Downhole deep surrounding rock geological remote control drilling robot

Abstract

The application discloses a kind of deep surrounding rock geology remote control drilling robot in well, belong to underground geological drilling equipment technical field, including movable caterpillar truck assembly, shovel flat assembly capable of flattening ground is installed at the front of caterpillar truck assembly, drilling assembly capable of drilling to geology is installed at the rear of caterpillar truck assembly;Further comprising transmitting end of signal in remote control mode and receiving execution end of signal and being arranged inside caterpillar truck assembly, staff can control robot to independently enter to the narrow area of deep surrounding rock in well by transmitting end and sequentially complete the movement, flattening and drilling work of robot.The robot can solve the problems of high risk, high labor intensity, poor site adaptability, low automation degree and insufficient drilling precision in the prior art, thereby realizing unmanned, remote and integrated drilling operation in deep underground narrow high-risk area.

Description

Technical Field

[0001] This invention relates to the field of downhole geological drilling equipment technology, specifically a remote-controlled drilling robot for deep underground surrounding rock geological drilling. Background Technology

[0002] As shallow mineral resources gradually deplete, underground mining operations are increasingly extending into deeper rock areas. Deep underground geological environments are characterized by high ground stress, complex structures, fractured surrounding rock, confined spaces, poor ventilation, high dust concentrations, and numerous potential geological hazards, significantly increasing safety risks and operational difficulties. According to deep underground mining operation specifications, before commencing mining operations, it is essential to conduct advanced drilling exploration to accurately determine the geological structure, rock hardness, fracture development, water and gas content of the target area's surrounding rock. This precise understanding of geological parameters is crucial to preventing safety accidents such as collapses, water inrushes, and gas outbursts, ensuring the safe progress of subsequent mining operations. Therefore, advanced drilling into deep surrounding rock is an indispensable preliminary step in underground mining.

[0003] Currently, most deep-well drilling operations rely on manual transport of portable drilling equipment, a method that presents numerous problems in practice. Firstly, the extremely confined spaces and winding, narrow tunnels in deep wells prevent the entry of large drilling equipment, necessitating manual carrying and transport of small drilling tools. Workers must venture into high-risk, deep tunnels where the surrounding rock stability is poor, prone to rockfalls, spalling, and localized collapses. Furthermore, the accumulation of dust and harmful gases underground poses significant personal safety risks to on-site personnel. Secondly, the high-speed operation of the drilling rig generates continuous high-frequency vibrations, causing not only physical strain and injury to workers but also increasing the risk of operational errors such as borehole deviation and stuck drill bits, affecting the accuracy of drilling data. Thirdly, manual drilling is extremely labor-intensive, with time-consuming and strenuous commutes to and from deep wells, limiting the continuous working time of a single person and making it difficult to meet the demands of large-scale, routine, and advanced drilling operations.

[0004] In addition, the existing preparatory work for manual drilling operations is rudimentary. The work site is not leveled before drilling operations, and the ground in the underground roadway is uneven with protruding gravel, which makes the drilling equipment unstable and further aggravates drilling vibration. This can easily cause borehole deviation and equipment tipping, seriously affecting the drilling construction quality and operational safety. Summary of the Invention

[0005] The purpose of this invention is to provide a remote-controlled drilling robot for deep underground surrounding rock geology, in order to solve the problems of high risk, high labor intensity, poor site adaptability, low degree of automation and insufficient drilling accuracy of manual drilling in the prior art, thereby realizing unmanned, remote and integrated drilling operations in narrow and high-risk areas of deep underground wells.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A remotely controlled drilling robot for deep underground rock geology includes a movable tracked vehicle assembly, a leveling assembly for leveling the ground surface installed in front of the tracked vehicle assembly, and a drilling assembly for drilling the geology installed behind the tracked vehicle assembly; it also includes a transmitter for remotely transmitting signals and a receiver / execution unit for receiving signals located inside the tracked vehicle assembly. The operator can control the robot to independently enter a narrow area of ​​deep underground rock and sequentially complete the robot's movement, leveling, and drilling operations through the transmitter.

[0007] By adopting the above solution, using a tracked vehicle assembly as the mobile carrier, it is adapted to the uneven, narrow, and winding underground environment, with strong mobility; the front-mounted leveling assembly can level the drilling site in advance, eliminating the interference of ground debris and protrusions on drilling operations and ensuring the stability of drilling equipment operations; the rear-mounted drilling assembly integrates professional drilling functions, realizing the integrated configuration of site leveling and drilling operations; at the same time, with the wireless remote control transmitter and vehicle-mounted receiver execution terminal, it completely replaces manual on-site operations. Workers can remotely control the equipment from a safe area, allowing the robot to autonomously enter high-risk and narrow underground working areas to complete the entire process of mobile positioning, site leveling, and geological drilling in sequence, fundamentally eliminating the safety risks of manual underground operations, significantly reducing labor intensity, improving the automation and intelligence level of drilling operations, and adapting to complex and high-risk drilling conditions in deep underground wells.

[0008] As a preferred embodiment of a remotely controlled drilling robot for deep underground rock geology, this tracked vehicle assembly includes a frame, with tracked wheel sets and tracks that work in conjunction with the wheel sets mounted on the left and right sides of the frame. Inside the frame are a drive motor that transmits power to the tracked wheel sets and a power battery pack that supplies power to all electrical components. The dual-sided tracked wheel set and tracked vehicle structure, compared to a wheeled structure, offers a larger ground contact area and stronger traction, allowing for smooth passage through underground gravel roads, uneven tunnels, and low-lying areas without slippage or tipping over, demonstrating excellent adaptability to underground environments. The drive motor independently provides power, with flexible start / stop, speed adjustment, and forward / reverse control to meet the requirements for precise positioning underground. The built-in power battery pack provides unified power to all electrical equipment, ensuring stable power supply and long battery life. It eliminates the need for external cables, avoiding cable dragging and entanglement that could affect equipment movement, and enabling fully autonomous mobile operation.

[0009] As a preferred implementation of a remote-controlled drilling robot for deep underground rock geology, the top of the chassis is equipped with front and rear lights that illuminate forward and backward respectively. These lights provide full illumination in both directions, offering a clear working view for remote control operation. This allows workers to accurately assess roadway conditions and the work environment, ensuring the precision of equipment movement, leveling, and drilling operations. It also effectively avoids roadway obstacles, improving equipment safety and control accuracy.

[0010] As a preferred embodiment of a remotely controlled drilling robot for deep underground rock geology, the tracked wheel assembly includes a drive wheel located at the front and rear ends of the chassis side and capable of rotation, a support wheel located on the chassis side and capable of rotation, a guide wheel located on the chassis side and capable of rotation, and a track support wheel located on the upper side of the chassis and capable of rotation. This four-wheel combination structure—drive wheel, support wheel, guide wheel, and track support wheel—constitutes a complete tracked walking transmission and support system. The drive wheel is responsible for power output, precisely driving the track rotation; the support wheel bears the weight of the entire machine, evenly distributing the load and preventing localized pressure deformation, ensuring stable movement; the guide wheel guides the track and adjusts the tension, preventing track deviation and derailment; the track support wheel supports the upper track, preventing track slack, sagging, jamming, and wear, effectively improving the operational stability, reliability, and service life of the tracked walking system, and adapting to long-term bumpy and complex underground operations.

[0011] As a preferred embodiment of a remotely controlled drilling robot for deep underground rock geology, the system comprises one set of track rollers located at the top of the track roller assembly, two sets of drive wheels located in the middle of the track roller assembly, and two sets each of support rollers and guide rollers located at the bottom of the track roller assembly, with the support rollers and guide rollers at the same height. By precisely defining the number, position, and height of each wheel, the system achieves uniform load distribution and balanced power output. The single set of track rollers at the top stably supports the upper track, preventing track slack and swaying. The two sets of drive wheels in the middle provide concentrated power output, ensuring ample power and uniform transmission, enhancing the equipment's climbing and obstacle-crossing capabilities. The two sets of support rollers at the bottom are positioned at the same height as the guide rollers, ensuring a flat chassis support and smooth, unobstructed movement, significantly improving the stability of equipment movement and drilling positioning accuracy.

[0012] As a preferred embodiment of a remotely controlled drilling robot for deep underground rock geology, the leveling assembly includes a shovel plate, a blade fixed to the bottom of the shovel plate, and a tilting frame for vertical tilting mounted on the rear side of the shovel plate. A tilting motor that drives the tilting frame is mounted behind the tilting frame, and the tilting motor is hinged to the tracked vehicle assembly via a motor mount. The shovel plate, together with the bottom blade, forms the core leveling structure. The blade has high hardness and good wear resistance, efficiently removing gravel, protruding soil, and debris from the work site, quickly completing the ground leveling operation. The tilting frame provides stable lifting and tilting support for the shovel plate, and the tilting motor, as the power source, can precisely drive the shovel plate to swing up and down, achieving flexible adjustment of the leveling height to adapt to different uneven roadway surfaces. The tilting motor adopts a hinged installation structure, providing a certain amount of buffer space, which can buffer the impact load from hard soil during operation, preventing rigid stress damage to the motor and improving the operational stability and service life of the leveling assembly.

[0013] As a preferred embodiment of a remotely controlled drilling robot for deep underground rock geology, the tilting frame is composed of an upper horizontal link, a lower horizontal link, a left vertical link, and a right vertical link that are movably connected to each other. The upper horizontal link is coaxially connected to the tilting motor shaft via a lead screw that moves through a threaded connection. The lower horizontal link is movably connected to two seated support arms fixed to the tracked vehicle assembly. The bottom ends of the left and right vertical links are directly movably connected to the back plate of the shovel. This four-link articulated frame structure offers strong overall structural stability, high transmission accuracy, and flexible, jam-free operation. The tilting motor drives the lead screw to rotate, and the lead screw, through a threaded connection with the upper horizontal link, achieves linear push-pull drive, ensuring precise transmission and good self-locking, allowing for accurate locking of the shovel's working height. The lower horizontal link is limited and supported by the seated support arms, and the left and right vertical links are linked for transmission, enabling smooth lifting and tilting of the shovel without tilting or offset.

[0014] As a preferred embodiment of a remote-controlled drilling robot for deep underground rock geology, the drilling assembly includes a frame fixedly connected to a tracked vehicle assembly. A vertically arranged slide rail is fixed on the vertical side of the frame, a slide block is slidably mounted on the slide rail, and a drill rod is rotatably mounted on the slide block via a bearing seat. A rotary motor for driving the drill rod to rotate is provided next to the drill rod. A lifting drum is installed on the inclined side of the frame, and a cable connected to the top of the slide block via a hanging ring is fixed and wound inside the lifting drum. A lifting motor for driving the lifting drum to rotate is provided next to the lifting drum, wherein the cable passes around a top pulley fixed to the top of the frame and capable of rotation. The frame, serving as the load-bearing base of the drilling assembly, is rigidly fixed to the tracked vehicle assembly, ensuring a stable structure and preventing shaking during operation. The vertical slide rail, in conjunction with the slide block, enables the drill rod to slide vertically, providing high guiding accuracy, ensuring borehole verticality, and effectively preventing borehole deviation. The rotary motor independently drives the drill rod to rotate, providing stable power for drilling and rock breaking, meeting the rock breaking requirements of surrounding rock drilling. The hoisting motor drives the hoisting drum to wind up and unwind the cable, and, in conjunction with the top pulley for reversing guidance, precisely controls the lifting and feeding of the slide block and drill rod, achieving automated feeding drilling and drill retraction reset, with controllable feed speed and precise stroke.

[0015] As a preferred implementation of a remote-controlled drilling robot for deep underground rock geology, a drive sprocket is coaxially connected to the shaft of the rotary motor, and a driven sprocket is coaxially connected to the top of the drill pipe. A chain meshes between the drive and driven sprockets; there are two sets of drive sprockets, driven sprockets, and chains. This dual-set sprocket and chain synchronous transmission structure provides more uniform power transmission and stronger load-bearing capacity compared to a single-set transmission. It effectively disperses impact and torque loads during drilling, avoiding overload breakage and slippage problems associated with a single-set chain. The dual-set synchronous transmission ensures smooth power transmission from the rotary motor to the drill pipe, resulting in uniform drill pipe rotation speed and sufficient torque. This provides greater stability when drilling in hard and fractured surrounding rock, effectively preventing stuck drill bits and stalling, improving the reliability of drilling operations, extending the service life of transmission components, and reducing equipment failure rates.

[0016] As a preferred implementation method for a remote-controlled drilling robot for deep underground rock geology, the transmitter and receiver establish a connection through radio frequency signals. The use of radio frequency signals for remote control communication has strong penetration and excellent anti-interference capabilities. It can penetrate the surrounding rock of underground roadways and block obstacles. The signal transmission distance is long, the delay is low, and the stability is high, ensuring that the staff can accurately and stably control the entire process of equipment movement, leveling, and drilling.

[0017] The beneficial effects of this invention are: 1. Eliminate the safety risks of manual operation and ensure high operational safety: This equipment adopts radio frequency remote control and can autonomously enter the deep, narrow, high-risk and complex working areas of the well to complete the entire drilling process. There is no need for personnel to enter dangerous roadways, which fundamentally avoids the risk of personal injury caused by deep roadway collapse, rockfall, harmful gases and equipment vibration. 2. Integrated operation with a high degree of automation, greatly reducing labor intensity: The equipment integrates three major functions: walking and moving, site leveling, and surrounding rock drilling. There is no need for manual equipment handling, site clearing, or manual drilling. The entire process is remotely automated, completely replacing high-intensity manual operation and greatly reducing the labor intensity of workers. 3. Strong site adaptability, excellent drilling accuracy and operation quality: The tracked walking structure can smoothly adapt to the uneven, narrow and winding complex roadways in the well, with strong obstacle crossing and passage capabilities; the front-mounted leveling assembly can accurately level the working site, and with the vertical slide rail guide and double-set sprocket chain synchronous transmission structure, the drill rod rotation is stable and the feed is accurate, effectively improving the verticality of the borehole and the accuracy of drilling data; 4. Stable structure, strong anti-interference ability, and high equipment reliability: It adopts radio frequency signal communication, which has strong anti-interference and penetration capabilities, and is suitable for complex electromagnetic environment and confined space in the well. There are no signal failure or control jamming problems. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention 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 some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A three-dimensional structural diagram of a remotely controlled drilling robot for deep underground rock geology from the first angle; Figure 2 This is a three-dimensional structural diagram of a remotely controlled drilling robot for deep underground rock geology from a second angle. Figure 3 This is a three-dimensional structural diagram of the tracked vehicle assembly; Figure 4 Right view of the tracked vehicle assembly; Figure 5 This is an internal structural diagram of a tracked vehicle assembly; Figure 6 A three-dimensional structural diagram of the flattened assembly from the first angle; Figure 7 A three-dimensional structural diagram of the flattened assembly at the second angle; Figure 8 A three-dimensional structural diagram of the drilling assembly at the first angle; Figure 9 for Figure 8 A magnified view of a section at point A in the middle; Figure 10 This is a three-dimensional structural diagram of the drilling assembly at the second angle; Figure 11 for Figure 10 A magnified view of a section at point B in the middle.

[0020] Markings in the diagram: 1. Tracked vehicle assembly; 11. Frame; 12. Track wheel set; 121. Drive wheel; 122. Track roller; 123. Guide wheel; 124. Track carrier roller; 13. Track; 14. Travel motor; 15. Power battery pack; 16. Front light; 17. Rear light; 2. Leveling assembly; 21. Shovel plate; 22. Shovel blade; 23. Tilting frame; 231. Upper horizontal linkage; 232. Lower horizontal linkage; 23 3. Left vertical connecting rod; 234. Right vertical connecting rod; 24. Tilting motor; 25. Motor base; 26. Lead screw; 27. Support arm with seat; 3. Drilling assembly; 31. Frame; 32. Slide rail; 33. Slide block; 34. Drill rod; 35. Rotary motor; 36. Hoisting drum; 37. Cable; 38. Hoisting motor; 39. Top pulley; 310. Drive sprocket; 311. Driven sprocket; 312. Chain; 4. Receiving and executing end. 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] like Figures 1 to 2 , Figure 5As shown, a remote-controlled drilling robot for deep underground rock geology is provided, including a movable tracked vehicle assembly 1, a leveling assembly 2 for leveling the ground surface installed in front of the tracked vehicle assembly 1, and a drilling assembly 3 for drilling the geology installed behind the tracked vehicle assembly 1; it also includes a transmitter (remote controller, which is an existing structure and not shown in the figure) for transmitting signals remotely and a receiver execution end 4 for receiving signals and located inside the tracked vehicle assembly 1. The operator can control the robot to enter the narrow area of ​​deep underground rock independently through the transmitter and complete the robot's movement, leveling and drilling work in sequence. Using a tracked vehicle assembly 1 as the mobile carrier, it is adaptable to the uneven, narrow, and winding underground environment, with strong mobility; the front-mounted leveling assembly 2 can level the drilling site in advance, eliminating the interference of ground debris and protrusions on drilling operations and ensuring the stability of drilling equipment operations; the rear-mounted drilling assembly 3 integrates professional drilling functions, realizing the integrated configuration of site leveling and drilling operations; at the same time, it is equipped with a wireless remote control transmitter and a vehicle-mounted receiver execution terminal 4, completely replacing manual on-site operations. Workers can remotely control the equipment from a safe area, allowing the robot to autonomously enter high-risk and narrow underground working areas to complete the entire process of mobile positioning, site leveling, and geological drilling in sequence, fundamentally eliminating the safety risks of manual underground operations, significantly reducing labor intensity, improving the automation and intelligence level of drilling operations, and adapting to complex and high-risk drilling conditions in deep underground wells.

[0023] like Figures 3 to 5 As shown, the tracked vehicle assembly 1 includes a frame 11. Track wheel sets 12 and walking tracks 13 that cooperate with the track wheel sets 12 are respectively installed on the left and right sides of the frame 11. Inside the frame 11, a walking motor 14 that transmits power to the track wheel sets 12 and a power battery pack 15 that supplies power to all electrical components are installed. Compared with a wheeled walking structure, the structure of dual-sided track wheel sets 12 and walking tracks 13 has a large ground contact area and strong adhesion, which can smoothly pass through underground gravel roads, uneven tunnels, and low-lying areas without slipping or overturning. It has extremely strong adaptability to underground environments. The walking motor 14 independently provides walking power, and the start, stop, speed adjustment, and forward and reverse control are flexible to meet the needs of precise positioning underground. The built-in power battery pack 15 provides unified power to all electrical equipment of the whole machine, with stable power supply and long-lasting battery life. There is no need for external cables, avoiding cable dragging and entanglement that affects the movement of the equipment, realizing fully autonomous mobile operation of the equipment.

[0024] like Figure 3As shown, a front light 16 and a rear light 17 are installed on the top of the frame 11, which can illuminate forward and backward respectively. They can provide full illumination in the forward and backward directions of the equipment, providing a clear working field of vision for remote control operation. This makes it easier for workers to accurately judge the road conditions and work site environment, ensuring the accuracy of equipment movement, leveling, and drilling operations. At the same time, it can effectively avoid road obstacles and improve the safety and control accuracy of equipment operation.

[0025] like Figure 4 As shown, the track wheel assembly 12 includes a drive wheel 121 located at the front and rear ends of the side of the frame 11 and capable of rotation, a support wheel 122 located at the chassis side of the frame 11 and capable of rotation, a guide wheel 123 located at the chassis side of the frame 11 and capable of rotation, and a track support wheel 124 located above the side of the frame 11 and capable of rotation. The four-wheel combination structure of drive wheel 121, support wheel 122, guide wheel 123, and track support wheel 124 constitutes a complete tracked walking transmission support system. The drive wheel 121 is responsible for power output, precisely driving the track rotation; the support wheel 122 bears the weight of the entire machine, evenly distributing the load, avoiding localized pressure deformation of the equipment, and ensuring stable movement; the guide wheel 123 guides the track and adjusts the tension, preventing track deviation and derailment; the track support wheel 124 supports the upper track, preventing track slack, sagging, jamming, and wear, effectively improving the operational stability, reliability, and service life of the tracked walking system, and adapting to long-term bumpy and complex underground operations.

[0026] Continue as Figure 4 As shown, there is one set of track rollers 124, which are located at the top of the track roller assembly 12. There are two sets of drive wheels 121, which are located in the middle of the track roller assembly 12. There are two sets of support rollers 122 and guide wheels 123, which are located at the bottom of the track roller assembly 12. The support rollers 122 and guide wheels 123 are at the same height. By precisely defining the number, position, and height of each wheel, the tracked walking system achieves uniform load distribution and balanced power output. The top single set of track rollers 124 stably supports the upper track, preventing track slack and swaying. The middle double set of drive wheels 121 centrally outputs power, providing ample power and uniform transmission, enhancing the equipment's ability to climb slopes and overcome obstacles. The bottom double set of support rollers 122 and guide rollers 123 are arranged at the same height, ensuring a flat chassis support and smooth, unobstructed movement, significantly improving the equipment's stability and drilling positioning accuracy.

[0027] like Figures 6 to 7As shown, the leveling assembly 2 includes a shovel plate 21, a shovel blade 22 fixed at the bottom of the shovel plate 21, a tilting frame 23 for tilting up and down installed on the rear side of the shovel plate 21, and a tilting motor 24 for driving the tilting frame 23 to move is installed behind the tilting frame 23. The tilting motor 24 is connected to the tracked vehicle assembly 1 in a hinged manner through a motor base 25. The shovel plate 21, together with the bottom shovel blade 22, forms the core leveling structure. The shovel blade 22 has high hardness and good wear resistance, and can efficiently remove gravel, protruding soil and debris from the work site, quickly completing the ground leveling operation. The tilting frame 23 provides stable lifting and tilting support for the shovel plate 21. The tilting motor 24 serves as the power source, which can precisely drive the shovel plate 21 to swing up and down, realizing flexible adjustment of the leveling operation height and adapting to the tunnel ground with different unevenness. The tilting motor 24 adopts a hinged installation structure, which has a certain amount of movement buffer space. During operation, it can buffer the impact load brought by hard soil and rock, avoid damage to the motor rigidity, and improve the operation stability and service life of the leveling assembly 2.

[0028] like Figure 7 As shown, the tilting frame 23 is formed by the movable connection of the upper horizontal link 231, the lower horizontal link 232, the left vertical link 233, and the right vertical link 234; wherein, the upper horizontal link 231 is coaxially connected to the lead screw 26 of the tilting motor 24 through the threaded engagement; the lower horizontal link 232 is movably connected to the two seated support arms 27 fixed to the tracked vehicle assembly 1; the bottom ends of the left vertical link 233 and the right vertical link 234 are directly movably connected to the back plate of the shovel 21. The frame adopts a four-bar linkage structure, which has strong overall structural stability, high transmission accuracy, and flexible and jam-free operation. The rotating motor 24 drives the lead screw 26 to rotate. The lead screw 26 and the upper horizontal connecting rod 231 are threaded together to achieve linear push and pull drive. The transmission is precise and the self-locking is good, which can accurately lock the working height of the shovel plate 21. The lower horizontal connecting rod 232 is limited and supported by the seated support arm 27. The left and right vertical connecting rods 234 are linked to achieve smooth lifting and turning of the shovel plate 21 without tilting or deviation.

[0029] like Figures 8 to 11As shown, the drilling assembly 3 includes a frame 31 fixedly connected to the tracked vehicle assembly 1. A vertically arranged slide rail 32 is fixed on the vertical side of the frame 31. A slide block 33 is slidably mounted on the slide rail 32. A drill rod 34 is rotatably mounted on the slide block 33 via a bearing seat. A rotary motor 35 is provided on one side of the drill rod 34 to drive its rotation. A lifting drum 36 is installed on the inclined side of the frame 31. A cable 37 is fixed and wound inside the lifting drum 36 and connected to the top of the slide block 33 via a hanging ring. A lifting motor 38 is provided on one side of the lifting drum 36 to drive its rotation. The cable 37 passes around a top pulley 39 fixed to the top of the frame 31 and capable of rotation. The frame 31 serves as the supporting base for the drilling assembly 3, and is rigidly fixed to the tracked vehicle assembly 1, ensuring a stable structure and no shaking during operation. The vertical slide rail 32 cooperates with the slide block 33 to realize the vertical lifting and sliding of the drill rod 34, with high guiding accuracy, ensuring the verticality of the borehole and effectively avoiding borehole deviation. The rotary motor 35 independently drives the drill rod 34 to rotate, providing stable power for drilling and rock breaking, and meeting the rock breaking requirements of surrounding rock drilling. The hoisting motor 38 drives the hoisting drum 36 to wind and unwind the cable 37, and cooperates with the top pulley 39 to change direction and guide, precisely controlling the lifting and feeding of the slide block 33 and the drill rod 34, realizing automated feeding drilling and retraction reset, with controllable feed speed and precise stroke.

[0030] like Figure 11 As shown, a drive sprocket 310 is coaxially connected to the shaft of the rotary motor 35, and a driven sprocket 311 is coaxially connected to the top of the drill pipe 34. A chain 312 meshes between the drive sprocket 310 and the driven sprocket 311. There are two sets of drive sprockets 310, driven sprockets 311, and chains 312. This dual-set sprocket and chain 312 synchronous transmission structure provides more uniform power transmission and stronger load-bearing capacity compared to a single-set transmission. It effectively disperses impact and torque loads during drilling, avoiding overload breakage and slippage problems associated with a single-set chain 312. The dual-set synchronous transmission ensures smooth power transmission from the rotary motor 35 to the drill pipe 34, resulting in uniform rotation speed and sufficient torque. This provides greater stability when drilling in hard rock and fractured surrounding rock, effectively preventing stuck drill bits and stoppages, improving the reliability of drilling operations, extending the service life of transmission components, and reducing equipment failure rates.

[0031] like Figure 5 As shown, the transmitter and receiver 4 establish a connection through radio frequency signals. The radio frequency signals are used to realize remote control communication. They have strong penetration and excellent anti-interference ability. They can penetrate the surrounding rock of underground roadways and block obstacles. The signal transmission distance is long, the delay is low, and the stability is high, which ensures that the staff can accurately and stably control the entire process of equipment movement, leveling, and drilling.

[0032] like Figures 1 to 11 As shown, the overall operation process and working principle of the remote-controlled drilling robot for deep underground surrounding rock geology are as follows: Before the operation, the staff held the radio frequency transmitter (remote controller) in the safe control area and issued a remote control command. The internal receiver and execution terminal 4 of the equipment received the radio frequency signal and executed the corresponding operation. First, the tracked vehicle assembly 1 was started, and the walking motor 14 drove the track wheel set 12 to rotate, which made the equipment walk smoothly and autonomously drive into the deep, narrow and high-risk working area underground. The front and rear lights 17 were turned on throughout the process to help the staff observe the road conditions in real time and accurately complete the equipment positioning. After the equipment is in place, the front-end leveling assembly 2 is started remotely. The tilting motor 24 drives the lead screw 26 to rotate. Through the linkage transmission of the four-bar tilting frame 23, the bottom shovel plate 21 and the blade 22 are driven to descend and contact the ground. As the equipment moves slightly, the blade 22 completely removes and flattens the gravel, protruding soil and rocks, and accumulated debris on the ground in the working area, completing the leveling pretreatment of the drilling site and eliminating the interference of uneven ground on subsequent drilling operations. After the pretreatment is completed, the leveling assembly 2 is controlled to lift and reset to avoid affecting the drilling operation. After the site is leveled, the rear drilling assembly 3 is started remotely. The rotary motor 35 drives the drill rod 34 to rotate at high speed through the synchronous transmission of the double set of active sprockets 310, chain 312, and driven sprocket 311. At the same time, the lifting motor 38 drives the lifting drum 36 to rotate and wind up the cable 37. The cable 37 is reversed by the top pulley 39 and traction slide 33 to slide down the vertical slide rail 32 at a constant speed, driving the rotating drill rod 34 to feed vertically and carry out drilling operations in the deep surrounding rock. During the drilling process, the synchronous transmission of the double set of chains 312 ensures that the drill rod 34 has sufficient torque and stable rotation, effectively dealing with drilling in hard rock and broken rock layers and avoiding drill jamming and hole deviation. Once the drilling reaches the preset depth, the remotely controlled hoisting motor 38 reverses, driving the drum to wind up the cable 37, pulling the slide block 33 and drill rod 34 upwards to reset, completing the drill retraction action. Then, the rotary motor 35 is shut off, ending the single drilling operation. After all operations are completed, the staff remotely controls the tracked vehicle assembly 1 to autonomously drive the equipment out of the deep, high-risk work area and back to a safe position. The entire drilling operation is unmanned, remote, and integrated. Subsequently, personnel quickly enter to obtain and analyze drilling samples to accurately determine geological parameters, thereby avoiding safety accidents such as collapses, water inrushes, and gas outbursts, and ensuring the safe progress of subsequent mining operations.

[0033] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A remotely controlled drilling robot for deep underground rock geology, characterized in that: It includes a mobile tracked vehicle assembly, a leveling assembly installed at the front of the tracked vehicle assembly to level the ground, and a drilling assembly installed at the rear of the tracked vehicle assembly to drill into the geology; it also includes a transmitter that transmits signals remotely and a receiver / execution unit that receives signals and is located inside the tracked vehicle assembly. The operator can control the robot to enter a narrow area of ​​deep surrounding rock in the well through the transmitter and complete the robot's movement, leveling and drilling work in sequence.

2. The remote-controlled drilling robot for deep surrounding rock geology according to claim 1, characterized in that: The tracked vehicle assembly includes a frame, with track wheel sets and running tracks that work in conjunction with the track wheel sets mounted on the left and right sides of the frame, respectively. Inside the frame, there is a running motor that transmits power to the track wheel sets and a power battery pack that supplies power to all electrical components.

3. The remote-controlled drilling robot for deep surrounding rock geology according to claim 2, characterized in that: The top of the frame is also equipped with a front light and a rear light that illuminate forward and backward respectively.

4. The remote-controlled drilling robot for deep surrounding rock geology according to claim 2, characterized in that: The track wheel assembly includes a drive wheel located at the front and rear ends of the side of the chassis and capable of rotation, a support wheel located at the chassis side of the chassis and capable of rotation, a guide wheel located at the chassis side of the chassis and capable of rotation, and a track support wheel located above the side of the chassis and capable of rotation.

5. The remote-controlled drilling robot for deep surrounding rock geology according to claim 4, characterized in that: The track rollers are provided in one set and are located at the top of the track roller assembly. The drive wheels are provided in two sets and are located in the middle of the track roller assembly. The support rollers and guide rollers are provided in two sets each. The support rollers and guide rollers are located at the bottom of the track roller assembly and are at the same height.

6. The remote-controlled drilling robot for deep surrounding rock geology according to claim 1, characterized in that: The leveling assembly includes a shovel plate, a shovel blade fixed at the bottom of the shovel plate, a tilting frame for tilting up and down installed at the rear of the shovel plate, and a tilting motor for driving the tilting frame to move installed behind the tilting frame. The tilting motor is connected to the tracked vehicle assembly in a hinged manner through a motor mount.

7. The remote-controlled drilling robot for deep surrounding rock geology according to claim 6, characterized in that: The tilting frame is composed of an upper horizontal link, a lower horizontal link, a left vertical link, and a right vertical link that are movably connected to each other. The upper horizontal link is connected to the tilting motor shaft by a lead screw that moves through a threaded connection. The lower horizontal link is movably connected to two support arms with seats fixed to the tracked vehicle assembly. The bottom ends of the left and right vertical links are directly movably connected to the back plate of the shovel.

8. The remote-controlled drilling robot for deep surrounding rock geology according to claim 1, characterized in that: The drilling assembly includes a frame fixedly connected to the tracked vehicle assembly. A vertically arranged slide rail is fixed on the vertical side of the frame. A slide block is slidably mounted on the slide rail. A drill rod is rotatably mounted on the slide block via a bearing seat. A rotary motor that drives the drill rod to rotate is provided next to the drill rod. A lifting drum is installed on the inclined side of the frame. A cable that is fixed and wound inside the lifting drum and connected to the top of the slide block via a hanging ring is provided. A lifting motor that drives the lifting drum to rotate is provided next to the lifting drum. The cable passes around a top pulley that is fixed to the top of the frame and can rotate.

9. The remote-controlled drilling robot for deep surrounding rock geology according to claim 8, characterized in that: A drive sprocket is coaxially connected to the shaft of the rotary motor, and a driven sprocket is coaxially connected to the top of the drill pipe. A chain meshes between the drive sprocket and the driven sprocket. There are two sets of drive sprockets, driven sprockets and chains.

10. The remote-controlled drilling robot for deep surrounding rock geology according to claim 1, characterized in that: The transmitter and receiver establish a connection via radio frequency signals.

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