CN109184575B - Drill bit for earthworm penetrating robot and method for controlling drill bit to move - Google Patents
Drill bit for earthworm penetrating robot and method for controlling drill bit to move Download PDFInfo
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- CN109184575B CN109184575B CN201811003681.1A CN201811003681A CN109184575B CN 109184575 B CN109184575 B CN 109184575B CN 201811003681 A CN201811003681 A CN 201811003681A CN 109184575 B CN109184575 B CN 109184575B
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000000149 penetrating effect Effects 0.000 title claims abstract description 19
- 241000361919 Metaphire sieboldi Species 0.000 title claims abstract description 16
- 239000007788 liquid Substances 0.000 claims abstract description 46
- 230000033001 locomotion Effects 0.000 claims abstract description 30
- 230000000694 effects Effects 0.000 claims abstract description 24
- 230000009471 action Effects 0.000 claims abstract description 12
- 230000003116 impacting effect Effects 0.000 claims abstract description 3
- QSHDDOUJBYECFT-UHFFFAOYSA-N mercury Chemical compound [Hg] QSHDDOUJBYECFT-UHFFFAOYSA-N 0.000 claims description 27
- 229910052753 mercury Inorganic materials 0.000 claims description 27
- 241001233061 earthworms Species 0.000 abstract description 2
- 238000010276 construction Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000005553 drilling Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 4
- 238000009527 percussion Methods 0.000 description 3
- 238000009412 basement excavation Methods 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 238000005094 computer simulation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000002344 surface layer Substances 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B10/00—Drill bits
- E21B10/36—Percussion drill bits
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
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- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a drill bit for a robot for penetrating earthworms, which comprises a shell, an impact body, a hollow cavity and impact liquid, wherein the impact liquid is arranged in the hollow cavity and used for driving the impact body to carry out secondary impact on the shell along the hollow cavity under the action of inertia; the hollow cavity is formed outside the hollow cavity, the front end and the rear end of the hollow cavity are communicated, the impact body impacts the shell, impact liquid is pushed forwards under the action of inertia force, air at the front end of the hollow cavity flows through the air channel under the thrust of the impact liquid to reach the rear end of the hollow cavity, and the impact liquid impacts the front end of the hollow cavity for the second time. Through the hollow chamber that the internal slope of will impacting set up to set up in hollow chamber and strike liquid, realize striking the body and strike the casing at every turn after, strike liquid because inertia effect further strikes the casing along hollow chamber, reach the effect of the secondary impact to the casing, improved impact efficiency. The invention also discloses a method for controlling the drill bit movement of the earthworm penetrating robot.
Description
Technical Field
The invention belongs to the technical field of non-excavation, and particularly relates to a drill bit for a earthworm penetrating robot and a method for controlling the drill bit to move.
Background
In the large-scale development of urban construction, underground pipelines or underground cables and other equipment need to be laid in a city, and a more common method is to dig grooves and bury pipelines and buried lines, so that environmental pollution is caused, traffic jam is caused, and potential safety hazards of construction exist. In order to solve the problems, a non-excavation pipe laying technology is developed, namely a construction technology for laying, repairing and replacing underground pipelines by using a rock-soil drilling means under the conditions that a road surface is not trenched and a large-area ground surface layer is not damaged. The trenchless technology has the advantages of short period, low cost, less pollution, good safety performance and the like, and the normal traffic order is not influenced.
The existing trenchless technologies mainly comprise various trenchless pipe laying technologies such as directional drilling, percussion spears, micro tunnels, horizontal spiral drills, pipe rammers and the like, and various trenchless pipeline repairing and detecting technologies. The impact spear is used for trenchless construction, has the advantages of simple equipment, convenience in operation, low investment, low construction cost and the like, and is one of trenchless construction equipment with wide application. However, the conventional percussion spear can only drill a straight hole, the application range is limited to a certain extent, and in order to better exert the advantages of the percussion spear in trenchless construction and expand the application range, research on the trenchless pipeline laying technology with controllable direction is developed at home and abroad. At present, the steering of the earthworm-penetrating robot is realized mainly by arranging a swing shaft at the head of a drill and driving the head of the drill to move around the swing shaft by an oil cylinder.
The earthworm penetrating robot body consists of a conical drill bit, a steering mechanism, a test part, an impact mechanism and the like, and the earthworm penetrating robot has the working process of drilling, namely, a target track limiting condition is input into a computer simulation system, and an appropriate angle between an earth entering support and the earth surface is adjusted to ensure that the robot body obtains a certain earth entering angle; the control system sends out an instruction to realize that the drilling operation in the soil of the robot is carried out in a straight line drilling manner, the steering mechanism is controlled to generate rotary motion, the conical drill bit is continuously rotated to generate impact motion, and the formed hole track is approximate to a straight line; when curve drilling is carried out, the steering mechanism is controlled to rotate, so that the conical drill bit obtains different rotation angles, and the robot advances along the deflection direction of the conical drill bit; simultaneously detecting robot attitude data, and adjusting the rotation angle of the conical drill bit of the robot according to the deviation of the actual running track and the target track of the robot; when the earth is removed from the other end of the earth surface, the robot body is detached, the pipeline to be laid is replaced, and the pipeline is pulled reversely or positively, so that the laying of the pipeline is completed.
However, in actual construction, the drill impact efficiency of the earthworm penetrating robot is low, and in addition, the steering structure of the existing earthworm penetrating robot drill is extremely complex, and the requirement on the control mode is quite high.
Disclosure of Invention
Based on the defects of the prior art, the technical problem to be solved by the invention is to provide the drill bit for the earthworm penetrating robot, which is easy to steer and simple in control mode, and the method for controlling the drill bit to move, wherein the impact efficiency of the drill bit is high.
In order to solve the technical problems, the invention is realized by the following technical scheme: the invention provides a drill bit for a robot for penetrating earthworms, comprising:
a housing;
the impact body is positioned in the shell and can rotate or impact back and forth relative to the shell, and is used for impacting the shell;
the hollow cavity is obliquely arranged in the impact body;
the impact liquid is arranged in the hollow cavity and used for driving the impact body to carry out secondary impact on the shell along the hollow cavity under the action of inertia;
the air channel is formed outside the hollow cavity and communicated with the front end and the rear end of the hollow cavity, and is used for enabling the impact liquid to be pushed forwards under the action of inertia force after the impact body impacts the shell, air at the front end of the hollow cavity flows through the air channel under the thrust of the impact liquid to reach the rear end of the hollow cavity, and the impact liquid performs secondary impact on the front end of the hollow cavity.
By last, through the hollow chamber that the internal slope of impact set up to set up in hollow chamber and strike liquid, realize striking the body and strike the casing at every turn after, strike liquid because inertial action further strikes the casing along hollow chamber, reach the effect of the secondary impact to the casing, improved impact efficiency.
As an improvement of the above technical solution, in an embodiment of the present invention, the impact body and the housing are coaxially disposed, and a midpoint of a central axis of the hollow cavity is located on the central axis of the impact body.
Therefore, the middle point of the central axis of the hollow cavity is located on the central axis of the impact body, and the middle point of the central axis of the hollow cavity can be located on the central axis of the impact body no matter how the impact body rotates, so that the impact effect of the impact body on the shell is not influenced.
In one embodiment of the invention, the impact liquid is mercury and the volume of the impact liquid is one quarter of the volume of the hollow cavity.
Optionally, the central axis of the hollow cavity and the central axis of the impact body are arranged at an angle of 30 °.
By last, through making the volume of strikeing liquid be one fourth of hollow chamber volume, make to strike liquid along under the inertia effect hollow chamber motion that the slope set up can more powerful drive impact body carry out the secondary impact to the casing, and the impact efficiency is high.
In addition, the invention also provides a method for controlling the movement of the drill bit of the earthworm penetrating robot, which comprises the following steps:
a1, the impact body impacts the shell through reciprocating impact motion relative to the shell;
a2, after the impact body impacts the shell, the impact liquid obliquely arranged in the hollow cavity in the impact body moves along the hollow cavity under the action of inertia to drive the impact body to impact the shell for the second time.
Further, the method also comprises a step of rotating the impact body, and combines the step A1 and the step A2 to enable the drill bit to have two motion states of linear motion and directional rotation.
Specifically, the step of controlling the linear motion of the drill bit comprises the following steps:
b1, stopping the hollow cavity in the impactor at an initial position;
b2, after the primary impact of the impact body on the shell and the impact liquid drive the impact body to perform secondary impact on the shell under the inertia effect, the impact body is rotated clockwise;
b3, repeating the step B2 after the time interval t until the hollow cavity in the impact body returns to the initial position;
b4, repeating the steps B1, B2 and B3, and completing the whole linear movement of the drill bit.
The method for controlling the directional rotation of the drill bit comprises the following steps:
c1, rotating the impact body counterclockwise by an angle R;
c2, after a time interval t, after the impact body is subjected to primary impact on the shell and the impact liquid drives the impact body to perform secondary impact on the shell under the inertia effect, the impact body is rotated clockwise at an angle of R/2; after a time interval t, after the impact body is subjected to primary impact on the shell and the impact liquid drives the impact body to perform secondary impact on the shell under the inertia effect, the impact body is rotated anticlockwise at an angle of R/2;
c3, after a time interval t, after the impact body is driven by the primary impact of the impact body on the shell and the impact liquid under the inertia effect to carry out secondary impact on the shell, the impact body is rotated anticlockwise at an angle of R/2; after a time interval t, after the impact body is subjected to primary impact on the shell and the impact liquid drives the impact body to perform secondary impact on the shell under the inertia effect, the impact body is rotated clockwise at an angle of R/2;
c4, repeating the steps C2 and C3 after the time interval t, and returning the hollow cavity in the impact body to the position where the impact body is rotated anticlockwise at the angle R;
c5, repeating the steps C1, C2, C3 and C4, and completing the whole directional rotation of the drill bit.
Preferably, the time interval t is in a range of 0.1 to 100 milliseconds.
By last, through the internal slope of will assaulting and set up hollow chamber to set up mercury in hollow chamber, realize assaulting after the body strikes the casing at every turn, mercury reaches the effect to the secondary impact of casing because inertia further strikes the purpose of casing along hollow chamber, has improved impact efficiency, in addition, can realize the purpose that the orientation turned to through the hollow chamber position of real-time regulation in the impact process.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following detailed description is given in conjunction with the preferred embodiments, together with the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below.
FIG. 1 is a schematic diagram of the structure of a drill for a earthworm penetrating robot according to a preferred embodiment of the present invention;
FIG. 2 is a sectional view A-A of FIG. 1;
figure 3 is a schematic view of the various operating positions of the hollow cavity of the drill head for the earthworm penetrating robot according to the preferred embodiment of the present invention.
Detailed Description
Other aspects, features and advantages of the present invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, which form a part of this specification, and which illustrate, by way of example, the principles of the invention. In the referenced drawings, the same or similar components in different drawings are denoted by the same reference numerals.
As shown in fig. 1-3, the drill bit for a robot for penetrating earthworks of the present invention mainly comprises an impact body 20 and a housing 10, wherein the impact body 20 is located inside the housing 10, and the impact body 20 can rotate or impact back and forth relative to the housing 10, a hollow cavity 30 is obliquely arranged inside the impact body 20, the middle point of the central axis of the hollow cavity 30 is located on the central axis of the impact body 20, an impact liquid 40 is arranged inside the hollow cavity 30, in the present invention, mercury is preferably used as the impact liquid 40, the volume of the mercury is one fourth of the volume of the hollow cavity 30, and an air channel 50 communicating the front end and the rear end of the hollow cavity 30 is further arranged outside the hollow cavity 30; the central axis of the hollow cavity 30 is arranged at an angle of 30 degrees with the central axis of the impact body 20. The front end of the hollow cavity 30 refers to an end close to the tip portion of the housing 10, and the rear end of the hollow cavity 30 refers to an end far from the tip portion of the housing 10, and in fig. 1, the front end of the hollow cavity 30 faces horizontally downward, and the rear end of the hollow cavity 30 faces horizontally upward.
In addition, the method of controlling the movement of the drill bit according to the present invention includes the steps of striking the housing 10 with the striking body 20; a step in which the mercury 40 impacts the impact body 20, and the impact body 20 further impacts the housing 10; the step of rotating the impact body 20 specifically includes the following steps:
a1, the impact body 20 impacts the shell 10 by reciprocating impact motion relative to the shell 10;
a2, after the impact body 20 impacts the shell 10, the impact liquid 40 obliquely arranged in the hollow cavity 30 in the impact body 20 moves along the hollow cavity 30 under the inertia effect to drive the impact body 20 to perform secondary impact on the shell 10.
Through the step of rotating the impact body 20, and combining the step A1 and the step A2, the drill bit has two motion states of linear motion and directional rotation.
The method for controlling the linear motion of the drill bit comprises the following steps:
b1, stopping the hollow cavity 30 in the impact body 20 at the initial position;
b2, after the impact body 20 impacts the shell 10 for the first time and the impact liquid 40 drives the impact body 20 to impact the shell 10 for the second time under the inertia effect, the impact body 20 is rotated clockwise;
b3, repeating the step B2 after the time interval t until the hollow cavity 30 in the impact body 20 returns to the initial position;
b4, repeating the steps B1, B2 and B3, and completing the whole linear movement of the drill bit.
Of course, it is understood that the impact body 20 may be rotated counterclockwise to return the impact body 20 to the initial position during the process of controlling the linear movement of the drill bit.
The method for controlling the directional rotation of the drill bit comprises the following steps:
c1, rotating the impact body 20 counterclockwise by an angle R;
c2, after a time interval t, after the impact body 20 impacts the shell 10 for the first time and the impact liquid 40 drives the impact body 20 to impact the shell 10 for the second time under the inertia effect, the impact body 20 is rotated clockwise at an angle of R/2; after a time interval t, after the impact body 20 impacts the shell 10 for the first time and the impact liquid 40 drives the impact body 20 to impact the shell 10 for the second time under the inertia effect, the impact body 20 rotates anticlockwise at an angle of R/2;
c3, after a time interval t, after the impact body 20 impacts the shell 10 for the first time and the impact liquid 40 drives the impact body 20 to impact the shell 10 for the second time under the inertia effect, rotating the impact body 20 counterclockwise at an angle of R/2; after a time interval t, after the impact body 20 impacts the shell 10 for the first time and the impact liquid 40 drives the impact body 20 to impact the shell 10 for the second time under the inertia effect, the impact body 20 is rotated clockwise at an angle of R/2;
c4, repeating the steps C2 and C3 after a time interval t, and returning the hollow cavity 30 in the impact body 20 to the position where the impact body 20 is initially rotated counterclockwise by the angle R;
c5, repeating the steps C1, C2, C3 and C4, and completing the whole directional rotation of the drill bit.
Wherein the R angle is preferably 90 degrees, and the R/2 angle is preferably 45 degrees. It can be understood that, in the process of controlling the directional rotation of the drill bit, the impact body 20 may be rotated clockwise by an angle R, and then the impact body 20 may be rotated counterclockwise and clockwise by an angle R/2 in turn, so as to achieve the purpose of directional rotation of the drill bit.
The following describes two motion states of the drill bit of the present invention, namely, the linear motion and the directional rotation, with reference to fig. 3, and the steps of controlling the linear motion of the drill bit are as follows:
a. the initial position of the impact body 20 is to stop the hollow cavity 30 at the position A, after a time interval t, the impact body 20 impacts the shell 10 once, the mercury 40 impacts the impact body 20, the impact body 20 further impacts the shell 10 once, and then the impact body 20 rotates clockwise by 45 degrees to reach the position B of the hollow cavity 30;
b. after a time interval t, the impact body 20 impacts the shell 10 once, the mercury 40 impacts the impact body 20, the impact body 20 further impacts the shell 10 once, and then the impact body 20 rotates clockwise by 45 degrees to reach a position C in the hollow cavity 30;
c. after a time interval t, the impact body 20 impacts the shell 10 once, the mercury 40 impacts the impact body 20, the impact body 20 further impacts the shell 10 once, and then the impact body 20 rotates clockwise by 45 degrees to reach a position D in the hollow cavity 30;
d. after a time interval t, the impact body 20 impacts the shell 10 once, the mercury 40 impacts the impact body 20, the impact body 20 further impacts the shell 10 once, and then the impact body 20 rotates clockwise by 45 degrees to reach the position E in the hollow cavity 30;
e. after a time interval t, the impact body 20 impacts the shell 10 once, the mercury 40 impacts the impact body 20, the impact body 20 further impacts the shell 10 once, and then the impact body 20 rotates clockwise by 45 degrees to reach a position F in the hollow cavity 30;
f. after a time interval t, the impact body 20 impacts the shell 10 once, the mercury 40 impacts the impact body 20, the impact body 20 further impacts the shell 10 once, and then the impact body 20 rotates clockwise by 45 degrees to reach a position G in the hollow cavity 30;
g. after a time interval t, the impact body 20 impacts the shell 10 once, the mercury 40 impacts the impact body 20, the impact body 20 further impacts the shell 10 once, and then the impact body 20 rotates clockwise by 45 degrees to reach the position H in the hollow cavity 30;
h. after a time interval t, the impact body 20 impacts the shell 10 once, the mercury 40 impacts the impact body 20, the impact body 20 further impacts the shell 10 once, and then the impact body 20 rotates clockwise by 45 degrees to return to the initial position A through the hollow cavity 30;
i. and (c) circulating the steps a-h until the whole linear motion task is completed.
The step of controlling the drill bit to directionally rotate towards the direction C comprises the following steps:
the first step is as follows: the initial position of the impact body 20 is that the hollow cavity 30 is stopped at the position A, the impact body 20 firstly rotates 90 degrees anticlockwise, the hollow cavity 30 reaches the position G, after a time interval t, the impact body 20 impacts the shell 10 once, the mercury 40 impacts the impact body 20, the impact body 20 further impacts the shell 10 once, and then the impact body 20 rotates 45 degrees clockwise to reach the position H;
the second step is that: after a time interval t, the impact body 20 impacts the housing 10 once first, the mercury 40 impacts the impact body 20, the impact body 20 further impacts the housing 10 once, and then the impact body 20 rotates counterclockwise by 45 degrees to reach a position G in the hollow cavity 30;
the third step: after a time interval t, the impact body 20 impacts the housing 10 once first, the mercury 40 impacts the impact body 20, the impact body 20 further impacts the housing 10 once, and then the impact body 20 rotates counterclockwise by 45 degrees to reach a position F in the hollow cavity 30;
the fourth step: after a time interval t, the impact body 20 impacts the housing 10 once, the mercury 40 impacts the impact body 20, the impact body 20 further impacts the housing 10 once, and then the impact body 20 rotates clockwise by 45 degrees to return to the position G in the hollow cavity 30;
the fifth step: and repeating the steps from one to four until the whole task of directional rotation movement towards the direction C is completed.
Preferably, the time interval t ranges from 0.1 to 100 milliseconds.
The clockwise or counterclockwise rotation of the impact body 20 is performed with the center axis thereof as the rotation center line, and the center point of the center axis of the rotated hollow cavity 30 is always located on the center axis of the impact body 20.
The drill bit for the earthworm penetrating robot has the following complete action process: firstly, the impact body 20 impacts the shell 10, after the impact is finished, the mercury 40 in the hollow cavity 30 moves towards the rear end of the hollow cavity 30 under the action of inertia force in the impact process, air at the rear end of the hollow cavity 30 flows through the air channel 50 to reach the front end of the hollow cavity 30 under the action of thrust force of the mercury 40, the shell 10 stops, and at the moment, the mercury 40 is located at the rear end of the hollow cavity 30; then, under the action of the inertia force, the mercury 40 pushes forward, the air at the front end of the hollow cavity 30 flows through the air channel 50 under the thrust of the mercury 40 to reach the rear end of the hollow cavity 30, and the mercury 40 impacts the front end of the hollow cavity 30, so that the impact body 20 further impacts the shell 10, and the effect of secondary impact on the shell 10 is achieved; in addition, because the mercury 40 impacts the direction and makes a certain angle with the central axis direction of the impact body 20, the position of the hollow cavity 30 can be adjusted in real time in the impact process, so that the purpose of controlling the steering of the drill bit is achieved, and the structure and the control mode are simple and easy to realize.
While the foregoing is directed to the preferred embodiment of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
For example, in the above embodiment, the impact body 20 performs a secondary impact on the housing 10 by using the movement of the impact liquid 40 along the hollow cavity 30, but the invention is not limited thereto, and a mass and a spring may be provided in the hollow cavity 30, and the mass is moved by the spring to perform a secondary impact on the housing 10 by the impact body 20.
For another example, in the above embodiment, the impact body 20 rotates clockwise or counterclockwise by 45 degrees, but is not limited thereto, and the impact body 20 may also rotate clockwise or counterclockwise by other angles (for example, 60 degrees, 20 degrees, etc.), as long as the impact body 20 can return to the initial position to complete the linear motion and directional rotation of the drill bit.
Claims (10)
1. A drill for a earthworm penetrating robot, comprising:
a housing (10);
the impact body (20) is positioned inside the shell (10) and can rotate or impact back and forth relative to the shell (10) for impacting the shell (10); it is characterized by also comprising:
a hollow chamber (30) arranged obliquely in the impact body (20);
the impact liquid (40) is arranged in the hollow cavity (30) and used for driving the impact body (20) to perform secondary impact on the shell (10) along the movement of the hollow cavity (30) under the inertia effect;
and the air channel (50) is formed outside the hollow cavity (30), is communicated with the front end and the rear end of the hollow cavity (30) and is used for enabling the impact liquid (40) to be pushed forwards under the action of inertia force after the impact body (20) impacts the shell (10), air at the front end of the hollow cavity (30) flows through the air channel (50) under the thrust of the impact liquid (40) to reach the rear end of the hollow cavity (30), and the impact liquid (40) performs secondary impact on the front end of the hollow cavity (30).
2. Drill for earthworm penetrating robot according to claim 1, characterized in that the impact body (20) and the housing (10) are coaxially arranged, the middle point of the central axis of the hollow cavity (30) being located on the central axis of the impact body (20).
3. Drill bit for earthworm-penetrating robot according to claim 1, wherein the impact liquid (40) is mercury and the volume of the impact liquid (40) is one quarter of the volume of the hollow cavity (30).
4. Drill for earthworm-penetrating robot according to claim 2, characterized in that the central axis of the hollow cavity (30) is arranged at an angle of 30 ° to the central axis of the impact body (20).
5. A method of controlling the movement of a drill head for a earthworm penetrating robot according to any one of claims 1 to 4, comprising the steps of:
a1, the impact body (20) makes a reciprocating impact motion relative to the shell (10) to impact the shell (10);
a2, after the impact body (20) impacts the shell (10), the impact liquid (40) obliquely arranged in the hollow cavity (30) in the impact body (20) moves along the hollow cavity (30) under the action of inertia to drive the impact body (20) to impact the shell (10) for the second time.
6. The method of claim 5, further comprising the step of rotating the impact body (20) and combining step a1 with step a2 to provide the drill bit with both linear motion and directional rotation.
7. The method of claim 6, wherein the step of controlling the linear movement of the drill bit comprises:
b1, stopping the hollow cavity (30) in the impact body (20) at an initial position;
b2, after the impact body (20) impacts the shell (10) for the first time and the impact liquid (40) drives the impact body (20) to impact the shell (10) for the second time under the inertia effect, the impact body (20) is rotated clockwise;
b3, repeating the step B2 after a time interval (t) until the hollow cavity (30) in the impact body (20) returns to the initial position;
b4, repeating the steps B1, B2 and B3, and completing the whole linear movement of the drill bit.
8. The method of claim 6, wherein the step of controlling the directional rotation of the drill bit comprises:
c1, rotating the impact body (20) counterclockwise by an angle R;
c2, after a time interval (t), after the impact body (20) impacts the shell (10) for the first time and the impact liquid (40) drives the impact body (20) to impact the shell (10) for the second time under the inertia effect, the impact body (20) is rotated clockwise at an angle of R/2; after a time interval (t), after the impact body (20) impacts the shell (10) for the first time and the impact liquid (40) drives the impact body (20) to impact the shell (10) for the second time under the inertia effect, the impact body (20) rotates anticlockwise at an angle of R/2;
c3, after a time interval (t), after the impact body (20) impacts the shell (10) for the first time and the impact liquid (40) drives the impact body (20) to impact the shell (10) for the second time under the inertia effect, the impact body (20) rotates anticlockwise at an angle of R/2; after a time interval (t), after the impact body (20) impacts the shell (10) for the first time and the impact liquid (40) drives the impact body (20) to impact the shell (10) for the second time under the inertia effect, the impact body (20) is rotated clockwise at an angle of R/2;
c4, repeating the steps C2 and C3 after a time interval (t), and returning the hollow cavity (30) in the impact body (20) to the position where the impact body (20) is rotated counterclockwise at the angle R;
c5, repeating the steps C1, C2, C3 and C4, and completing the whole directional rotation of the drill bit.
9. The method according to claim 5, wherein the impact body (20) and the housing (10) are arranged coaxially, the center point of the central axis of the hollow cavity (30) being located on the central axis of the impact body (20);
the impact liquid (40) is mercury, and the volume of the impact liquid (40) is one fourth of the volume of the hollow cavity (30).
10. The method according to claim 7 or 8, characterized in that the time interval (t) has a value in the range of 0.1-100 milliseconds.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811003681.1A CN109184575B (en) | 2018-08-30 | 2018-08-30 | Drill bit for earthworm penetrating robot and method for controlling drill bit to move |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811003681.1A CN109184575B (en) | 2018-08-30 | 2018-08-30 | Drill bit for earthworm penetrating robot and method for controlling drill bit to move |
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| Publication Number | Publication Date |
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| CN109184575A CN109184575A (en) | 2019-01-11 |
| CN109184575B true CN109184575B (en) | 2020-02-07 |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5322391A (en) * | 1992-09-01 | 1994-06-21 | Foster-Miller, Inc. | Guided mole |
| CN1923374A (en) * | 2006-09-26 | 2007-03-07 | 魏强 | New pattern rolling ball rotation impulse jet nozzle |
| CN105239944A (en) * | 2015-10-14 | 2016-01-13 | 中国石油天然气股份有限公司 | Mounting method of complex well trajectory centralizers |
| CN205591829U (en) * | 2016-01-21 | 2016-09-21 | 中国石油化工股份有限公司 | A direction reentry instrument for branch's well |
| CN106555550B (en) * | 2016-11-11 | 2018-10-12 | 西南石油大学 | The oscillator of vortex-induced vibration is realized using screw rod and cellular flow passages |
| CN108086907A (en) * | 2016-11-23 | 2018-05-29 | 陈宏伟 | It is a kind of based on pneumatic earthworm robot |
| CN107503686B (en) * | 2017-09-05 | 2018-11-30 | 中国石油大学(华东) | A kind of torsion spring type hydroscillator |
| CN107605395B (en) * | 2017-10-25 | 2019-03-22 | 中国地质大学（武汉） | A kind of electric impacting lance of no-dig technique |
-
2018
- 2018-08-30 CN CN201811003681.1A patent/CN109184575B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN109184575A (en) | 2019-01-11 |
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