A land auger drilling robot

Abstract

The utility model provides a kind of land rotary drilling robot, including walking robot, the upper end left side of walking robot is provided with fixed frame, the upper end left side of fixed frame is symmetrically provided with fixed plate, rotating column is rotatably arranged between two fixed plates, the middle part of rotating column is fixedly provided with installation box, drill rod is detachably arranged in the inside of installation box, the lower end of drill rod is provided with rotary drilling assembly, through the land rotary drilling robot of the utility model, the cooperation of worm wheel and worm, worm wheel drives rotating column to rotate, rotating column indirectly drives rotary drilling piece to rotate, and then the rotary drilling angle of rotary drilling piece is adjusted, the angle of rotary drilling piece can be adjusted when robot is operated on sloping land, soft ground or uneven ground, so that it always remains perpendicular to horizontal plane, ensure the perpendicularity of drilling, meet high-precision engineering specification, and eliminate the quality problem of "inclined hole" caused by uneven ground.

Description

Technical Field

[0001] This utility model belongs to the field of rotary drilling robot technology, and specifically relates to a land rotary drilling robot. Background Technology

[0002] Rotary drilling is a fundamental and crucial construction technology in modern engineering. It is mainly used to efficiently and accurately drill deep holes on the ground or underground to provide foundation support or access for subsequent structural construction. Rotary drilling robots are equipped with high-power power heads and intelligent control systems, and their drilling speed far exceeds that of manual or ordinary drilling rigs, which can reduce human operation time and make the process more compact. Most existing rotary drilling robots place the rotary drilling assembly at the front of the robot. While the robot can perform rotary drilling operations on the land during movement, this method cannot adjust the angle of the rotary drilling assembly, as the assembly is fixed on the robot. On slopes, hills, or uneven construction sites, the fixed angle of the rotary drilling assembly cannot ensure that the drill rod is perpendicular to the horizontal plane, resulting in tilted boreholes. Consequently, the equipment has poor maneuverability and operational flexibility in complex environments. Utility Model Content

[0003] In view of this, this utility model addresses the shortcomings of existing technologies by providing a land rotary drilling robot. Through the cooperation of a worm gear and a worm, the worm gear drives the rotating column to rotate, which in turn drives the rotary drilling component to rotate. This allows for adjustment of the rotary drilling angle. When the robot operates on slopes, soft ground, or uneven terrain, the angle of the rotary drilling component can be adjusted to ensure that it remains perpendicular to the horizontal plane, thus ensuring the verticality of the borehole, meeting high-precision engineering specifications, and eliminating the "skewed hole" quality problem caused by uneven ground.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: a land rotary drilling robot, including a walking robot, a fixed frame is provided on the upper left side of the walking robot, fixed plates are symmetrically provided on the upper left side of the fixed frame, a rotating column is rotatably provided between the two fixed plates, a mounting box is fixedly provided in the middle of the rotating column, a drill rod is detachably provided inside the mounting box, a rotary drilling assembly is provided at the lower end of the drill rod, a drive unit for driving the rotating column to rotate is provided at the rear end of the fixed frame, the drive unit includes a fixed box provided on the fixed box located on the rear fixed plate, a worm gear is provided at the left end of the fixed box, a worm gear meshing with the worm gear is provided on the rotating column, a drive component for driving the worm gear to rotate is provided inside the fixed box, the drive component includes a motor one provided at the right end of the fixed box, the output end of the motor one is connected to the worm gear through a coupling.

[0005] As a further improvement of this utility model, the rotary drilling assembly includes a rotary drilling groove disposed at the lower end of the drill rod. A cylinder groove is formed in the upper wall of the rotary drilling groove and the lower surface of the drill rod. A hydraulic cylinder is fixedly disposed in the cylinder groove. The output end of the hydraulic cylinder is connected to a supporting top plate. The supporting top plate is slidably connected to the cylinder groove. A supporting bottom plate is fixedly connected to the lower end of the supporting top plate through a vertical rod. Several rotary drilling components are disposed between the supporting bottom plate and the supporting top plate.

[0006] As a further improvement of this utility model, the rotary drilling component includes a second motor mounted on a support base plate, and the output end of the second motor extends to the lower end of the support base plate and is connected to a rotary drilling bit.

[0007] As a further improvement of this utility model, the front and rear ends of the mounting box are provided with fixing parts for fixing the columns.

[0008] As a further improvement of this utility model, the walking robot is equipped with an environmental perception module, which includes at least one of a lidar, an image recognition camera, and an infrared sensor, for detecting terrain information and transmitting the data to the control motherboard to control the rotary drilling operation.

[0009] As a further improvement of this utility model, the walking robot also includes an automatic navigation system, which includes a GPS positioning module and a path planning algorithm module, used to automatically plan the rotary drilling path and guide the robot to move based on the information collected by the environmental perception module.

[0010] As a further improvement of this utility model, the walking robot is equipped with a control motherboard, which is electrically connected to motor one, motor two, hydraulic cylinder, environmental perception module and automatic navigation system, and is used to automatically control the rotary drilling operation and walking path according to environmental information and path planning information.

[0011] Compared with the prior art, the beneficial effects of this utility model are as follows: Firstly, by setting up a rotating column and a mounting box, the rotating column drives the mounting box to rotate, which in turn drives the upright to rotate, and the upright drives the rotary drilling component to rotate. This allows for adjustment of the rotary drilling angle. When the robot is operating on slopes, soft ground, or uneven terrain, it may tilt. The angle adjustment system can adjust the angle of the rotary drilling component to keep it perpendicular to the horizontal plane, ensuring the verticality of the borehole, meeting high-precision engineering specifications, and eliminating the "skewed hole" quality problem caused by uneven ground.

[0012] Secondly, through the cyclic extension and retraction of the hydraulic cylinder, the extension and retraction end of the hydraulic cylinder drives the support top plate to move, which in turn drives the rotary drill bit to continuously contact the ground through the support bottom plate, breaking up the soil, facilitating excavation, and improving the efficiency of rotary drilling. The rotation is responsible for cutting and breaking loose soil layers, and the "cyclic extension and retraction" of the hydraulic cylinder provides high-frequency impact or strong pressure, like a "hydraulic hammer" to "ram" or "press" the drill bit into hard strata, so that the drilling speed can be multiplied in hard soil, dense sand and other difficult-to-drill strata.

[0013] Thirdly, the worm gear drives the rotary column to rotate, which has a natural "self-locking" function to ensure operational safety. In most cases, the worm can drive the worm wheel, but the worm wheel cannot drive the worm in the opposite direction. When the rotary drilling component is adjusted to the required angle, even if the motor is powered off or loses power, the self-locking property of the worm gear can firmly "lock" the position, preventing the rotary drilling component from accidentally shifting due to its own weight, drilling reaction force or external impact. This fundamentally eliminates equipment damage or safety accidents caused by angle loss of control, and is a model of passive safety.

[0014] Fourth, the walking robot also includes an automatic navigation system, which includes a GPS positioning module and a path planning algorithm module. The automatic navigation system is used to automatically plan the rotary drilling path and guide the robot to move based on the information collected by the environmental perception module. The GPS positioning module provides real-time location information. Combined with the path planning algorithm, the robot can accurately know its coordinates on the construction site and move along the preset path with minimal trajectory deviation, avoiding collisions or crossing boundaries. Attached Figure Description

[0015] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0016] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the drive unit structure of this utility model; Figure 3 This is a schematic diagram of the rotary drilling component structure of this utility model; Figure 4 This is a front view structural diagram of the present invention.

[0017] In the diagram: 101. Walking robot; 102. Fixing frame; 103. Fixing plate; 104. Rotary column; 105. Mounting box; 106. Drill rod; 107. Fixing box; 201. Worm gear; 202. Worm; 203. Motor 1; 204. Rotary drilling trench; 205. Hydraulic cylinder; 206. Support top plate; 207. Support bottom plate; 208. Motor 2; 209. Rotary drilling bit; 210. Fixing component; 211. Control mainboard. Detailed Implementation

[0018] To better understand this utility model, the following embodiments further illustrate its content, but the scope of protection of this utility model is not limited to the embodiments described below. Numerous specific details are set forth in the following description to provide a more thorough understanding of this utility model. However, it will be apparent to those skilled in the art that this utility model can be practiced without one or more of these details.

[0019] like Figure 1 , 2 As shown in Figure 3, a rotary drilling robot includes a walking robot 101. A fixed frame 102 is provided on the upper left side of the walking robot 101. Fixed plates 103 are symmetrically arranged on the upper left side of the fixed frame 102. A rotating column 104 is rotatably arranged between the two fixed plates 103. A mounting box 105 is fixedly installed in the middle of the rotating column 104. A drill rod 106 is detachably installed inside the mounting box 105. A rotary drilling assembly is provided at the lower end of the drill rod 106. A drive unit for driving the rotating column 104 to rotate is provided at the rear end of the fixed frame 102. The drive unit includes a fixed box 107 located on the rear fixed plate 103. A worm gear 201 is provided at the left end of the fixed box 107. A worm 202 that meshes with the worm gear 201 is provided on the rotating column 104. A drive mechanism for driving the worm is provided inside the fixed box 107. The drive component for rotation 202 includes a motor 203 located at the right end of the fixed box 107. The output end of the motor 203 is connected to the worm gear 202 via a coupling. When the motor 203 is started, its output end drives the worm gear 202 to rotate. The worm gear 202 drives the worm wheel 201 to rotate, which in turn drives the rotating column 104 to rotate. The rotating column 104 drives the mounting box 105 to rotate, which in turn causes the mounting box 105 to rotate the upright. The upright then drives the rotary drilling component to rotate, thereby adjusting the drilling angle of the rotary drilling component. When the robot operates on slopes, soft ground, or uneven terrain, it may tilt. The angle adjustment system can adjust the angle of the rotary drilling component to keep it perpendicular to the horizontal plane, ensuring the verticality of the borehole, meeting high-precision engineering specifications, and preventing "skewed hole" quality problems caused by uneven ground.

[0020] like Figure 2 , 3 As shown, the rotary drilling assembly includes a rotary drilling slot 204 disposed at the lower end of the drill rod 106. A cylinder slot is formed in the upper wall of the rotary drilling slot 204 and the lower surface of the drill rod 106. A hydraulic cylinder 205 is fixedly disposed in the cylinder slot. The output end of the hydraulic cylinder 205 is connected to a supporting top plate 206. The supporting top plate 206 is slidably connected to the cylinder slot. A supporting bottom plate 207 is fixedly connected to the lower end of the supporting top plate 206 through a vertical rod. Several rotary drilling components are disposed between the supporting bottom plate 207 and the supporting top plate 206.

[0021] like Figure 1, 4 As shown, the rotary drilling component includes a second motor 208 mounted on a support base plate 207. The output end of the second motor 208 extends to the lower end of the support base plate 207 and is connected to a rotary drilling bit 209. When the second motor 208 is started, it causes the rotary drilling bit 209 to rotate. At the same time, the hydraulic cylinder 205 is cyclically extended and retracted. The extension and retraction end of the hydraulic cylinder 205 drives the support top plate 206 to move, which in turn drives the rotary drilling bit 209 to continuously contact the ground through the support base plate 207, breaking up the soil and facilitating excavation. This improves the efficiency of rotary drilling. The rotation is responsible for cutting and breaking up loose soil layers, while the "cyclic extension and retraction" of the hydraulic cylinder 205 provides high-frequency impact or strong pressure, like a "hydraulic hammer" to "ram" or "press" the drill bit into hard strata, so that the drilling speed can be multiplied in hard soil, dense sand, and other difficult-to-drill strata.

[0022] like Figure 1 , 4 As shown, the mounting box 105 is equipped with fasteners 210 at both the front and rear ends for fixing the column. The fasteners 210 can fix the column and facilitate its disassembly.

[0023] like Figure 1 , 4 As shown, the walking robot 101 is equipped with an environmental perception module, which includes at least one of a lidar, an image recognition camera, and an infrared sensor. The environmental perception module is used to detect terrain information and transmit the data to the control motherboard 211 to control the rotary drilling operation.

[0024] like Figure 1 , 4 As shown, the walking robot 101 also includes an automatic navigation system, which includes a GPS positioning module and a path planning algorithm module, used to automatically plan the rotary drilling path and guide the robot to move based on the information collected by the environmental perception module.

[0025] like Figure 1 , 4 As shown, the walking robot 101 is equipped with a control motherboard 211, which is electrically connected to motor 1 203, motor 2 208, hydraulic cylinder 205, environmental perception module and automatic navigation system, and is used to automatically control the rotary drilling operation and walking path according to environmental information and path planning information.

[0026] In use, the walking robot 101 moves to a suitable position, then starts motor 203. The output of motor 203 drives the worm gear 202 to rotate, which in turn drives the worm wheel 201 to rotate. The worm wheel 201 drives the rotating column 104 to rotate, which in turn drives the mounting box 105 to rotate. This, in turn, causes the mounting box 105 to rotate the upright, which in turn drives the rotary drilling component to rotate. This allows for adjustment of the rotary drilling component's drilling angle. When the robot is operating on slopes, soft ground, or uneven terrain, it may tilt. The angle adjustment system can adjust the angle of the rotary drilling component to keep it stable. Perpendicular to the horizontal plane, ensuring the verticality of the borehole meets high-precision engineering specifications and eliminates the quality problem of "skewed holes" caused by uneven ground. Then, motor 208 is started, which causes the rotary drill bit 209 to rotate. At the same time, the hydraulic cylinder 205 is cyclically extended and retracted. The extension and retraction end of the hydraulic cylinder 205 drives the support top plate 206 to move, which in turn drives the rotary drill bit 209 to continuously contact the ground through the support bottom plate 207, breaking up the soil and facilitating excavation, thus improving the efficiency of rotary drilling. The rotation is responsible for cutting and breaking up loose soil layers, and the "cyclic extension and retraction" of the hydraulic cylinder 205 provides high-frequency impact or strong pressure, like a "hydraulic hammer" to "ram" or "press" the drill bit into hard strata, so that the drilling speed can be multiplied in hard soil, dense sand and other difficult-to-drill strata.

[0027] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solution of this utility model, as long as they do not depart from the spirit and scope of the technical solution of this utility model, should be covered within the scope of the claims of this utility model.

Claims

1. A rotary drilling robot for land, comprising a walking robot (101), characterized in that: The walking robot (101) has a fixed frame (102) on its upper left side. Fixed plates (103) are symmetrically arranged on the upper left side of the fixed frame (102). A rotating column (104) is rotatably arranged between the two fixed plates (103). An installation box (105) is fixedly arranged in the middle of the rotating column (104). A drill rod (106) is detachably arranged inside the installation box (105). A rotary drilling assembly is arranged at the lower end of the drill rod (106). A drive unit for driving the rotating column (104) to rotate is arranged at the rear end of the fixed frame (102). The drive unit includes a fixed box (107) arranged on the rear fixed plate (103). A worm gear (201) is arranged at the left end of the fixed box (107). A worm (202) meshing with the worm gear (201) is arranged on the rotating column (104). A drive component for driving the worm (202) to rotate is arranged inside the fixed box (107).

2. The rotary drilling robot as described in claim 1, characterized in that: The driving component includes a motor (203) located at the right end of the fixed box (107), and the output end of the motor (203) is connected to the worm gear (202) via a coupling.

3. The rotary drilling robot as described in claim 2, characterized in that: The rotary drilling assembly includes a rotary drilling groove (204) disposed at the lower end of the drill rod (106). A cylinder groove is formed in the upper wall of the rotary drilling groove (204) and the lower surface of the drill rod (106). A hydraulic cylinder (205) is fixedly disposed in the cylinder groove. The output end of the hydraulic cylinder (205) is connected to a supporting top plate (206). The supporting top plate (206) is slidably connected to the cylinder groove. A supporting bottom plate (207) is fixedly connected to the lower end of the supporting top plate (206) through a vertical rod. Several rotary drilling components are disposed between the supporting bottom plate (207) and the supporting top plate (206).

4. The rotary drilling robot as described in claim 3, characterized in that: The rotary drilling component includes a second motor (208) mounted on a support base plate (207), and the output end of the second motor (208) extends to the lower end of the support base plate (207) and is connected to a rotary drilling bit (209).

5. The rotary drilling robot as described in claim 1, characterized in that: The mounting box (105) is equipped with fasteners (210) at both the front and rear ends for fixing the columns.

6. The rotary drilling robot as described in claim 4, characterized in that: The walking robot (101) is equipped with an environmental perception module, which includes at least one of a lidar, an image recognition camera, and an infrared sensor, for detecting terrain information and transmitting the data to the control motherboard (211) to control the rotary drilling operation.

7. The rotary drilling robot as described in claim 6, characterized in that: The walking robot (101) also includes an automatic navigation system, which includes a GPS positioning module and a path planning algorithm module, used to automatically plan the rotary drilling path and guide the robot to move based on the information collected by the environmental perception module.

8. The rotary drilling robot as described in claim 7, characterized in that: The walking robot (101) is equipped with a control motherboard (211), which is electrically connected to motor one (203), motor two (208), hydraulic cylinder (205), environmental perception module and automatic navigation system, and is used to automatically control rotary drilling operation and walking path according to environmental information and path planning information.

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