Original title: a self-propelled earth-boring robot Self-propelled earth-boring robot Technical field The invention belongs to the technical field of robots, and relates to a self-propelled earth-boring robot which can be used for underground mineral exploration, geological exploration, earthquake, mine disaster rescue and the like. Background art China is one of the few countries with large mineral resources in the world, but most of the mineral resources are stored underground or under the sea, and it is difficult to find the storage site directly for mining. In addition, earthquake disasters and mine accidents occur frequently in China, and the victims are often trapped under the ruins of buildings or underground, so it is difficult for rescue workers and equipment to reach the victims directly, which causes great difficulties for rescue work. Underground, seabed or building ruins and other environments are not directly accessible or allowed to enter, and the installation of large-scale excavation equipment on the ground often has the disadvantages of time-consuming, high energy consumption, high cost and limited by ground environmental conditions. As a typical representative of information technology and advanced manufacturing technology, robot has become a technical field that countries all over the world are competing to develop, and the underground drilling robot has become a hot research topic at home and abroad in recent years. Previously, China has developed a special Trenchless operation robot for underground pipe laying and a move-in-mud robot for salvage of sunken ships on the seabed. The power source of such robots is generally hydraulic or pneumatic, and the structure uses reciprocating impact to squeeze the soil forward, which has the disadvantages of high energy consumption and complex control system. A domestic university has designed an earthworm-like arch-hole robot in soil environment, which has three body segments that can move axially and expand and contract radially, and imitates the way of earthworm creeping and crawling. However, this robot is still in the stage of theoretical research and virtual simulation, and there is still a big gap from practical application. Japan has developed a small drilling robot "Digbot" for geological survey. The robot uses a "double reverse drill" design to eliminate the resistance moment of the soil during the drilling process. The rear part of the robot uses an electromagnetic solenoid to provide forward thrust for the robot, but this method provides limited thrust and does not have a steering function. The United States has developed a kind of self-propelled deep-hole drilling equipment, which is divided into two sections and moves forward in the way of inchworm motion. It can be used for extraterrestrial planet exploration and underground drilling on the earth. However, the robot is complex in structure and expensive in manufacturing cost, so it is not suitable for mass production. Although earth-boring robots have been studied for many years at home and abroad, many earth-boring robots are still in the laboratory research stage because of the complex underground soil environment and high performance requirements for robots. Therefore, it is of great practical significance to invent an earth-drilling robot with low power consumption, small size and flexible movement, which can greatly help people to implement effective earthquake, mine rescue and underground exploration. Summary of the invention The invention aims to provide a self-propelled earth-boring robot, which can move forward and turn in soil to realize mineral exploration, geological exploration and earthquake and mine disaster rescue. Generally, the diameter of the borehole is 100 ~ 600 mm, and the length of the borehole is 20 ~ 100m. In order to achieve the purpose, the invention adopts the technical scheme that the self-propelled earth-boring robot advancing in the soil mainly comprises four parts, namely a head part, a robot body, a screw rod and a supporting foot, and comprises a boring system for cutting and conveying the soil, a power system for providing motion capability, and a control system for controlling the boring system and the power system. Each system cooperates with each other to realize the free movement, steering and detection of the robot in the soil. The drilling system comprises a conical drill bit, a motor and a screw rod, wherein the motor is provided with double output shafts, and the conical drill bit and the screw rod are respectively connected through a coupling pin. The motor is externally provide with a web plate, and that web plate is connected with the front baffle plate of the robot body through bolt. The screw rod is fixed on the central axis of the body of the robot through a pair of suspension bearings, and the suspension bearings are connected and fixed on the inner shell platform of the robot through bolts. The power system comprises a robot body, a supporting foot and a sliding block which are connected through a telescopic mechanism. The robot body is formed by welding an inner shell and an outer shell together through a front baffle and a rear baffle, wherein the front baffle is provided with a threaded hole, and the rear baffle is provided with a through hole. And that two end of the inner shell are provide with platforms, the platforms are provided with thread holes, and the outer part of the inner shell is circumferentially and uniformly provided with guide rails. And groove are uniformly distributed in that circumferential direction of the slide block and are matched with the guide rail on the inner shell, and the end face of the sliding block is provide with a threaded hole. Expand the full text The control system comprises a detection device, a gyroscope and a control circuit board, wherein the detection device is arranged on the inner side of a front baffle of the robot body, and the gyroscope and the control circuit board are arranged on the inner side of a rear baffle of the robot body. The conical drill bit adopts a hollow special design, so that soil chips obtained by cutting can enter the drill bit; and preferably, a crushing mechanism can be added between the conical drill bit and the robot body to limit the diameter of soil particles and prevent the screw rod from being stuck during soil conveying. And that support foot is driven by a radial telescopic mechanism and an axial telescopic mechanism. The radial telescopic mechanism consists of a radial motor, a radial screw rod and a supporting foot, wherein the radial motor and the radial screw rod are connected together through a pin; the radial motor is fixed on a sliding block through a screw; the radial screw rod is connected with the sliding block through a shaft sleeve; The axial telescopic mechanism consists of an axial motor, an axial lead screw and a slide block, wherein the axial motor and the axial lead screw are connected together through a pin, the axial motor is fixed on the inner shell of the machine through a screw, the slide block and the axial lead screw are connected through a threaded hole, and the slide block and the longitudinal lead screw form a lead screw-nut mechanism. Three windows are uniformly distributed on the periphery of the outer shell of the robot body, which is beneficial to the axial and radial movement of the supporting foot. The two ends of the supporting foot are provided with lugs which are beneficial for the supporting foot to be embedded into the soil around the wall of the hole so as to provide enough supporting reaction force for the robot. In addition, an elastic dust cover is attached around the support foot. A combine cable is dragged at that tail part of the robot, the combine cable is wound on a coiling drum in the robot, and the coiling drum is welded on an inner shell of the robot. Preferably, the combined cable comprises a power line, a signal line and a guide rope. And that combine cable is connected with an overground direct-current pow supply and a computer control center through a through hole on the rear baffle, so that the continuous drilling of the robot and the remote real-time control of the motion of the robot are realize. Compared with the prior art, the invention has the advantages that: 1. The robot is provided with a drill bit and a soil discharging device, so that the drilling and the soil discharging are carried out at the same time, the drilling efficiency is high, and the robot is pushed to move by the reaction force of the hole wall supported by the supporting foot, so that the robot can smoothly drill into the ground and can freely move and turn in the soil. 2. By integrating the radial and axial telescopic mechanisms, the movement of the support foot along two directions is ingeniously realized, the structure is compact, and the number of actuating mechanisms is reduced. 3. It can be equipped with extended function modules, such as CCD lens, mineral detection device and life detection device, to realize the detection of underground environment, the exploration of mineral deposits and the search for life. 4. Built-in reel device for retracting and releasing the combined cable can eliminate the friction resistance caused by dragging the cable and prevent the robot from being stuck. And 5, that robot has the advantage of simple overall mechanism and low implementation cost, and is suitable for tasks such as underground mineral exploration, geological exploration, earthquake rescue, mine disaster rescue and the like. Brief description of the drawings BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram of the structure of an embodiment of the present invention (the dust cover is not shown). Fig. 2 is an A-a sectional view of fig. 1. Fig. 3 is a B ‑ B sectional view of fig. 2. Fig. 4 is a schematic view of a portion of a drill bit in an embodiment of that present invention. Fig. 5 is a schematic view of a body portion in an embodiment of that present invention. Fig. 6 is a partial schematic view of a slider in an embodiment of the present invention. Fig. 7 is a schematic view of a support foot accord to an embodiment of that present invention. Fig. 8 a ‑ e is a schematic diagram of the progression of an embodiment of the present invention. Fig. 9 is a steering schematic diagram of an embodiment of the present invention. The numbers in the figure are: 1. Conical drill; 2. Motor; 3. Detection device; 4. Robot body; 5. Suspension bearing; 6. Elastic dust cover; 7. Axial motor; 8. Support foot; 9. Axial screw rod; 10. Radial screw rod; 11. Radial motor; 12. Screw rod; 13. Reel; 14. Composite cable; 15. Ground computer control center; 16. Signal line; 17. DC power supply; 18. Power line; 19. Guide rope; 20. Control circuit board; 21. Gyroscope; 22. Slider; 23. Shaft sleeve; 24. Inner shell; 25. Web plate; 26. Cutting teeth; 27. Platform; 28. Outer shell; 29. Guide rail; 30. Through hole; 31. Rear baffle; 32. Threaded hole; 33. Window; 34. Front bezel; 35. Thread hole; 36. Groove; 37. Thread hole; 38. Lug; 39. Thread hole. Detailed description of the invention The invention will be further described with reference to the embodiments shown in the drawings. Referring to figs. 1-7, the self-propelled earth-boring robot of this embodiment is mainly composed of a head 1, a robot body 4, down the hole bit , a screw rod 12, and a supporting foot 8, and includes a boring system for cutting and conveying soil, a power system for providing motion capability, and a control system for controlling the boring system and the power system. The drilling system comprises a conical drill bit 1, a motor 2 and a screw rod 12. The top of the drill bit 1 (fig. 4) is a spiral drill bit, and the rear part is hollow. The surface of the drill bit is provided with cutting teeth 26, which is convenient for cutting soil. At the same time, the hollow structure is beneficial for soil debris to enter the soil discharge screw rod 12 and finally be discharged from the rear part of the machine body. The motor 2 has a double output shaft, which is connecte to that cone drill 1 and the screw 12, respectively, by coupling pin, and has a web 25 which is bolted to a front stop 34 of the robot body 4. A speed reducer (not shown for clarity) may be added between the motor 2 and the screw 12 to improve the soil conveying capacity of the screw 12. A crushing mechanism (not shown in the figure for the sake of simplicity) can be added between the drill bit 1 and the robot body 4 to limit the diameter of soil particles and prevent the screw rod 12 from being "stuck" in soil transportation. The two ends of the screw rod 12 for discharging soil are fixed on the central axis of the robot body 4 through a pair of suspension bearings 5, and the suspension bearings 5 are fixed on the platform 27 of the inner shell 24 of the robot through bolt connection. Because that robot adopt a spiral soil discharge mode, the soil discharge efficiency can be improved by optimize the parameters of the screw pitch, the spiral inclination angle, the outer diameter, the diameter of the core rod, the rotating speed and the like of the screw rod accord to the soil property of a working environment. The power system comprises a robot body 4 (fig. 5), a supporting foot 8 and a sliding block 22 (fig. 6), which are connected by a telescopic mechanism. The robot body 4 is composed of an inner shell 24 and an outer shell 28, which are welded together by a front baffle 34 and a rear baffle 31. The front baffle 34 is provided with a threaded hole 35 for fixing the motor 2 by a bolt, and the rear baffle 31 is provided with a through hole 30; The two ends of the inner shell 24 are provided with a platform 27, the platform 27 is provided with a threaded hole 32, three guide rails 29 are uniformly distributed on the outer circumference of the inner shell 24, three grooves 36 are uniformly distributed on the circumference of the sliding block 22, the grooves 36 are matched with the guide rails 29 of the outer shell 24 to realize relative sliding, and the end surface of the sliding block 22 is provided with threaded holes 37. The support foot 8 (fig. 7) is driven by a radial expansion mechanism and an axial expansion mechanism. The radial telescopic mechanism consists of a radial motor 11 and a radial lead screw 10, which are connected together through a pin, the motor 11 is fixed on a sliding block 22 through a screw, the lead screw 10 is connected with the sliding block 22 through a shaft sleeve 23, meanwhile, the middle part of the supporting foot 8 is provided with a threaded hole 39 and forms a lead screw nut mechanism with the lead screw 10, and under the driving of the motor 11, The support foot 8 can reciprocate along the screw rod 10. The axial telescopic mechanism consists of an axial motor 7 and an axial screw rod 9, which are connected together by a pin, and the motor 7 is fixed on the inner shell 24 of the machine by a screw. Three threaded through holes 37 are uniformly distributed on the end surface of the sliding block 22, and the sliding block 22 and the screw rod 9 form a screw-nut mechanism. Meanwhile, the sliding block can slide along the guide rail 29 on the inner shell 24 through the groove 36, and under the driving of the motor 7, the supporting foot 8 can reciprocate along the screw rod 9 under the driving of the sliding blocks 22. Through the mutual cooperation of the radial telescopic mechanism and the axial telescopic mechanism, the robot can travel and turn. The support foot 8 has projections 38 at both ends to engage the soil surrounding the wall of the hole to provide sufficient support reaction force for the robot to move forward or turn. And unde that condition of meeting the requirement of structural size, the radial telescopic mechanism and the axial telescopic mechanism can be replace by a telescopic air cylinder or a telescopic hydraulic cylinder. The control system comprises a detection device 3, a gyroscope 21 and a control circuit board 20. The detection device 3 is installed inside the front baffle 34 of the robot body 4 for detecting the soil environment around the robot; A gyroscope 21 and a control circuit board 20 are fix on that inner side of a rear baffle 31 of the robot body 4, the gyroscope 21 is use for monitoring the position and posture changes of the robot, the control circuit board 20 collects the information of the detection device 3 and the gyroscope 21, and provide the feedback of the surrounding environment information, the self position and posture information for the ground computer control center 15. The ground personnel monitor the robot remotely in real time through the computer control center 15. In addition, an elastic dust cover 6 is attached around the robot body 4 to prevent soil or water from entering the robot. At the same time, the robot is internally provided with a drum 13 capable of retracting and releasing a combination cable 14, and the drum 13 is welded on the inner shell 24 of the robot. The combination cable 14 is connected to the aboveground device through a through hole 30 in a rear fender 31 of the robot body 4. The composite cable 14 includes a power cord 18, a signal cord 16, and a guide cord 19. The power line 18 is connected to the robot control circuit board 20 and the ground DC power supply 17, and the signal line 16 is connected to the robot control circuit board 20 and the ground computer control center 15, so as to realize continuous drilling of the robot and remote real-time control of the motion of the robot. The guide rope 19 is used to prevent the power line 17 and the signal line 16 from being broken due to excessive tension. Working principle: the drilling and discharging mechanism of the self-propelled earth-boring robot of the present invention is driven by the motor 2 with double output shafts, the conical drill bit 1 cuts soil, and the cut soil chips enter the screw rod 12 through the hollow part of the drill bit, and then are discharged out of the body by the screw rod 12; The radial telescopic mechanism and the axial telescopic mechanism are respectively driven by a radial motor 11 and an axial motor 7, the rotation is converted into the translation of the supporting foot 8 or the robot body 4 through a lead screw nut mechanism, and the forward and reverse rotation of the motors 11 and 7 are controlled according to a certain sequence, so that the robot can move forward and steer. During the robot drilling process, the detection device 3 inside the robot body 4 is used to detect the surrounding environment, and the gyroscope 21 is used to monitor the position and posture changes of the robot, and transmit such information to the ground computer control center 15 through the tail combination cable 14, so that the ground personnel can grasp the latest developments of the robot. When the detection device 3 finds a foreign object such as a stone or a hole in front of it, the worker transmits an instruction to the circuit board 20 through the combination cable 14 according to the pose information provided by the gyroscope 21 to control the robot to avoid obstacles; when a target object is found, the worker can transmit the position information of the target object to the ground computer control center 15 to guide the subsequent excavation work. The basic movement steps of the self-propelled earth-boring robot of the present invention will be described in detail below. Referring to Figure 8 a ‑ e, a progressive motion cycle can be divided into six steps. Step 1, as shown in fig. 8A, the robot is in an initial state, and the supporting foot 8 is retracted in the robot body 4. The motor 2 drives the conical drill bit 1 and the screw rod 12 to rotate, and the robot cuts the soil to form a hole on one hand, and discharges the soil from the tail through the screw rod 12 on the other hand. Step 2, as shown in fig. 8
, the motor 11 drives the screw rod 10 to make the three supporting feet 8 extend radially from the robot body 4 at the same time, and support the hole wall tightly to provide sufficient supporting reaction force. Step 3, as shown in fig. 8C, the motor 7 drives the screw rod 9. Since the support foot 8 is supported tightly on the hole wall and cannot move axially, the screw rod 9 extends axially to drive the motor 7 to move axially, and the motor 7 is fixed on the inner shell 24, thereby driving the robot body to move forward by a distance H. Step 4, as shown in fig. 8d, the motor 11 drives the screw rod 10 to make the three supporting feet 8 contract into the robot body 4 along the radial direction at the same time. Step 5, as shown in fig. 8e, the motor 7 drives the screw rod 9, and because the friction between the robot body and the hole wall is greater than the sliding friction of the sliding block 22 along the inner shell 24, the screw rod 9 drives the sliding block 22 to move forward by a distance H along the axial direction. The robot returns to the initial state, that is, returns to step one. At this point, a cycle of motion is completed, and the robot as a whole moves forward by a step H, and so on, so that the robot can continuously move forward in a straight line. Please refer to fig. 9 for the turning movement principle of the robot. When any one of the supporting feet 8 stretches out and tightens the hole wall, the other supporting feet do not move, and the motor 7 drives the screw rod 9 to move, the overall moment of the robot is unbalanced due to the soil reaction force acting on a single supporting foot, and the robot body deflects accordingly,overburden drilling systems, so that the turning can be realized. The foregoing description of the embodiments is provided to facilitate the understanding and application of the present invention by those of ordinary skill in the art. It will be apparent to those skilled in the art that various modifications may be made to these embodiments and that the general principles described herein may be applied to other embodiments without the exercise of the inventive faculty. Therefore, the present invention is not limited to the embodiments herein, and any improvements and modifications made by those skilled in the art based on the disclosure of the present invention should be within the scope of the present invention. Return to Sohu to see more Responsible Editor:. wt-dthtools.com
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