Horizontal steering control mechanism for drilling inclinometry robot

Abstract

The horizontal steering control mechanism comprises a machine base, an assembling frame with holes is fixedly installed at the top end of the machine base, a displacement frame is connected to the middle of the assembling frame with the holes in a sliding mode, an angle mechanism is installed on one side of the displacement frame, and the angle mechanism comprises a first installation shaft and a driving gear. The first mounting shaft is fixedly connected with the driving gear, and a second mounting shaft is arranged on one side of the first mounting shaft. According to the horizontal steering control mechanism for the drilling inclinometry robot, the steering function is built in, and the steering mechanisms are arranged at the two ends of the inclinometry probe, so that flexible and accurate automatic steering in a hole is achieved; by arranging a built-in voltage stabilization filter circuit of the power supply system, fine regulation and control are carried out on an input power supply, voltage fluctuation and electromagnetic interference are effectively inhibited, stable operation of a stepping motor is ensured, stepping errors caused by power supply problems are avoided, and therefore the steering precision is maintained within + / -1 degree.

Description

Technical Field

[0001] The utility model relates to the technical field of drilling inclination measuring robots, in particular to a horizontal steering control mechanism for drilling inclination measuring robots. Background Art

[0002] The inclinometer robot uses a main control board to control the stepper motor to achieve high-precision reset control, realizing the elevation control of the probe during the test. According to the project, the depth interval is set to 0.5m, and the depth error can be controlled within ±0.1mm, so that the probe stops at the test point. The sensor simultaneously sends the data back to the main control board through the signal transmission unit. The main control board analyzes the data to see if it is correct and stores it. Finally, the data is sent to the server for storage and calculation via optical fiber.

[0003] However, traditional drilling inclinometer robots have the following disadvantages:

[0004] The traditional automatic inclinometer has a large and complex structure and alignment problems in the hole steering device, especially when the hole undergoes significant displacement. Utility Model Content

[0005] The purpose of the present invention is to provide a horizontal steering control mechanism for a drilling inclinometer robot to solve the problems of bulky and complex structure and alignment difficulties in the hole mouth steering device of the traditional automatic inclinometer proposed in the above background technology, especially the challenges when the hole mouth undergoes significant displacement.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: A horizontal steering control mechanism for a drilling and inclinometer robot, comprising a machine base, a perforated assembly frame fixedly mounted on the top of the machine base, a displacement frame slidably connected to the middle of the perforated assembly frame, an angle mechanism mounted on one side of the displacement frame, the angle mechanism comprising a first mounting shaft and a driving gear, the first mounting shaft being fixedly connected to the driving gear, a second mounting shaft being provided on one side of the first mounting shaft, a mounting frame being fixedly mounted on one end of the second mounting shaft, a screw being threadedly connected to the bottom end of the screw, a height platform being rotatably connected to the bottom end of the height platform, a sensor probe being fixedly mounted on the bottom end of the height platform, a power supply mechanism being fixedly mounted on the other side of the machine base, the power supply mechanism comprising a power supply box and a sealed door, one side of the power supply box being hinged to one end of the sealed door, a power supply system being fixedly mounted inside the power box, a stepper motor being fixedly mounted on the surface of the displacement frame, the power supply system being connected to the stepper motor, an angle sensor and a control signal receiver being fixedly mounted on the surface of the stepper motor, and a control unit being provided on one side of the stepper motor.

[0007] Preferably, the power supply system includes a power input interface, a filter module, a transformer, an integrated voltage stabilizing module, a control protection module and a power output interface. The power input interface is connected to the filter module, the filter module, the integrated voltage stabilizing module and the control protection module are connected to the transformer, and the power output interface is connected to the control protection module. The voltage stabilizing filter circuit composed of the built-in filter module, transformer and integrated voltage stabilizing module can finely control the input power supply, effectively suppress voltage fluctuations and electromagnetic interference, ensure the stable operation of the stepper motor, and avoid step errors caused by power supply problems, so that the steering accuracy is maintained within ±1°.

[0008] Preferably, heat dissipation windows are fixedly installed at both ends of the power box, the side of the power box away from the sealing door is fixedly connected to the side facing the machine base, and the power supply mechanism is installed on the machine base through the power box.

[0009] Preferably, a cylinder base is fixedly installed at one end of both sides of the perforated assembly frame, a pushing cylinder is fixedly installed on one side of the two cylinder bases, and the movable ends of the two pushing cylinders are fixedly connected to the side opposite the displacement frame. The pushing cylinder performs telescopic movement, and the pushing cylinder pushes the displacement frame from one side to slide along the perforated assembly frame to adjust the sensing position of the sensor probe.

[0010] Preferably, the output end of the stepper motor is fixedly connected to the end opposite to the first mounting shaft, a driven gear is fixedly installed in the middle of the second mounting shaft, the outer side of the driving gear is meshed with the outer side of the driven gear, one end of the first mounting shaft and one end of the second mounting shaft are both rotatably connected to the side opposite to the displacement frame, the stepper motor is powered on and started, the stepper motor drives the first mounting shaft to rotate, the first mounting shaft drives the driving gear to rotate, the driving gear contacts the driven gear, the driven gear is subjected to friction to drive the second mounting shaft to rotate, the second mounting shaft drives the mounting frame to move synchronously, and the angle of the sensing probe of the sensor probe is adjusted.

[0011] Preferably, a reinforcement plate is fixedly installed at the connection between the machine base and the assembly rack with holes, and the installation of the reinforcement plate increases the stability of the installation of the machine base and the assembly rack with holes.

[0012] Preferably, front wheels are fixedly mounted on the bottom ends of both sides of the sensor probe, and rear wheels are fixedly mounted on the top ends of both sides of the sensor probe. The installation of the front and rear wheels on the sensor probe facilitates the sensor probe to slide into the borehole.

[0013] Compared with the prior art, the beneficial effects of the present invention are:

[0014] 1. The mechanism has a built-in steering function. By configuring the steering mechanism at both ends of the inclinometer probe, flexible and accurate automatic steering can be achieved in the hole.

[0015] 2. By setting up the built-in voltage stabilization and filtering circuit of the power supply system, the input power supply is finely regulated, effectively suppressing voltage fluctuations and electromagnetic interference, ensuring the stable operation of the stepper motor, and avoiding step errors caused by power supply problems, so that the steering accuracy is maintained within ±1°. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a side view of the utility model;

[0017] Figure 2 This is a connection diagram of the displacement frame and the angle mechanism of the utility model;

[0018] Figure 3 It is a side view of the power supply mechanism of the utility model;

[0019] Figure 4 This is the circuit diagram of the utility model;

[0020] Figure 5 This is a schematic diagram of the structure of the present utility model.

[0021] In the figure: 1. Machine base; 2. Power supply mechanism; 21. Power box; 22. Heat dissipation window; 23. Power supply system; 231. Power input interface; 232. Filter module; 233. Transformer; 234. Integrated voltage stabilization module; 235. Control and protection module; 236. Power output interface; 24. Sealed door; 3. Reinforcement plate; 4. Push cylinder; 5. Displacement rack; 6. Assembly rack with holes; 7. Mounting rack; 8. Stepper motor; 9. Cylinder base; 10. Angle mechanism; 101. Driving gear; 102. First mounting shaft; 103. Driven gear; 104. Second mounting shaft; 11. Screw; 12. Height platform; 13. Sensor probe; 14. Rear wheel; 15. Front wheel; 16. Angle sensor; 17. Control signal receiver; 18. Control unit. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0023] See also Figure 1-5The utility model provides a horizontal steering control mechanism for a drilling inclinometer robot, comprising a machine base 1, a perforated assembly frame 6 fixedly mounted on the top of the machine base 1, a displacement frame 5 slidably connected to the middle of the perforated assembly frame 6, an angle mechanism 10 mounted on one side of the displacement frame 5, the angle mechanism 10 comprising a first mounting shaft 102 and a driving gear 101, the first mounting shaft 102 being fixedly connected to the driving gear 101, a second mounting shaft 104 being provided on one side of the first mounting shaft 102, a mounting frame 7 fixedly mounted on one end of the second mounting shaft 104, a screw 11 being threadedly connected to the bottom end of the mounting frame 7, The bottom end of the screw 11 is rotatably connected to the height platform 12, and the bottom end of the height platform 12 is fixedly installed with a sensor probe 13. The other side of the machine base 1 is fixedly installed with a power supply mechanism 2, which includes a power box 21 and a sealing door 24. One side of the power box 21 is hinged to one end of the sealing door 24. A power supply system 23 is fixedly installed inside the power box 21. A stepper motor 8 is fixedly installed on the surface of the displacement frame 5. The power supply system 23 is connected to the stepper motor 8. An angle sensor 16 and a control signal receiver 17 are fixedly installed on the surface of the stepper motor 8. A control unit 18 is provided on one side of the stepper motor 8.

[0024] The power supply system 23 includes a power input interface 231, a filter module 232, a transformer 233, an integrated voltage stabilizing module 234, a control and protection module 235 and a power output interface 236. The power input interface 231 is connected to the filter module 232, the filter module 232, the integrated voltage stabilizing module 234 and the control and protection module 235 are connected to the transformer 233, and the power output interface 236 is connected to the control and protection module 235. The voltage stabilizing and filtering circuit composed of the built-in filter module 232, the transformer 233 and the integrated voltage stabilizing module 234 is used to finely control the input power supply, effectively suppress voltage fluctuations and electromagnetic interference, ensure the stable operation of the stepper motor 8, and avoid step errors caused by power supply problems, so that the steering accuracy is maintained within ±1°.

[0025] Heat dissipation windows 22 are fixedly installed at both ends of the power box 21. The side of the power box 21 away from the sealing door 24 is fixedly connected to the side facing the base 1. The power supply mechanism 2 is installed on the base 1 through the power box 21.

[0026] A cylinder base 9 is fixedly installed at one end of both sides of the perforated assembly frame 6, and a pushing cylinder 4 is fixedly installed on one side of the two cylinder bases 9. The movable ends of the two pushing cylinders 4 are fixedly connected to the side opposite the displacement frame 5, and the pushing cylinder 4 performs telescopic movement, and the pushing cylinder 4 pushes the displacement frame 5 from one side to slide along the perforated assembly frame 6 to adjust the sensing position of the sensor probe 13.

[0027] The output end of the stepper motor 8 is fixedly connected to the end opposite to the first mounting shaft 102, and a driven gear 103 is fixedly installed in the middle of the second mounting shaft 104. The outer side of the driving gear 101 is meshed with the outer side of the driven gear 103. One end of the first mounting shaft 102 and one end of the second mounting shaft 104 are both rotatably connected to the side opposite to the displacement frame 5. After the stepper motor 8 is powered on and started, the stepper motor 8 drives the first mounting shaft 102 to rotate, and the first mounting shaft 102 drives the driving gear 101 to rotate. The driving gear 101 contacts the driven gear 103, and the driven gear 103 is subjected to friction to drive the second mounting shaft 104 to rotate. The second mounting shaft 104 drives the mounting frame 7 to move synchronously to adjust the angle of the sensing probe of the sensor probe 13.

[0028] A reinforcing plate 3 is fixedly installed at the connection between the machine base 1 and the assembly rack with holes 6 . The installation of the reinforcing plate 3 increases the stability of the installation of the machine base 1 and the assembly rack with holes 6 .

[0029] Front wheels 15 are fixedly mounted on the bottom ends of both sides of the sensor probe 13, and rear wheels 14 are fixedly mounted on the top ends of both sides of the sensor probe 13. The installation of the front wheels 15 and the rear wheels 14 on the sensor probe 13 facilitates the sensor probe 13 to slide into the drill hole.

[0030] When the embodiment of the present application is in use, the cylinder 4 is pushed to perform telescopic movement, and the cylinder 4 is pushed from one side to push the displacement frame 5 to slide along the perforated assembly frame 6 to adjust the sensing position of the sensor probe 13. The stepper motor 8 is powered on and started, and the stepper motor 8 drives the first installation shaft 102 to rotate, and the first installation shaft 102 drives the driving gear 101 to rotate, and the driving gear 101 contacts the driven gear 103. The driven gear 103 is subjected to friction and drives the second installation shaft 104 to rotate, and the second installation shaft 104 drives the installation frame 7 to perform synchronous movement, and the sensor probe 1 3 is used to adjust the angle of the induction probe. The installation of the front wheel 15 and the rear wheel 14 on the sensor probe 13 facilitates the sensor probe 13 to slide into the drill hole. The voltage stabilizing filter circuit composed of the built-in filter module 232, the transformer 233 and the integrated voltage stabilizing module 234 can finely control the input power supply, effectively suppress voltage fluctuations and electromagnetic interference, ensure the stable operation of the stepper motor 8, avoid step errors caused by power supply problems, and thus maintain the steering accuracy within ±1°. The stepper motor 8 serves as an actuator, and the control signal receiver 17 accurately controls the sensor according to the control signal. The inclinometer's steering angle can achieve sub-degree steering accuracy without the need for additional feedback sensors, ensuring positioning at any angle within a 180° range within the hole. An angle sensor 16 is mounted on the rotary control board and continuously monitors and adjusts the robot's posture to ensure accurate pointing under different tilt conditions. The displacement sensor is fixed to a rotatable base, allowing it to measure and track changes in the device's position. The tilt sensor is also fixed to the rotary control board and is used to monitor and adjust the robot's posture to ensure correct guidance at different tilt angles. A stepper motor 8 is used to precisely control the inclinometer's steering. Because stepper motors 8 can perform very precise rotations without feedback sensors, with each step achieving a fixed angle, they are well suited for applications requiring fine positioning. In this system, stepper motor 8 is responsible for precise 180° steering, collecting changes in three-axis acceleration and three-axis angular velocity, and collecting changes in magnetic field angle. The data processing module's function is to set the acquisition accuracy and rate, configure information, and send the acquired information to the microcontroller. The control unit 18 receives input from the sensor and drives the stepper motor 8 to perform steering operations. It can also perform stop and turn operations according to preset programs or real-time sensor data. The power supply system 23 stabilizes and filters the input power to ensure the stability of the power supply, which is crucial to the performance of the stepper motor, because power supply fluctuations or noise may cause the stepper motor 8 to lose steps, affecting its accuracy.

[0031] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A horizontal steering control mechanism for a drilling inclinometer robot, comprising a base (1), characterized in that: A perforated assembly frame (6) is fixedly mounted on the top of the machine base (1), a displacement frame (5) is slidably connected to the middle of the perforated assembly frame (6), an angle mechanism (10) is mounted on one side of the displacement frame (5), the angle mechanism (10) comprises a first mounting shaft (102) and a driving gear (101), the first mounting shaft (102) is fixedly connected to the driving gear (101), a second mounting shaft (104) is provided on one side of the first mounting shaft (102), a mounting frame (7) is fixedly mounted on one end of the second mounting shaft (104), a screw rod (11) is threadedly connected to the bottom end of the screw rod (11), and a height platform (12) is rotatably connected to the bottom end of the screw rod (11). A sensor probe (13) is fixedly mounted on the bottom end of the height platform (12), a power supply mechanism (2) is fixedly mounted on the other side of the machine base (1), the power supply mechanism (2) comprises a power supply box (21) and a sealing door (24), one side of the power supply box (21) is hinged to one end of the sealing door (24), a power supply system (23) is fixedly mounted inside the power supply box (21), a stepper motor (8) is fixedly mounted on the surface of the displacement frame (5), the power supply system (23) is connected to the stepper motor (8), an angle sensor (16) and a control signal receiver (17) are fixedly mounted on the surface of the stepper motor (8), and a control unit (18) is provided on one side of the stepper motor (8).

2. The horizontal steering control mechanism for a drilling and inclinometer robot according to claim 1, characterized in that: The power supply system (23) comprises a power input interface (231), a filter module (232), a transformer (233), an integrated voltage stabilizing module (234), a control and protection module (235), and a power output interface (236); the power input interface (231) is connected to the filter module (232); the filter module (232), the integrated voltage stabilizing module (234), and the control and protection module (235) are connected to the transformer (233); and the power output interface (236) is connected to the control and protection module (235).

3. The horizontal steering control mechanism for a drilling and inclinometer robot according to claim 1, characterized in that: Heat dissipation windows (22) are fixedly mounted on both ends of the power box (21), and a side of the power box (21) away from the sealing door (24) is fixedly connected to a side directly facing the machine base (1).

4. The horizontal steering control mechanism for a drilling and inclinometer robot according to claim 1, characterized in that: A cylinder base (9) is fixedly mounted on one end of both sides of the perforated assembly frame (6), a push cylinder (4) is fixedly mounted on one side of the two cylinder bases (9), and the movable ends of the two push cylinders (4) are fixedly connected to the side facing the displacement frame (5).

5. The horizontal steering control mechanism for a drilling and inclinometer robot according to claim 1, characterized in that: The output end of the stepper motor (8) is fixedly connected to an end directly opposite the first mounting shaft (102); a driven gear (103) is fixedly installed in the middle of the second mounting shaft (104); the outer side of the driving gear (101) is meshedly connected to the outer side of the driven gear (103); and one end of the first mounting shaft (102) and one end of the second mounting shaft (104) are both rotatably connected to a side directly opposite the displacement frame (5).

6. The horizontal steering control mechanism for a drilling and inclinometer robot according to claim 1, characterized in that: A reinforcement plate (3) is fixedly mounted at the connection between the machine base (1) and the perforated assembly frame (6).

7. The horizontal steering control mechanism for a drilling and inclinometer robot according to claim 1, characterized in that: Front wheels (15) are fixedly mounted on the bottom ends of both sides of the sensor probe (13), and rear wheels (14) are fixedly mounted on the top ends of both sides of the sensor probe (13).

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