling inner cylinder 3, and the rotary table 31 and the positioning plate are rotatably fitted together, allowing the rotary table 31 to rotate independently in the circumferential direction.

[0029] The inner wall of the rotary table 31 is integrally provided with an internal threaded sleeve. The internal thread profile of the internal threaded sleeve matches the external thread profile of the external screw 310 to form a threaded engagement connection. When the rotary table 31 is driven to rotate circumferentially, the external screw 310 can be smoothly driven to achieve vertical rotation and lifting displacement by relying on the threaded engagement transmission between the internal threaded sleeve and the external screw 310.

[0030] An auxiliary plate 34 is fixedly installed near the bottom of the outer screw 310, and the auxiliary plate 34 is vertically fixed to the outer screw 310. A limiting rod 33 is vertically fixed on the upper surface of the auxiliary plate 34, and the limiting rod 33 is vertically arranged with its top end vertically penetrating the positioning plate. A matching guide hole is reserved on the positioning plate at the position where the limiting rod 33 passes through, and the limiting rod 33 can slide freely vertically along the guide hole, while restricting the outer screw 310 from rotating synchronously with the rotary table 31, ensuring that the outer screw 310 only performs vertical linear up and down movement, and avoiding rotational deviation that would affect drilling accuracy.

[0031] The positioning plate has an inner cavity 32 corresponding to the placement position of the limiting rod 33. The inner cavity 32 is a closed cavity structure and is filled with special anti-wear lubricating oil. During the reciprocating sliding motion of the inner limiting rod 33 following the outer screw 310, the lubricating oil in the inner cavity 32 continuously lubricates the outer wall of the limiting rod 33, significantly reducing the sliding friction resistance between the limiting rod 33 and the guide hole of the positioning plate, reducing component wear, reducing motion noise, and improving the smoothness and service life of the telescopic transmission structure.

[0032] The drilling motor 35 is fixedly mounted at the center of the bottom end of the external screw 310. The drilling motor 35 is a servo drive motor with a rated power of 1.5 to 5 kW and a working speed controlled in the range of 50 to 300 r / min. It can achieve stepless speed adjustment and stable torque output. The drill bit 36 ​​is fixedly mounted at the bottom output end of the drilling motor 35. The drill bit components of the appropriate specifications can be replaced according to different drilling conditions. It is convenient to disassemble and assemble and has wide adaptability.

[0033] Six sets of pressure sensors 37 are evenly arranged in a ring around the lower surface of the external screw 310 and the periphery of the corresponding drilling motor 35. The six sets of pressure sensors are arranged at equal angles along the circumference to fully cover the stress area of ​​the drill bit operation. The pressure sensors 37 are piezoelectric sensors with a range of 0 to 50 kN and an accuracy class of not less than 0.5. The system presets a pressure imbalance threshold of more than 30% for a single force deviation. Once the threshold is exceeded, the drilling posture is judged to be abnormal.

[0034] A base frame 38 is fixedly mounted on the lower surface of the frame 1, and the base frame 38 is firmly connected to the bottom of the frame 1 as an integral structure. Multiple sets of dynamic monitoring probes 39 are evenly distributed on the lower surface of the base frame 38. The dynamic monitoring probes 39 integrate attitude tilt angle detection function, with a preset attitude deviation threshold of ±5°. If the threshold is exceeded, the attitude correction program is triggered. The dynamic monitoring probes 39 are arranged facing the drill bit working area and are mainly used to collect and monitor dynamic changes in the drill bit's attitude deviation, drilling angle, and borehole wall conditions in real time during the drill bit's drilling operation.

[0035] During actual operation, the dynamic monitoring probe continuously monitors the drill bit's attitude changes in real time, while the pressure sensor 37 synchronously collects and detects the drilling pressure balance during the initial stage and throughout the entire drilling process. When the pressure balance data fluctuation exceeds the system's preset threshold range, or the attitude deviation exceeds the angle threshold, it can be determined that the current drilling attitude is not in the optimal operating state, and the drill bit is experiencing skewness or force imbalance. At this time, the equipment can coordinate with the attached unit to synchronously adjust the overall drilling attitude in real time, allowing the drill bit to quickly return to the optimal drilling attitude for continuous operation, effectively reducing drill bit wear and breakage, and significantly improving the actual service life of the entire equipment and the drill bit.

[0036] Example 2: The attachment units arranged around the frame 1 include a first airbag 12 and a second airbag 15. The first airbag 12 and the second airbag 15 are each composed of multiple independent airbag units. Each airbag unit is independently equipped with an air pump 16. The air pump 16 is a miniature electric air pump with a working flow rate of 5 to 20 L / min and a rated working air pressure of 0.1 to 0.5 MPa. It can independently control the inflation and deflation of a single airbag unit, realizing independent control of a single airbag.

[0037] The airbag group consisting of the first airbag 12 and the second airbag 15 is staggered around the frame 1, with no circumferential overlap between the upper and lower layers of airbags. When the equipment requires fixed-point stable support, the staggered double-layer airbag group makes multiple contact points with the inner wall of the irregular space, forming a distributed composite support system. The support force is uniform and the overall stability is strong, which can effectively adapt to and overcome the support problems caused by uneven and complex environments, and greatly improve the reliability of fixed support of the equipment in irregular irregular spaces.

[0038] Meanwhile, each airbag is equipped with an auxiliary pressure sensor. These sensors utilize diffused silicon pressure sensing elements with a range of 0–1 MPa and an accuracy class of at least 0.2, used to collect real-time data on changes in internal air pressure. As the equipment moves along the inner wall of the irregularly shaped space, the pressure sensors monitor pressure fluctuations within the airbags in real time. By analyzing sudden pressure changes, the system can accurately determine the location of any protruding obstacles within the space and identify their interference with the equipment's path. For airbags at locations with potential interference, the system automatically controls the air pump to deflate and retract, causing the airbag to detach from the surface of the protruding obstacle, avoiding spatial obstructions, and ensuring the equipment can smoothly and stably complete its normal movement and displacement operations.

[0039] Example 3: The support unit and the walking unit are both located on the outer wall of the frame 1 between the first airbag 12 and the second airbag 15. The support unit and the walking unit are each set up independently in two groups. The two groups of support units and the two groups of walking units are arranged in a cross shape along the circumference of the frame 1. The overall force is symmetrical and the structural layout is reasonable, taking into account both support stability and walking mobility.

[0040] The support unit includes a movable frame 13 and a support telescopic rod 17. The support telescopic rod 17 is assembled and installed in the internal cavity of the movable frame 13. The support telescopic rod 17 is a hydraulic telescopic rod with a hydraulic system working pressure controlled at 10-20MPa. It has a smooth telescopic response, strong load-bearing capacity, and good self-locking performance. It can stably support the weight of the whole machine and adapt to the height self-adjustment under different ground undulation conditions.

[0041] The walking unit includes a mobile frame 13 and a gas spring roller 14. The gas spring roller 14 is mounted inside the mobile frame 13 via an electric rotating wheel. The electric rotating wheel is equipped with a drive motor with a speed set from 10 to 50 r / min. It can be controlled to start and stop in both forward and reverse directions, thereby driving the gas spring roller 14 to roll and realize the forward, backward and turning movements of the equipment.

[0042] During the actual use of the device, the pneumatic support roller 14 relies on the built-in air pump of the device to provide inflation air pressure, and the conventional working air pressure is maintained at 0.1 - 0.3 MPa. At the same time, a supporting air pressure sensor is equipped to detect the internal air pressure state of the pneumatic support roller in real time. The system can autonomously adjust the inflation fullness of the pneumatic support roller according to the actual needs of the undulating, hard and soft conditions of the special-shaped space road surface, so that the roller can adaptively fit the road surface contour, ensuring both anti-slip performance and stability during walking, and reducing the driving resistance, to meet the walking operation requirements of various complex special-shaped space road surfaces.

[0043] Embodiment 4: This embodiment provides a complete description of the control system supporting this intelligent drilling robot. At the same time, application examples are listed in combination with the actual special-shaped space drilling working conditions to further elaborate the overall control logic and operation process of the device.

[0044] 1. Overall architecture of the control system The control system of this device adopts a hierarchical modular design, which is divided into three major parts: the perception and acquisition layer, the core control layer, and the execution and drive layer.

[0045] The perception and acquisition layer includes all the sensing and detection components of the whole machine, specifically including the circumferentially arranged pressure sensors 37, the dynamic monitoring probes 39 at the position of the chassis, the air pressure sensors built in each airbag, the air pressure sensors supporting the pneumatic support roller, the body inclination sensors, the displacement detection sensors, etc. It is mainly responsible for collecting various working condition data such as the drilling force, the drill bit attitude, the airbag air pressure, the roller air pressure, the body inclination, and the walking displacement of the device throughout the process, providing the original data support for the core control logic.

[0046] The core control layer uses an industrial-grade PLC or an STM32 series main controller as the core processing unit, and is equipped with a data acquisition module, a wireless communication module, a data storage module, and a signal conversion module. The core control layer is responsible for receiving various sensing data transmitted by the perception and acquisition layer, performing data filtering, arithmetic analysis, logical judgment, and threshold comparison, and outputting corresponding control instructions according to the preset control program. At the same time, it can store operation parameters and working condition data, and support remote data transmission and parameter debugging.

[0047] The execution and drive layer includes all the power execution components of the device, specifically including the drilling motor 35, the rotary table drive motor, the air pumps 16 supporting each group of airbags, the solenoid valves of the hydraulic system, the walking electric wheel drive motor, etc. The execution and drive layer receives the control instructions issued by the core control layer and accurately completes the execution actions such as starting and stopping the motor, forward and reverse rotation, airbag inflation and deflation, telescopic movement of the hydraulic telescopic rod, and starting and stopping the rotation of the roller, realizing the full-process automatic linkage control of the whole machine.

[0048] 2. Operating logic process of the control system The overall control operation of the equipment is divided into six stages in sequence: machine self-inspection, walking and positioning, adaptive support, automatic drilling, attitude correction, and operation reset.

[0049] After the equipment is powered on, the control system first performs a full hardware self-test, checking the circuit connectivity and working status of each sensor, motor, air pump, and hydraulic component one by one. It then initializes and sets basic parameters such as operating parameters, pressure imbalance threshold, attitude deviation threshold, and safety air pressure threshold. After the self-test shows no abnormalities, it enters the standby state.

[0050] The system then enters the walking and positioning phase. The controller drives the electric rotating wheel of the walking unit to rotate according to the preset working path, which in turn drives the air-support roller to rotate, controlling the equipment to move autonomously to the target working point. During the movement, the air pressure sensor of the airbag monitors the air pressure change in real time, identifies the protruding obstacles in the space, and automatically controls the corresponding airbag to deflate and avoid them. In the unobstructed section, the airbag is automatically reset and inflated until the equipment reaches the designated drilling position.

[0051] After the equipment is in place, it enters the adaptive support phase. The control system shuts down the walking drive and controls the hydraulic support telescopic rod of the support unit to extend, achieving initial support for the entire machine on the ground. Subsequently, the independent air pumps of the first airbag 12 and the second airbag 15 are started in sequence to inflate each airbag step by step. Based on the tilt angle sensor data of the machine body and the contour of the inner wall of the space, the inflation pressure of each airbag is adjusted differently to make the double-layered staggered airbag group fit tightly against the inner wall of the irregular space, forming multi-point balanced support, correcting the horizontal posture of the machine body, and ensuring that the drilling axis meets the operation requirements.

[0052] After the support is completed, the automatic drilling phase begins. The control system starts the rotary table drive motor, which drives the rotary table to rotate circumferentially. The external screw 310 is driven to descend at a constant speed through the threaded transmission. At the same time, the drilling motor 35 is started to drive the drill bit 36 ​​to rotate at high speed, and constant speed drilling is carried out. Throughout the operation, the pressure sensor and dynamic monitoring probe continuously collect data and provide real-time feedback on the drilling conditions and drill bit posture.

[0053] If the sensor data exceeds the system's preset pressure or angle threshold during operation, the attitude correction phase will begin: the controller will determine the drill bit's deflection direction and the location of the force imbalance through data analysis, and accurately output adjustment commands to adjust the inflation pressure of one side airbag and deflate the other side airbag. At the same time, it can also fine-tune the extension length of the corresponding support telescopic rod to quickly correct the attitude of the entire machine body, so that the drill bit returns to the optimal drilling state of balance and stability, and can continue drilling operations.

[0054] Once the drilling depth reaches the preset requirement, the system enters the operation reset phase: the drilling motor and rotary table drive motor are shut down in sequence, the external screw is reversed and moved upward, and the drill bit is retracted into the drilling inner cylinder; then, the airbags in each group are controlled to release air and depressurize, the support telescopic rod is retracted and stored, the equipment switches to walking mode, and can move autonomously to the next work point, completing the closed-loop control of the entire process of a single operation.

[0055] 3. Practical Application Examples in Irregular Spaces Taking the reinforcement drilling operation of irregular roadways in underground mines as an example, the inner wall of the roadway has an irregular outline and large undulations, which is a typical irregular and restricted working space. The inside of the roadway is narrow and closed, making it difficult for manual personnel to carry traditional drilling rigs to the site for construction, and the risk of rockfall and collapse is high. Conventional drilling equipment cannot be attached to the inner wall of the roadway for stable fixation, and the amount of borehole deviation is large, which cannot meet the construction standards of reinforcement projects.

[0056] The intelligent drilling robot of this invention is used for on-site operations. The entire operation is completed autonomously by the equipment without any personnel on site. The specific implementation process is as follows: After the equipment is remotely deployed to the tunnel entrance, the control system activates the walking mode, the support telescopic rod retracts completely, and the air-support rollers are inflated to the normal working air pressure of 0.1-0.3 MPa. The equipment then moves autonomously along the internal path of the tunnel. When it encounters a local protrusion on the tunnel wall, the air pressure of the corresponding airbag instantly increases. The system immediately identifies the obstacle location and automatically controls the deflation and retraction of the airbags in that group to smoothly avoid the protrusion. In areas without obstacles, the airbags automatically return to their inflated state, and the equipment smoothly moves to the designated reinforcement drilling point.

[0057] After the equipment arrives at the target location, the system automatically switches to the support and fixation mode. First, it controls the two sets of support units arranged in a cross shape to extend the support telescopic rods synchronously. The hydraulic system maintains a working pressure of 10-20MPa to ensure that the whole machine lands smoothly and bears the load. Then, the air pumps of the first and second airbags are started in layers, and the air pumps maintain a working range of 0.1-0.5MPa. According to the contour of the concave and convex inner wall of the tunnel, the inflation pressure of each airbag is automatically adjusted. The double-layered staggered airbag group fits tightly against the inner wall of the tunnel at multiple points to form a stable and attached support. At the same time, the verticality of the machine body is automatically corrected to ensure that the subsequent drilling axis meets the construction design requirements.

[0058] After the support calibration is completed, the equipment starts the automatic drilling program. The drilling motor drives the drill bit to rotate at a set speed of 50-300 r / min. The rotary table drives the external screw to move downward at a constant speed to carry out constant speed reinforcement drilling. During the drilling process, the circumferential force and attitude data of the drill bit are collected in real time. When drilling reaches the soft and hard rock interface of the roadway, if the drill bit shows slight deflection, the circumferential force deviation exceeds 30%, and the attitude deviation exceeds the ±5° threshold, the sensor data triggers the threshold warning.

[0059] The control system immediately performs logical calculations to accurately determine the direction of drill bit deviation and abnormal force areas, automatically adjusts the inflation and deflation pressure of the corresponding airbags, and, in conjunction with fine-tuning the extension and retraction of the support telescopic rod, quickly completes the machine body attitude correction, restores the drill bit attitude to the allowable deviation range in a short time, and continues to drill stably until the designed drilling depth is reached.

[0060] After drilling is completed, the equipment automatically retracts the drill bit into the drilling cylinder, the airbags depressurize uniformly, the support telescopic rod retracts and stores, and switches to the walking mode to autonomously leave the work site or move to the next drilling location to repeat the work.

[0061] Although this disclosure has been described in conjunction with specific embodiments thereof, many substitutions, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description.

[0062] One or more embodiments of this specification are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of one or more embodiments of this specification should be included within the scope of protection of this disclosure.

Claims

1. An intelligent drilling robot suitable for operation in irregular spaces, comprising a frame (1), and a support unit, a walking unit, and an attachment unit installed around the frame (1), characterized in that: The frame (1) is a cylindrical structure, and a drilling inner cylinder (3) is set inside the frame (1). A top cover (2) is threadedly installed at the top of the drilling inner cylinder (3), and a sealing plate (21) is threadedly installed on the upper surface of the top cover (2). A telescopic device is set on the inner wall of the drilling inner cylinder (3), and the telescopic device constitutes the drill bit telescopic structure.

2. The intelligent drilling robot suitable for operations in irregular spaces according to claim 1, characterized in that: The telescopic structure includes a rotating platform (31), an external screw (310), and a limiting rod (33); the rotating platform (31) is fixed to the inner wall of the drilling inner cylinder (3) by a positioning plate, and an internal threaded sleeve is provided on the inner wall of the rotating platform (31), which is threadedly connected to the external screw (310). When the rotary table (31) rotates, it drives the external screw (310) to rotate and lift through the threaded transmission.

3. The intelligent drilling robot suitable for operations in irregular spaces according to claim 2, characterized in that: An auxiliary plate (34) is fixedly installed near the bottom of the outer screw (310). A limiting rod (33) is provided on the upper surface of the auxiliary plate (34), and the top of the limiting rod (33) passes through the positioning plate. The positioning plate has an inner cavity (32) at the corresponding limit rod (33), and the inner cavity (32) is filled with lubricating oil.

4. The intelligent drilling robot suitable for operations in irregular spaces according to claim 3, characterized in that: A drilling motor (35) is provided at the center of the bottom end of the external screw (310), and a drill bit (36) is fixedly installed at the bottom end of the drilling motor (35); The drilling motor (35) has a rated power of 1.5 to 5 kW and a working speed of 50 to 300 r / min.

5. The intelligent drilling robot suitable for operations in irregular spaces according to claim 4, characterized in that: Six sets of pressure sensors (37) are evenly arranged around the drilling motor (35) on the lower surface of the external screw (310). The pressure sensors (37) have a range of 0 to 50 kN and an accuracy class of not less than 0.

5. A base frame (38) is installed on the lower surface of the frame (1), and dynamic monitoring probes (39) are evenly distributed on the lower surface of the base frame (38).

6. The intelligent drilling robot suitable for operations in irregular spaces according to claim 1, characterized in that: The attachment unit includes a first airbag (12) and a second airbag (15). Both the first airbag (12) and the second airbag (15) are composed of multiple independent airbags, and each airbag is matched with an air pump (16). The air pump (16) has a flow rate of 5 to 20 L / min and a working air pressure of 0.1 to 0.5 MPa; the airbag groups of the first airbag (12) and the second airbag (15) are arranged alternately.

7. The intelligent drilling robot suitable for operations in irregular spaces according to claim 6, characterized in that: Each airbag is equipped with a pressure sensor, which has a range of 0 to 1 MPa and an accuracy class of not less than 0.

2.

8. The intelligent drilling robot suitable for operations in irregular spaces according to claim 1, characterized in that: The support unit and the walking unit are both located on the frame (1) between the first airbag (12) and the second airbag (15). There are two sets of support units and two sets of walking units, which are arranged in a cross shape and are staggered with each other.

9. The intelligent drilling robot suitable for operations in irregular spaces according to claim 8, characterized in that: The support unit includes a movable frame (13) and a support telescopic rod (17). The support telescopic rod (17) is a hydraulic telescopic rod, and the working pressure of the hydraulic system is 10-20 MPa. The walking unit includes a mobile frame (13) and a gas support roller (14). The gas support roller (14) is installed in the mobile frame (13) through an electric rotating wheel. The electric rotating wheel drives a motor with a speed of 10 to 50 r / min. The working inflation pressure of the gas support roller (14) is 0.1 to 0.3 MPa.

10. An intelligent drilling robot suitable for operations in irregular spaces according to any one of claims 1 to 9, characterized in that: It is also equipped with a control system, which adopts a layered architecture of a sensing and acquisition layer, a core control layer, and an execution and driving layer. The control system has a preset pressure imbalance threshold of 30% for single force deviation and a posture deviation threshold of ±5°. It can automatically adjust the drilling posture of the whole machine by linking the attachment unit and the support unit based on the data collected by the pressure sensor (37) and the dynamic monitoring probe (39).

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