CN113624213A - Multifunctional robot for underground engineering surveying and mapping - Google Patents

Multifunctional robot for underground engineering surveying and mapping Download PDF

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Publication number
CN113624213A
CN113624213A CN202110750610.3A CN202110750610A CN113624213A CN 113624213 A CN113624213 A CN 113624213A CN 202110750610 A CN202110750610 A CN 202110750610A CN 113624213 A CN113624213 A CN 113624213A
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hydraulic
sampling
vehicle body
hydraulic oil
cavity
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CN113624213B (en
Inventor
张文宇
谭永强
黄亚娟
覃韵
张建国
饶晓
杨忠亮
谢色新
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Exploration Institute Guangdong Bureau Of Coal Geology China National Administration Of Coal Geology
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Exploration Institute Guangdong Bureau Of Coal Geology China National Administration Of Coal Geology
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Priority to CN202110750610.3A priority Critical patent/CN113624213B/en
Publication of CN113624213A publication Critical patent/CN113624213A/en
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Publication of CN113624213B publication Critical patent/CN113624213B/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F1/00—Vehicles for use both on rail and on road; Conversions therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/50—Charging stations characterised by energy-storage or power-generation means
    • B60L53/52—Wind-driven generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/02—Endless track vehicles with tracks and additional ground wheels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/02—Devices for withdrawing samples
    • G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
    • G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Power Engineering (AREA)
  • Analytical Chemistry (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biochemistry (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Earth Drilling (AREA)

Abstract

Multifunctional robot is used in underground works survey and drawing, which comprises a carriage body, the surveying and drawing system, lighting system, a controller, hydraulic power system, charging system and rechargeable battery, the bottom of automobile body is provided with crawler travel mechanism, be provided with operating system between crawler travel mechanism and the automobile body, the bottom of automobile body is provided with a plurality of sampling system, the bottom of automobile body all installs the guide pulley that is located crawler travel mechanism outside all around through the interval regulation support all around, charging system is connected with the rechargeable battery electricity, rechargeable battery is the surveying and drawing system respectively, lighting system, controller and hydraulic power system provide the power supply, the controller respectively with surveying and drawing system, lighting system, hydraulic power system, operating system, four interval regulation supports and four sampling system signal connection. The invention has scientific design, can meet the requirement of underground surveying and mapping work, can sample in an underground tunnel, is used for geological survey analysis, and has self-charging function.

Description

Multifunctional robot for underground engineering surveying and mapping
Technical Field
The invention relates to the field of engineering surveying and mapping, in particular to a multifunctional robot for underground engineering surveying and mapping.
Background
Underground works survey and drawing usually indicates to survey and drawing in underground tunnel, and light is darker in underground tunnel, and the underground environment is unclear, and the staff goes down to survey and drawing and has great potential safety hazard (there is gas in the tunnel), and the staff need carry the constantly transform position of measuring instrument and just can measure different data, and plotting efficiency is lower, and intensity of labour is big. In addition, coring and sampling can be carried out on site during surveying and mapping, manual deep field operation is adopted at present, and great potential safety hazards still exist. If will get core sampling device and survey and drawing robot and close as an organic whole, not only increased survey and drawing robot's function, promoted the security of operation moreover.
Disclosure of Invention
The invention aims to provide a multifunctional robot for underground engineering surveying and mapping, which is scientific in design, can meet the requirements of underground surveying and mapping work, can sample in an underground roadway, is used for geological survey analysis, and has a self-charging function.
In order to achieve the purpose, the invention adopts the following technical scheme:
a multifunctional robot for underground engineering surveying and mapping comprises a vehicle body, a surveying and mapping system, an illuminating system, a controller, a hydraulic power system, a charging system and a rechargeable battery, wherein the surveying and mapping system and the illuminating system are all arranged at the top of the vehicle body, the controller, the hydraulic power system, the charging system and the rechargeable battery are all arranged in the vehicle body, the width direction of the vehicle body is taken as the left and right direction, the length direction of the vehicle body is taken as the front and back direction, a crawler walking mechanism is arranged at the bottom of the vehicle body, a lifting system is arranged between the crawler walking mechanism and the vehicle body, four sampling holes which are through up and down and are arranged in a rectangular array are arranged on a bottom plate of the vehicle body, four sampling systems are arranged in the vehicle body, the four sampling systems are respectively in up and down correspondence with the four sampling holes, guide wheels which are positioned outside the periphery of the crawler walking mechanism are all rotatably arranged around the bottom of the vehicle body through spacing adjusting supports, the self-driving motor is arranged in the guide wheel, the vehicle body runs in an underground roadway through the crawler traveling mechanism or the four guide wheels, the hydraulic power system respectively provides power for the crawler traveling mechanism, the lifting system, the four spacing adjusting supports and each sampling system, the charging system is electrically connected with the rechargeable battery, the rechargeable battery respectively provides power for the surveying and mapping system, the lighting system, the controller, the four self-driving motors and the hydraulic power system, and the controller is respectively in signal connection with the surveying and mapping system, the lighting system, the hydraulic power system, the lifting system, the four spacing adjusting supports, the four self-driving motors and the four sampling systems.
The surveying and mapping system comprises a distance measuring sensor and a surveying and mapping camera, and the controller is respectively in signal connection with the distance measuring sensor and the surveying and mapping camera;
the lighting system comprises a searchlight, a rechargeable battery is electrically connected with the searchlight, a lighting control switch is arranged on a circuit between the searchlight and the rechargeable battery, and a controller is in signal connection with the lighting control switch.
The hydraulic power system comprises a hydraulic oil pump and a hydraulic oil tank, the hydraulic oil pump is connected with the hydraulic oil tank through a first oil path, the rechargeable battery is electrically connected with the hydraulic oil pump, and the controller is in signal connection with the hydraulic oil pump.
The crawler belt traveling mechanism comprises a frame, a plurality of driving wheels, a supporting chain wheel and a tensioning wheel are rotatably arranged on the left side and the right side of the frame, a traveling crawler belt is sleeved outside each of the driving wheels, the supporting chain wheel and the tensioning wheel, a traveling hydraulic motor for driving the driving wheels to rotate is arranged on the frame, the traveling hydraulic motor is connected with a hydraulic oil pump through a second oil path, the traveling hydraulic motor is connected with a hydraulic oil tank through a third oil path, and a controller is in signal connection with the traveling hydraulic motor;
the lifting system comprises a plurality of first vertical hydraulic oil cylinders symmetrically arranged on the left side and the right side of the vehicle body, each of the left first vertical hydraulic oil cylinders and each of the right first vertical hydraulic oil cylinders are arranged at intervals front and back, the bottom of the cylinder body of each of the left first vertical hydraulic oil cylinders is fixedly arranged on the lower side of the left side surface of the vehicle body, the piston rod of each of the left first vertical hydraulic oil cylinders extends downwards, the lower end of the piston rod of each of the left first vertical hydraulic oil cylinders is hinged to the left side portion of the vehicle frame, the bottom of the cylinder body of each of the right first vertical hydraulic oil cylinders is fixedly arranged on the lower side portion of the right side surface of the vehicle body, the piston rod of each of the right first vertical hydraulic oil cylinders extends downwards, the lower end of the piston rod of each of the right first vertical hydraulic oil cylinders is hinged to the right side portion of the vehicle frame, each of the first vertical hydraulic oil cylinders is connected with a hydraulic oil pump through a fourth oil path, and the controller is in signal connection with each of the first vertical hydraulic oil cylinders.
The four spacing adjusting brackets are identical in structure and arranged in a rectangular array, the spacing adjusting bracket on the left front side comprises a guide seat, a guide sleeve, a wheel shaft and a spacing adjusting hydraulic oil cylinder, the guide seat is fixedly arranged on the right front side of the bottom of the vehicle body, the guide sleeve is horizontally and fixedly connected to the bottom of the vehicle body along the left-right direction and is positioned on the left side of the guide seat, the guide seat is provided with guide through holes corresponding to the left and the right of the guide sleeve, the wheel shaft is concentrically and slidably connected in the guide sleeve, the right end part of the wheel shaft penetrates through the guide through hole rightwards, the guide wheel on the left front side is rotatably installed at the right end part of the wheel shaft through a bearing, the distance adjusting hydraulic cylinder is horizontally and fixedly connected to the bottom of the vehicle body in the left-right direction and located on the left side of the guide sleeve, a piston rod of the distance adjusting hydraulic cylinder extends rightwards and is overlapped with the central line of the guide sleeve, and the right end of the piston rod of the distance adjusting hydraulic cylinder is connected with the left end of the wheel shaft.
The four sampling systems are identical in structure and arranged in a rectangular array, the sampling system on the front right side comprises a door frame type support, a sampling hydraulic motor and two second vertical hydraulic cylinders, the left side and the right side of the door frame type support are through, the lower sides of the front vertical plates and the rear vertical plates of the door frame type support are open, the lower sides of the front vertical plates and the rear vertical plates of the door frame type support are fixedly connected to the upper surface of the inner bottom plate of the vehicle body, sampling support plates parallel to the vertical plates are fixedly connected between the lower surface of the top horizontal plate of the door frame type support and the upper surface of the inner bottom plate of the vehicle body, two guide rails which are vertically arranged at intervals are arranged on the left side surface of each sampling support plate, the central line of the sampling hydraulic motor is vertically arranged and positioned right above a corresponding sampling hole, the right side of a casing of the sampling hydraulic motor is slidably connected to the two guide rails, a support sleeve sleeved outside a power shaft of the sampling hydraulic motor is fixedly arranged in the middle of the lower side of the casing of the sampling hydraulic motor, the outer circumference of the power shaft of the sampling hydraulic motor is rotatably connected with the inner circumference of the support sleeve in a sealing manner, the lower end of a power shaft of the sampling hydraulic motor is coaxially connected with a core-taking drill rod in a transmission way, the upper side part of the core-taking drill rod is connected in a supporting sleeve in a sealing and rotating way, the lower side part of the core-taking drill rod extends out of the lower end of the supporting sleeve, the middle part of the core-taking drill rod is provided with a core-taking cavity with an open lower side, the lower end of the core-taking drill rod is connected with a core-taking drill bit which is a hollow drill bit, the inner diameter of the core-taking drill bit is the same as that of the core-taking cavity, two second vertical hydraulic oil cylinders are arranged in the front of and at the back of the sampling hydraulic motor at intervals and are positioned on the left side of a sampling support plate, the bottom parts of the cylinder bodies of the two second vertical hydraulic oil cylinders are respectively hinged on the lower surface of a top horizontal plate of a door frame type support, the piston rods of the two second vertical hydraulic oil cylinders extend downwards and are respectively hinged on the front side surface and the back side surface of a shell of the sampling hydraulic motor, the lower side part of the drill rod is provided with four circular cutting through holes in a circular array, the circular cutting through holes are arranged along the radial direction, the inner ends of the circular cutting through holes are communicated with the inside of the coring cavity, a cylindrical circular cutter is arranged in the circular cutting through holes in a sealing and sliding manner, the outer end of each circular cutting through hole is fixedly connected with a circular end cover for sealing and plugging the circular cutting through hole, the inner end of each cylindrical circular cutter is a conical cutting edge, the inner end of each cylindrical circular cutter is flush with the inner end of the corresponding circular cutting through hole, the outer end of each cylindrical circular cutter is positioned in the corresponding circular cutting through hole, the middle part of the outer end surface of each cylindrical circular cutter is provided with a force application blind hole with an opening at the outer side, a first tension spring is connected between the bottom of each force application blind hole and the middle part of the inner surface of the corresponding circular end cover, the lower side part of the drill rod is concentrically provided with a hydraulic circular ring cavity, the lower side part of the drill rod is provided with a plurality of first oil supply channels respectively correspondingly communicated with the circular cutting through holes, the upper side part of the outer circumference of the coring drill rod is provided with a first hydraulic ring groove, a second hydraulic ring groove and a cooling ring groove which are opened at the outer side and are spaced up and down, the left side part of the coring drill rod is axially provided with a second oil supply channel communicated with the first hydraulic ring groove and a hydraulic ring cavity, the left part of the lower side of the support sleeve is radially provided with a first oil delivery channel, the inner end of the first oil delivery channel is communicated with the first hydraulic ring groove, the outer end of the first oil delivery channel is connected with a first oil supply pipe through a first oil supply joint, the outer end of the first oil supply pipe is connected with a hydraulic oil pump, the center of the cavity bottom of the coring cavity is provided with an air pressure groove, the right side of the middle part of the coring drill rod is provided with an air pressure channel communicated with the air pressure groove, the outer end of the air pressure channel is positioned at the right side part of the coring drill rod and is provided with an air inflation sealing cover, the coring drill rod is provided with a glue spraying leakage prevention air system, the coring pipeline system is arranged on the drill bit, the hydraulic oil pump is respectively connected with a sampling hydraulic oil motor and two second vertical oil lines through a fifth oil line, the controller is respectively in signal connection with the sampling hydraulic motor and the two second vertical hydraulic oil cylinders.
The glue spraying air leakage preventing system comprises two fan-shaped spray heads, a glue supplying circular ring cavity positioned on the lower side of the hydraulic circular ring cavity is concentrically arranged at the lower end part of the coring drill rod, the diameter of the glue supplying circular ring cavity is smaller than that of the hydraulic circular ring cavity, a glue spraying through hole is radially arranged on the right front side and the left rear side of the lower end part of the coring drill rod, the two glue spraying through holes are radially symmetrical, the glue spraying through hole on the right front side is obliquely arranged at a low position outside and at a high position inside, the outer ends of the two glue spraying through holes are communicated with the glue supplying circular ring cavity, the inner ends of the two glue spraying through holes are communicated with the coring cavity, the two fan-shaped spray heads are respectively and fixedly installed in the two glue spraying through holes in a sealing mode, the spraying ends of the two fan-shaped spray heads are respectively flush with the inner ends of the two glue spraying through holes, the fan-shaped spray head on the right front side is sprayed towards the left upper rear side, the fan-shaped spray head on the left rear side is sprayed towards the right upper front side, a glue adding channel is radially arranged on the right side of the lower end part of the coring drill rod, the inner end of the gluing channel is communicated with the glue supply circular ring cavity, the outer end of the gluing channel is provided with a gluing sealing cover, the right front side of the lower side part of the coring drill rod is axially provided with a cylindrical hydraulic cavity, an extrusion piston is arranged in the cylindrical hydraulic cavity in a sealing sliding manner, a second tension spring is connected between the upper side face of the extrusion piston and the upper side face of the cylindrical hydraulic cavity, the right front side of the coring drill rod is axially provided with a third oil supply channel communicated with a second hydraulic ring groove and the cylindrical hydraulic cavity, the right front side of the lower end part of the coring drill rod is axially provided with a fourth oil supply channel communicated with the glue supply circular ring cavity and the cylindrical hydraulic cavity, the right front side of the middle part of the supporting sleeve is radially provided with a second oil delivery channel, the inner end of the second oil delivery channel is communicated with the second hydraulic ring groove, the outer end of the second oil delivery channel is connected with a second pipe through a second oil supply connector, and the outer end of the second oil supply channel is connected with a hydraulic oil pump;
the front side part and the rear side part of the right side plate of the vehicle body and the front side part and the rear side part of the left side plate of the vehicle body are respectively provided with a sampling side door, the two left sampling side doors respectively correspond to the left and the right of the two left doorframe-type supports, and the two right sampling side doors respectively correspond to the left and the right of the two right doorframe-type supports.
The cooling pipeline system comprises a plurality of cooling liquid spray holes, each cooling liquid spray hole is uniformly arranged on the ring surface of the lower end of the coring bit, a cooling circular ring cavity is concentrically arranged in the middle of the coring bit, a plurality of first cooling liquid channels which are respectively and correspondingly communicated with the cooling circular ring cavity and each cooling liquid spray hole are axially arranged at the lower side part of the coring bit, a second cooling liquid channel which is vertically communicated is axially arranged at the right rear part of the upper side of the coring bit and the right rear part of the coring drill rod, the lower end of the second cooling liquid channel is communicated with the cooling circular ring cavity, the upper end of the second cooling liquid channel is communicated with the cooling circular groove, a water delivery channel is radially arranged at the right rear side of the upper side part of the supporting sleeve, the inner end of the water delivery channel is communicated with the cooling circular groove, the outer end of the water delivery channel is connected with a cooling liquid supply pipe through a water supply joint, an electric stop valve is arranged on the cooling liquid supply pipe, a cooling water tank and a water pump are arranged in the vehicle body, the water inlet of the water pump is connected with the water outlet of the cooling water tank, the water outlet of the water pump is connected with the water inlet of the cooling liquid supply pipe, the rechargeable battery is electrically connected with the water pump, and the controller is respectively in signal connection with the water pump and the electric stop valve.
The charging system comprises a wind wheel power machine and a generator, a wind wheel is rotatably arranged in a shell of the wind wheel power machine, one end of a central shaft of the wind wheel is in transmission connection with a power input shaft of the generator, the generator is electrically connected with a rechargeable battery, an air inlet hose is connected to an air inlet of the shell of the wind wheel power machine, an air outlet pipe is connected to an air outlet of the shell of the wind wheel power machine, a positive pressure air pipe is arranged in an underground roadway, a plurality of vertical branch air pipes are connected to the positive pressure air pipe, a sealing end cover is fixedly connected to the lower end of each vertical branch air pipe, a conical hole which is through from top to bottom and large in top to bottom is formed in the middle of each sealing end cover, a sealing ring groove is formed in the lower surface of each sealing end cover, a cross-shaped support is fixedly connected to the inner middle of each vertical branch air pipe, a sealing conical plug is installed in a matching mode in each conical hole, a compression spring is connected between the center of the top surface of each sealing conical plug and the cross-shaped support, and a cylindrical bulge extending out of the lower end of each conical hole is integrally formed at the lower end of each sealing plug, the upper end of the air inlet hose is fixedly connected with a disc type electromagnet, a plurality of air inlet through holes which are through up and down are arranged on the upper circumference array of the disc type electromagnet, the upper surface of the disc type electromagnet is fixedly connected with a sealing ring which is vertically corresponding to the sealing ring groove, the cross section of the sealing ring is larger than that of the sealing ring groove, each air inlet through hole is positioned in the sealing ring, a positioning groove which is vertically corresponding to the cylindrical protrusion is arranged at the center of the upper surface of the disc type electromagnet, the depth of the positioning groove is smaller than the length of the cylindrical protrusion, a piezoelectric sensor is arranged in the positioning groove, at least two positioning cameras which are connected with a controller through signals are arranged on the outer circumference of the disc type electromagnet, the outer edge of the sealing end cover is seen upwards by all the positioning cameras, a three-dimensional mechanical arm is arranged on the vehicle body, a clamping part of the three-dimensional mechanical arm is clamped on the outer circumference of the upper side part of the air inlet hose, and a rechargeable battery is respectively and electrically connected with the disc type electromagnet and the three-dimensional mechanical arm, and the controller is respectively in signal connection with the disc type electromagnet, the three-dimensional mechanical arm and the piezoelectric sensor.
The vehicle body is provided with a smoke sensor, and the controller is in signal connection with the smoke sensor.
Compared with the prior art, the invention has outstanding substantive characteristics and remarkable progress, and specifically, the working principle of the invention is as follows: the multifunctional robot for underground engineering surveying and mapping is put into an underground tunnel, when a track is arranged on the ground of the underground tunnel, the distance between two guide wheels at the front side and the rear side can be adjusted according to the distance between the tracks, the piston rods of the four distance adjusting hydraulic cylinders synchronously extend and retract, the piston rods of the four distance adjusting hydraulic cylinders push the corresponding wheel shafts to move left and right, further the distance between the two guide wheels at the front side and the rear side is adjusted, then the vehicle body is driven to move between the two guide rails through the crawler traveling mechanism, the two guide wheels at the left side are positioned on the guide rail at the left side, the two guide wheels at the right side are positioned on the guide rail at the right side, the piston rods of the first vertical hydraulic cylinders are controlled to synchronously and uniformly contract upwards, the vehicle body descends downwards, the four guide wheels are respectively and correspondingly supported on the two corresponding guide rails, and the piston rods of the first vertical hydraulic cylinders synchronously and continuously contract upwards, thereby upwards mention frame and walking track, make track running gear break away from ground, then start four self-driving motor through the controller, four self-driving motor drive corresponding guide pulley respectively rotate, make the automobile body remove along two guide rails, open through controller control lighting control switch, open the searchlight, then the searchlight illuminates the underground tunnel, and range finding sensor and survey and drawing camera work are inside (section size, tunnel length, the pipeline and the equipment of laying) the survey and drawing data storage of shooing to survey and drawing system's memory to underground tunnel in addition.
When the multifunctional robot for underground engineering surveying and mapping moves to a designated position and needs core drilling and sampling, the four self-driving motors are closed, the vehicle body stops moving, then the sampling hydraulic motors of the first group of sampling systems are started, the electric stop valves are opened, the power shafts of the sampling hydraulic motors drive the corresponding core drilling rods to rotate at high speed, the core drilling rods drive the core drilling bits to rotate at high speed, the piston rods of the two second vertical hydraulic oil cylinders of the first group of sampling systems are controlled to simultaneously extend out, the piston rods of the two second vertical hydraulic oil cylinders push the sampling hydraulic motors to move downwards on the corresponding guide rails, the sampling drilling rods downwards pass through the sampling holes, the core drilling bits downwards drill the ground of an underground roadway, the water pumps are started, water in the cooling water tanks is pumped out by the water pumps and passes through the corresponding cooling liquid supply pipes, the water supply connectors, the water conveying channels, the cooling ring grooves, the second cooling liquid channels, The cooling circular ring cavity, the first cooling liquid channels and the cooling liquid spray holes are sprayed out from the lower end annular surface of the coring bit to realize cooling of the coring bit, the coring drill rod drills into the ground for a certain distance, a section of cylindrical rock core is filled in the coring cavity of the coring drill rod under the drilling action of the coring bit, then piston rods of two second vertical hydraulic oil cylinders stop acting, a hydraulic oil pump pumps hydraulic oil into the hydraulic circular ring cavity through a first oil supply pipe, a first oil supply joint, a first oil delivery channel, a first hydraulic ring groove and a second oil supply channel, the hydraulic oil in the hydraulic circular ring cavity is injected into the circular cutting through holes through the first oil supply channels, the pressure of the hydraulic oil is greater than the tension of the first tension springs, the hydraulic oil presses the cylindrical circular cutting knives to synchronously move inwards, the inner ends of the cylindrical circular cutting knives inwards extend into the coring cavity and press the outer circumference of the rock core, each cylindrical ring cutter rotates along with a coring drill rod to cut a rock core, each cylindrical ring cutter gradually moves inwards under the action of hydraulic oil until the inner end of each cylindrical ring cutter extends into the center of a coring cavity to cut off the rock core, the section of the rock core is flat, then the oil pressure of a first oil supply pipe is discharged through a controller, the hydraulic oil pressure is reduced to zero, each cylindrical ring cutter outwards moves under the action of each first tension spring to reset into each ring cutting through hole, a sampling hydraulic motor stops rotating, a water pump and an electric stop valve are closed, a hydraulic oil pump pumps hydraulic oil into a cylindrical hydraulic cavity through a second oil supply pipe, a second oil supply joint, a second oil delivery channel, a second hydraulic ring groove and a third oil supply channel, wherein, a glue adding sealing cover is opened in advance at the initial time, glue solution is filled into a glue supply ring cavity through a glue adding channel, then the rubber sealing cover is screwed down, the hydraulic oil pressure is greater than the pulling force of the second tension spring, the hydraulic oil presses the extrusion piston to make the extrusion piston move leftwards, the extrusion piston extrudes the glue solution, the glue solution is sprayed out through the two fan-shaped nozzles and respectively and uniformly sprayed on the rock core section, the glue solution permeates into the gap between the rock core section and the inner wall of the core taking cavity and is solidified, so that the gap between the rock core section and the inner wall of the core taking cavity is sealed, the gas contained in the rock core cannot escape, then the piston rods of the two second vertical hydraulic oil cylinders are controlled to synchronously contract, the piston rods of the two second vertical hydraulic oil cylinders pull the sampling hydraulic motors to move upwards for resetting, so that the core taking drill rod and the core taking drill bit are drawn out from the drilled hole on the ground of the underground roadway, the sampling hydraulic motors, the core taking drill rod and the core taking drill bit are upwards accommodated in the vehicle body again, and thus the core taking work of the first group of rock cores is completed, starting the four self-driving motors, driving the corresponding guide wheels to rotate by the four self-driving motors respectively, enabling the vehicle body to continue to walk in the underground roadway along the track, repeating the coring process when the vehicle body moves to another specified position and needs core drilling and sampling, enabling the second group of sampling systems to drill and core the ground of the underground roadway for the second time at the specified position to obtain a second core, and repeating the operation in such a way, so that the other sampling systems all obtain the corresponding cores; when the ground of underground tunnel does not set up the track, each first vertical hydraulic cylinder's piston rod all stretches out downwards completely, makes the automobile body upwards rise, and crawler travel mechanism supports subaerial at underground tunnel, and four guide pulleys all leave ground, start hydraulic oil pump and walking hydraulic motor through the controller, and hydraulic oil pump passes through hydraulic oil drive walking hydraulic motor and rotates, and walking hydraulic motor drives the drive wheel and rotates, and the drive wheel drives the walking track and rotates, then the bottom of automobile body is walked in underground tunnel through crawler travel mechanism.
When the controller obtains a signal that the electric quantity of the rechargeable battery is insufficient, the vehicle body needs to be moved to the position below a certain adjacent vertical branch air pipe on the positive pressure air pipe in the underground roadway, the controller controls the three-dimensional mechanical arm to act, wherein the outer edge of the sealing end cover is seen upwards through the positioning camera to ensure that the disc-type electromagnet corresponds to the sealing end cover up and down, the clamping part of the three-dimensional mechanical arm drags the air inlet hose to vertically lift upwards to enable the disc-type electromagnet to approach the sealing end cover, namely, the cylindrical protrusion can be accurately positioned and inserted into the positioning groove, the piezoelectric sensor transmits the signal to the controller after being pressed, the controller controls the disc-type electromagnet to be switched on to generate magnetism, the disc-type electromagnet adsorbs the sealing end cover, the upper surface of the disc-type electromagnet is in contact with the lower surface of the sealing end cover in an attaching mode, the sealing ring is pressed into the sealing ring groove in a matching mode, and the cross section of the sealing ring is larger than that of the sealing ring groove, and the sealing conical plug is jacked upwards, then high-pressure air in the positive-pressure air pipe enters the air inlet hose through an annular gap between the sealing conical plug and the conical hole and the air inlet through holes, the high-pressure air enters the shell of the wind wheel power machine through the air inlet hose to blow the wind wheel to rotate and is discharged through the air outlet pipe, and the central shaft of the wind wheel drives the power input shaft of the generator to rotate, so that the generator generates electricity to charge the rechargeable battery, and the power supply is ensured; be provided with smoke transducer on the automobile body, whether there is the conflagration to take place in can monitoring underground tunnel through smoke transducer to send signal and give the controller, the controller passes to ground workstation with the signal again, so the staff alright obtain the police dispatch newspaper.
After the survey and drawing is accomplished in underground tunnel, open ground with this multifunctional robot for underground works survey and drawing, memory through mapping system can obtain survey and drawing image information, in order to obtain the rock core in the core taking cavity, open the sample side door, the sample rubber tapping uses the long cutter to upwards stretch into by the lower port of coring bit, the long cutter removes along the interior circle of coring bit, the knife tip lacerates the sealed glued membrane of terminal surface under the rock core, then, open and aerify sealed lid, connect the outer termination air pump of atmospheric pressure passageway, inject high-pressure gas into the atmospheric pressure recess through the atmospheric pressure passageway, it is gaseous to push out the rock core from the core taking cavity of coring drilling rod, it can directly to take out the rock core from the side door department of taking a sample.
The invention has scientific design, can meet the requirement of underground surveying and mapping work, can sample in an underground tunnel, is used for geological survey analysis, and has self-charging function.
Drawings
Fig. 1 is a schematic view of the invention walking in an underground roadway.
Fig. 2 is a bottom view of the present invention.
Fig. 3 is a side view of the present invention.
FIG. 4 is a schematic diagram of the sampling system of the present invention.
Fig. 5 is a sectional view taken along line a-a in fig. 4.
Fig. 6 is a sectional view taken along line B-B in fig. 5.
Fig. 7 is a sectional view taken along line C-C in fig. 5.
Fig. 8 is a sectional view taken along line D-D in fig. 5.
Fig. 9 is a partially enlarged view of fig. 7 at E.
Fig. 10 is a schematic structural diagram of the charging system of the present invention.
Fig. 11 is a partial enlarged view of fig. 10 at F.
Detailed Description
The embodiments of the present invention are further described below with reference to the drawings.
As shown in fig. 1-11, the multifunctional robot for underground engineering surveying and mapping comprises a vehicle body 1, a surveying and mapping system, an illumination system, a controller, a hydraulic power system, a charging system and a rechargeable battery, wherein the surveying and mapping system and the illumination system are all installed on the top of the vehicle body 1, the controller, the hydraulic power system, the charging system and the rechargeable battery are all arranged in the vehicle body 1, the width direction of the vehicle body 1 is taken as the left-right direction, the length direction of the vehicle body 1 is taken as the front-back direction, a crawler traveling mechanism 2 is arranged at the bottom of the vehicle body 1, a lifting system is arranged between the crawler traveling mechanism 2 and the vehicle body 1, four sampling holes 3 which are through up and down and are arranged in a rectangular array are arranged on a bottom plate of the vehicle body 1, four sampling systems are arranged in the vehicle body and correspond to the four sampling holes 3 up and down one by one, guide wheels 4 which are positioned outside the periphery of the crawler traveling mechanism 2 are rotatably installed around the bottom of the vehicle body 1 through a spacing adjusting bracket, the self-driven motor vehicle body 1 is arranged in the guide wheel 4 and walks in the underground roadway 72 through the crawler traveling mechanism 2 or the four guide wheels 4, the hydraulic power system respectively provides power for the crawler traveling mechanism 2, the lifting system, the four spacing adjusting supports and the four sampling systems, the charging system is electrically connected with the rechargeable battery, the rechargeable battery respectively provides power for the surveying and mapping system, the lighting system, the controller, the four self-driven motors and the hydraulic power system, and the controller is respectively in signal connection with the surveying and mapping system, the lighting system, the hydraulic power system, the lifting system, the four spacing adjusting supports, the four self-driven motors and the four sampling systems.
The surveying and mapping system comprises a distance measuring sensor and a surveying and mapping camera, and the controller is respectively in signal connection with the distance measuring sensor and the surveying and mapping camera;
the lighting system comprises a searchlight, a rechargeable battery is electrically connected with the searchlight, a lighting control switch is arranged on a circuit between the searchlight and the rechargeable battery, and a controller is in signal connection with the lighting control switch.
The hydraulic power system comprises a hydraulic oil pump and a hydraulic oil tank, the hydraulic oil pump is connected with the hydraulic oil tank through a first oil path, the rechargeable battery is electrically connected with the hydraulic oil pump, and the controller is in signal connection with the hydraulic oil pump.
The crawler belt traveling mechanism 2 comprises a frame, a plurality of driving wheels, a supporting chain wheel and a tensioning wheel are rotatably arranged on the left side and the right side of the frame, a traveling crawler belt is sleeved outside each of the driving wheels, the supporting chain wheel and the tensioning wheel, a traveling hydraulic motor for driving the driving wheels to rotate is arranged on the frame, the traveling hydraulic motor is connected with a hydraulic oil pump through a second oil path, the traveling hydraulic motor is connected with a hydraulic oil tank through a third oil path, and a controller is in signal connection with the traveling hydraulic motor; the lifting system comprises a plurality of first vertical hydraulic oil cylinders 6 symmetrically arranged on the left side and the right side of the vehicle body 1, each of the left first vertical hydraulic oil cylinders 6 and each of the right first vertical hydraulic oil cylinders 6 are arranged at intervals front and back, the bottom of the cylinder body of each of the left first vertical hydraulic oil cylinders 6 is fixedly arranged on the lower side of the left side surface of the vehicle body 1, the piston rod of each of the left first vertical hydraulic oil cylinders 6 extends downwards, the lower end of the piston rod of each of the left first vertical hydraulic oil cylinders 6 is hinged to the left side portion of the vehicle frame, the bottom of the cylinder body of each of the right first vertical hydraulic oil cylinders 6 is fixedly arranged on the lower side portion of the right side surface of the vehicle body 1, the piston rod of each of the right first vertical hydraulic oil cylinders 6 extends downwards, the lower end of the piston rod of each of the right first vertical hydraulic oil cylinders 6 is hinged to the right side portion of the vehicle frame, each of the first vertical hydraulic oil cylinders 6 is connected with a hydraulic oil pump through a fourth oil path, and the controller is in signal connection with each of the first vertical hydraulic oil cylinders 6. The walking hydraulic motor can be in transmission connection with the central shaft of the driving wheel through a belt transmission mechanism or a chain transmission mechanism.
The four distance adjusting supports are identical in structure and arranged in a rectangular array, the distance adjusting support on the left front side comprises a guide seat 5, a guide sleeve 7, a wheel shaft 74 and a distance adjusting hydraulic oil cylinder 75, the guide seat 5 is fixedly arranged on the right front side of the bottom of the vehicle body, the guide sleeve 7 is horizontally and fixedly connected to the bottom of the vehicle body along the left-right direction and is positioned on the left side of the guide seat 5, guide through holes corresponding to the left and right of the guide sleeve 7 are formed in the guide seat 5, the wheel shaft 74 is concentrically and slidably connected in the guide sleeve 7, the right end part of the wheel shaft 74 penetrates through the guide through holes rightwards, a guide wheel on the left front side is rotatably arranged on the right end part of the wheel shaft 74 through a bearing, the distance adjusting hydraulic oil cylinder 75 is horizontally and fixedly connected to the bottom of the vehicle body along the left-right direction and is positioned on the left side of the guide sleeve 7, a piston rod of the distance adjusting hydraulic oil cylinder 75 extends rightwards and is superposed with the central line of the guide sleeve 7, the right end of the piston rod of the distance adjusting hydraulic oil cylinder 75 is connected with the left end of the wheel shaft 74.
The four sampling systems are identical in structure and arranged in a rectangular array, the sampling system on the right front side comprises a door frame type support 8, a sampling hydraulic motor 9 and two second vertical hydraulic cylinders 10, the left side and the right side of the door frame type support 8 are through, the lower sides of the vertical plates on the front side and the rear side of the door frame type support 8 are open, the lower sides of the vertical plates on the front side and the rear side of the door frame type support 8 are fixedly connected with the upper surface of the bottom plate in the vehicle body 1, a sampling support plate 11 parallel to the vertical plates is fixedly connected between the lower surface of the top horizontal plate of the door frame type support 8 and the upper surface of the bottom plate in the vehicle body 1, two guide rails 12 arranged at intervals in the vertical direction are vertically arranged on the left side surface of the sampling support plate 11, the central line of the sampling hydraulic motor 9 is vertically arranged and positioned right above a corresponding sampling hole 3, the right side of a casing of the sampling hydraulic motor 9 is slidably connected with the two guide rails 12, a support sleeve 13 sleeved outside a power shaft of the sampling hydraulic motor 9 is fixedly arranged in the middle part of the lower side of the casing of the sampling hydraulic motor 9, sample hydraulic motor 9's the outer circumference of power shaft and the interior circumference sealed rotation of support sleeve 13 are connected, sample hydraulic motor 9's power shaft lower extreme coaxial transmission is connected with and gets core drilling rod 14, it connects in support sleeve 13 to get core drilling rod 14's sealed rotation of last side, the lower extreme that support sleeve 13 is stretched out to the lower side of getting core drilling rod 14, the open core chamber 15 of downside is seted up at core drilling rod 14's middle part, core drilling rod 14's lower extreme is connected with and gets core drill bit 16, it is hollow drill bit 16 to get core drill bit 16's internal diameter the same with the internal diameter of getting core chamber 15, interval sets up the front side and the rear side at sample hydraulic motor 9 and be located the left side of sample extension board 11 around two vertical hydraulic cylinder 10, the cylinder body bottom of two vertical hydraulic cylinder 10 articulates respectively at door frame type support 8's top horizontal plate lower surface, the piston rod of two vertical hydraulic cylinder 10 all stretches out downwards and articulates respectively at sample hydraulic motor 9's casing leading flank and rear side and back respectively On the side surface, the lower side part of the outer circumference of the coring drill rod 14 is provided with four circumferential array circular cutting through holes 17, the circular cutting through holes 17 are arranged along the radial direction, the inner end of the circular cutting through hole 17 is communicated with the inside of the coring cavity 15, a cylindrical circular cutter 18 is arranged in the circular cutting through hole 17 in a sealing and sliding manner, the outer circumference of the coring drill rod 14 at the outer end of the circular cutting through hole 17 is fixedly connected with a circular end cover 19 for sealing and blocking the circular cutting through hole 17, the inner end of the cylindrical circular cutter 18 is a conical cutting edge, the inner end of the cylindrical circular cutter 18 is flush with the inner end of the circular cutting through hole 17, the outer end of the cylindrical circular cutter 18 is positioned in the circular cutting through hole 17, the middle part of the outer end surface of the cylindrical circular cutter 18 is provided with a force application blind hole 20 with an outer opening, a first tension spring 21 is connected between the hole bottom of the force application blind hole 20 and the middle part of the inner surface of the circular end cover 19, the lower side part of the coring drill rod 14 is concentrically provided with a hydraulic circular ring cavity 22, the lower side part of the coring drill rod 14 is provided with a plurality of first oil supply channels 23 which are respectively communicated with the hydraulic circular ring cavity 22 and the circular cutting through holes 17 correspondingly, the upper side part of the outer circumference of the coring drill rod 14 is provided with a first hydraulic ring groove 24, a second hydraulic ring groove 25 and a cooling ring groove 26 which are opened at the outer side and spaced up and down, the left side part of the coring drill rod 14 is provided with a second oil supply channel 27 which is communicated with the first hydraulic ring groove 24 and the hydraulic circular ring cavity 22 along the axial direction, the left part of the lower side of the supporting sleeve 13 is provided with a first oil conveying channel 28 along the radial direction, the inner end of the first oil conveying channel 28 is communicated with the first hydraulic ring groove 24, the outer end of the first oil conveying channel 28 is connected with a first oil supply pipe 30 through a first oil supply joint 29, the outer end of the first oil supply pipe 30 is connected with a hydraulic oil pump, the center of the bottom of the coring cavity 15 is provided with an air pressure groove 31, the right side of the middle part of the coring drill rod 14 is provided with an air pressure channel 32 which is communicated with the air pressure groove 31, the outer end of the air pressure channel 32 is positioned at the right side part of the coring drill rod 14 and is provided with an air inflation sealing cover 33, a glue spraying and air leakage preventing system is arranged on the coring drill rod 14, a cooling pipeline system is arranged on the coring drill bit 16, the hydraulic oil pump is respectively connected with the sampling hydraulic motor 9 and the two second vertical hydraulic oil cylinders 10 through a fifth oil way, and the controller is respectively in signal connection with the sampling hydraulic motor 9 and the two second vertical hydraulic oil cylinders 10;
the front side part and the rear side part of the right side plate of the vehicle body 1 and the front side part and the rear side part of the left side plate of the vehicle body 1 are provided with sampling side doors 76, the two left sampling side doors 76 correspond to the left and the right of the two left doorframe-type brackets 8 respectively, and the two right sampling side doors 76 correspond to the left and the right of the two right doorframe-type brackets 8 respectively. The glue spraying air leakage prevention system comprises two fan-shaped spray heads 34, a glue supply circular ring cavity 35 positioned on the lower side of a hydraulic circular ring cavity 22 is concentrically arranged at the lower end part of the coring drill rod 14, the diameter of the glue supply circular ring cavity 35 is smaller than that of the hydraulic circular ring cavity 22, glue spraying through holes 36 are radially arranged on the right front side and the left rear side of the lower end part of the coring drill rod 14, the two glue spraying through holes 36 are radially symmetrical, the glue spraying through hole 36 on the right front side is arranged in a low-inside-high inclined manner, the outer ends of the two glue spraying through holes 36 are communicated with the glue supply circular ring cavity 35, the inner ends of the two glue spraying through holes 36 are communicated with the coring cavity 15, the two fan-shaped spray heads 34 are respectively and fixedly installed in the two glue spraying through holes 36 in a sealing manner, the spraying ends of the two fan-shaped spray heads 34 are respectively flush with the inner ends of the two glue spraying through holes 36, the fan-shaped spray head 34 on the right front side sprays towards the upper front side and the left rear side, the fan-shaped spray head 34 sprays towards the right front side and the upper side, a glue adding channel 37 is arranged on the right front side of the lower end part of the coring drill rod 14 along the radial direction, the inner end of the glue adding channel 37 is communicated with a glue supply circular ring cavity 35, a glue adding sealing cover 38 is arranged at the outer end of the glue adding channel 37, a cylindrical hydraulic cavity 39 is axially arranged on the right front side of the lower side part of the coring drill rod 14, an extrusion piston 40 is arranged in the cylindrical hydraulic cavity 39 in a sealing and sliding manner, a second tension spring 41 is connected between the upper side of the extrusion piston 40 and the upper side of the cylindrical hydraulic cavity 39, a third oil supply channel 42 communicated with the second hydraulic ring groove 25 and the cylindrical hydraulic cavity 39 is axially arranged on the right front side of the coring drill rod 14, a fourth oil supply channel 43 communicated with the glue supply circular ring cavity 35 and the cylindrical hydraulic cavity 39 is axially arranged on the right front side of the lower end part of the coring drill rod 14, a second oil conveying channel 44 is radially arranged on the right front side of the middle part of the support sleeve 13, the inner end of the second oil conveying channel 44 is communicated with the second hydraulic ring groove 25, the outer end of the second oil delivery passage 44 is connected to a second oil supply pipe 46 through a second oil supply joint 45, and the outer end of the second oil supply pipe 46 is connected to the hydraulic oil pump.
The cooling pipeline system comprises a plurality of cooling liquid spray holes, each cooling liquid spray hole is uniformly arranged on the ring surface of the lower end of the coring bit 16, a cooling circular ring cavity 48 is concentrically arranged in the middle of the coring bit 16, a plurality of first cooling liquid channels 49 which are respectively and correspondingly communicated with the cooling circular ring cavity 48 and each cooling liquid spray hole are axially arranged on the lower side portion of the coring bit 16, a second cooling liquid channel 50 which is vertically communicated is axially arranged on the right rear portion of the upper side of the coring bit 16 and the right rear portion of the coring drill rod 14, the lower end of the second cooling liquid channel 50 is communicated with the cooling circular ring cavity 48, the upper end of the second cooling liquid channel 50 is communicated with the cooling circular ring groove 26, a water delivery channel 51 is radially arranged on the right rear side of the upper side portion of the supporting sleeve 13, the inner end of the water delivery channel 51 is communicated with the cooling circular ring groove 26, the outer end of the water delivery channel 51 is connected with a cooling liquid supply pipe 53 through a water supply joint 52, the electric stop valve 54 is arranged on the cooling liquid supply pipe 53, the cooling water tank and the water pump are arranged in the vehicle body 1, the water inlet of the water pump is connected with the water outlet of the cooling water tank, the water outlet of the water pump is connected with the water inlet of the cooling liquid supply pipe 53, the rechargeable battery is electrically connected with the water pump, and the controller is respectively in signal connection with the water pump and the electric stop valve 54.
The charging system comprises a wind wheel power machine 55 and a generator, a wind wheel 56 is rotatably arranged in a shell of the wind wheel power machine 55, one end of a central shaft of the wind wheel 56 is in transmission connection with a power input shaft of the generator, the generator is electrically connected with a rechargeable battery, an air inlet hose 57 is connected to an air inlet of the shell of the wind wheel power machine 55, an air outlet pipe 58 is connected to an air outlet of the shell of the wind wheel power machine 55, a positive pressure air pipe 59 is arranged in an underground roadway 72, a plurality of vertical branch air pipes 60 are connected to the positive pressure air pipe 59, a sealing end cover 61 is fixedly connected to the lower end of each vertical branch air pipe 60, a conical hole which is through from top to bottom and large in top is small in bottom is arranged in the middle of each sealing end cover 61, a cross-shaped support 63 is fixedly connected to the inner middle of each vertical branch air pipe 60, a sealing conical plug 64 is arranged in the conical hole in a matching manner, and a compression spring 65 is connected between the center of the top surface of the sealing conical plug 64 and the cross-shaped support 63, the lower end of the sealing conical plug 64 is integrally provided with a cylindrical bulge 66 which extends downwards to the lower end of the conical hole, the upper end of the air inlet hose 57 is fixedly connected with a disc-type electromagnet 67, a plurality of air inlet through holes 68 which are through up and down are arranged on the disc-type electromagnet 67 in an array manner, the upper surface of the disc-type electromagnet 67 is fixedly connected with a sealing ring 69 which is vertically corresponding to the sealing ring groove 62, the cross section of the sealing ring 69 is larger than that of the sealing ring groove 62, each air inlet through hole 68 is positioned in the sealing ring 69, the center of the upper surface of the disc-type electromagnet 67 is provided with a positioning groove 70 which is vertically corresponding to the cylindrical bulge 66, the depth of the positioning groove 70 is smaller than the length of the cylindrical bulge 66, a piezoelectric sensor is arranged in the positioning groove 70, at least two positioning cameras 77 which are connected with a controller through signals are arranged on the outer circumference of the disc-type electromagnet 67, and the outer edges of the sealing end cover 61 are seen upwards by all the positioning cameras 77, the vehicle body 1 is provided with a three-dimensional mechanical arm 71, a clamping part of the three-dimensional mechanical arm 71 is clamped on the outer circumference of the upper side part of the air inlet hose 57, the rechargeable battery is electrically connected with the disc type electromagnet 67 and the three-dimensional mechanical arm 71 respectively, and the controller is in signal connection with the disc type electromagnet 67, the three-dimensional mechanical arm 71 and the piezoelectric sensor respectively.
A smoke sensor is arranged on the vehicle body 1, and the controller is in signal connection with the smoke sensor.
The controller, the rechargeable battery, the surveying and mapping system, the distance measuring sensor, the surveying and mapping camera, the searchlight, the illumination control switch, the hydraulic oil pump, the hydraulic oil tank, the driving wheel, the supporting chain wheel, the tensioning wheel, the walking crawler belt, the walking hydraulic motor, the self-driving motor, the generator and the smoke sensor are not shown in the figure.
The controller, the rechargeable battery, the surveying and mapping system, the distance measuring sensor, the surveying and mapping camera, the searchlight, the illumination control switch, the hydraulic oil pump, the hydraulic oil tank, the driving wheel, the supporting chain wheel, the tensioning wheel, the walking crawler belt, the walking hydraulic motor, the self-driving motor, the positioning camera 77, the generator, the piezoelectric sensor, the three-dimensional mechanical arm 71 and the smoke sensor are all conventional devices, and specific construction and working principle are not repeated.
The working principle of the invention is as follows: the multifunctional robot for underground engineering surveying and mapping is put into an underground tunnel 72, when a track 47 is arranged on the ground of the underground tunnel 72, the distance between two guide wheels 4 at the front side and the rear side can be adjusted according to the distance between the track 47, the piston rods of four distance adjusting hydraulic cylinders 75 synchronously extend and retract, the piston rods of the four distance adjusting hydraulic cylinders 75 push corresponding wheel shafts 74 to move left and right, so that the distance between the two guide wheels 4 at the front side and the rear side is adjusted, then the vehicle body 1 is driven to move between two guide rails 12 through the crawler traveling mechanism 2, the two guide wheels 4 at the left side are positioned on the guide rail 12 at the left side, the two guide wheels 4 at the right side are positioned on the guide rail 12 at the right side, the piston rods of the first vertical hydraulic cylinders 6 are controlled to synchronously and uniformly extend upwards, the vehicle body 1 descends downwards, and the four guide wheels 4 are correspondingly supported on the two corresponding guide rails 12 respectively, each first vertical hydraulic cylinder 6's piston rod all continues upwards shrink in step, thereby upwards mention frame and walking track, make track running gear 2 break away from ground, then start four self-driving motor through the controller, four self-driving motor drive corresponding guide pulley respectively and rotate, make automobile body 1 remove along two guide rail 12, open through controller control lighting control switch, open the searchlight, then the searchlight illuminates underground tunnel 72, and range finding sensor and survey and drawing camera work are inside (section size, tunnel length, the pipeline and the equipment of laying) underground tunnel 72 and are shot in survey and drawing survey data storage to surveying and drawing system's memory.
When the multifunctional robot for underground engineering surveying and mapping moves to a designated position and needs core drilling and sampling, the four self-driving motors are closed, the vehicle body 1 stops moving, then the sampling hydraulic motor 9 of the first group of sampling systems is started, the electric stop valve 54 is opened, the power shaft of the sampling hydraulic motor 9 drives the corresponding core drilling rod 14 to rotate at a high speed, the core drilling rod 14 drives the core drilling bit 16 to rotate at a high speed, the piston rods of the two second vertical hydraulic oil cylinders 10 of the first group of sampling systems are controlled to simultaneously extend out, the piston rods of the two second vertical hydraulic oil cylinders 10 push the sampling hydraulic motor 9 to move downwards on the corresponding guide rail 12, so that the sampling drilling rod downwards passes through the sampling hole 3, the core drilling bit 16 downwards drills into the ground of the underground roadway 72, the water pump is started, and water in the cooling water tank is pumped out and passes through the corresponding cooling liquid supply pipe 53, the water supply joint, The water delivery channel 51, the cooling ring groove 26, the second cooling liquid channel 50, the cooling ring cavity 48, the first cooling liquid channels 49 and the cooling liquid spray holes are sprayed out from the annular surface of the lower end of the coring bit 16 to cool the coring bit 16, the coring bit 14 drills into the ground for a certain distance, under the drilling action of the coring bit 16, a section of cylindrical rock core is filled in the coring cavity 15 of the coring bit 14, then piston rods of two second vertical hydraulic oil cylinders 10 stop acting, a hydraulic oil pump pumps hydraulic oil into the hydraulic ring cavity 22 through the first oil supply pipe 30, the first oil supply joint 29, the first oil delivery channel 28, the first hydraulic ring groove 24 and the second oil supply channel 27, the hydraulic oil in the hydraulic ring cavity 22 is injected into each circular cutting through hole 17 through each first oil supply channel 23, the tension pressure is greater than that of each first tension spring, and presses each cylindrical circular cutting knife 18 to synchronously move inwards, the inner end of each cylindrical ring cutter 18 extends inwards into the coring cavity 15 and presses against the outer circumference of the core, each cylindrical ring cutter 18 rotates along with the coring drill rod 14 to cut the core, each cylindrical ring cutter 18 gradually moves inwards under the action of hydraulic oil until the inner end of each cylindrical ring cutter 18 extends into the center of the coring cavity 15, the core is cut off, the section of the core is flat, then the oil pressure of the first oil supply pipe 30 is discharged through the controller, the hydraulic oil pressure is reduced to zero, each cylindrical ring cutter 18 moves outwards under the action of each first tension spring and returns to each ring cutting through hole 17, the sampling hydraulic motor 9 stops rotating, the water pump and the electric stop valve 54 are closed, the hydraulic oil pump pumps hydraulic oil into the cylindrical hydraulic cavity 39 through the second oil supply pipe 46, the second oil supply joint, the second oil delivery channel 44, the second hydraulic ring groove 25 and the third oil supply channel 42, wherein, initially, the rubber sealing cover 38 is opened in advance, the rubber ring cavity 35 is filled with rubber solution through the rubber channel 37, then the rubber sealing cover 38 is screwed down, the hydraulic oil pressure is greater than the pulling force of the second tension spring 41, the hydraulic oil presses the extrusion piston 40 to move the extrusion piston 40 leftwards, the extrusion piston 40 extrudes the rubber solution, the rubber solution is sprayed out through the two fan-shaped nozzles 34 and respectively and uniformly sprayed on the cross section of the rock core, the rubber solution permeates into the gap between the cross section of the rock core and the inner wall of the coring cavity 15 and is solidified, the gap between the cross section of the rock core and the inner wall of the coring cavity 15 is blocked, the gas contained in the rock core is ensured not to escape, then the piston rods of the two second vertical hydraulic oil cylinders 10 are controlled to contract synchronously, the piston rods of the two second vertical hydraulic oil cylinders 10 pull the sampling hydraulic motors 9 to move upwards for resetting, so that the coring drill rod 14 and the coring bit 16 are drawn out from the drilled hole on the ground of the underground roadway 72, the sampling hydraulic motor 9, the coring drill rod 14 and the coring bit 16 are upwards stored in the vehicle body 1 again, so that the coring work of a first group of cores is completed, the four self-driving motors are started again, the four self-driving motors respectively drive the corresponding guide wheels 4 to rotate, the vehicle body 1 continues to move in the underground roadway 72 along the track 47, when the vehicle body 1 moves to another specified position and needs core drilling and sampling, the coring process is repeated, a second group of sampling systems perform second drilling and coring on the ground of the underground roadway 72 at the specified position to obtain a second core, and the operation is repeated in such a way, so that the other sampling systems all adopt the corresponding cores; when the underground tunnel 72 is not provided with the track 47 on the ground, the piston rods of the first vertical hydraulic oil cylinders 6 all extend downwards completely, so that the vehicle body 1 rises upwards, the crawler traveling mechanism 2 is supported on the ground of the underground tunnel 72, the four guide wheels 4 all leave the ground, the hydraulic oil pump and the traveling hydraulic motor are started through the controller, the hydraulic oil pump drives the traveling hydraulic motor to rotate through hydraulic oil, the traveling hydraulic motor drives the driving wheel to rotate, the driving wheel drives the traveling crawler to rotate, and then the bottom of the vehicle body 1 travels in the underground tunnel 72 through the crawler traveling mechanism 2.
When the controller obtains a signal that the electric quantity of the rechargeable battery is insufficient, the vehicle body 1 needs to be moved to the position below a certain adjacent vertical branch air pipe 60 on the positive pressure air pipe 59 in the underground roadway 72, the controller controls the three-dimensional mechanical arm 71 to act, wherein the outer edge of the sealing end cover 61 is seen upwards through the positioning camera 77, the disc-type electromagnet 67 is ensured to vertically correspond to the sealing end cover 61, the clamping part of the three-dimensional mechanical arm 71 drags the air inlet hose 57 to vertically lift upwards, the disc-type electromagnet 67 is close to the sealing end cover 61, namely the cylindrical protrusion 66 can be accurately positioned and inserted into the positioning groove 70, the piezoelectric sensor is pressed to transmit a signal to the controller, the controller controls the disc-type electromagnet 67 to be switched on to generate magnetism, the disc-type electromagnet 67 adsorbs the sealing end cover 61, the upper surface of the disc-type electromagnet 67 is in contact with the lower surface of the sealing end cover 61, the sealing ring 69 is pressed into the sealing ring groove 62 in a matching manner, the cross section of the sealing ring 69 is larger than that of the sealing ring groove 62, and the sealing conical plug 64 is jacked upwards, so that high-pressure air in the positive-pressure air pipe 59 enters the air inlet hose 57 through an annular gap between the sealing conical plug 64 and the conical hole and a plurality of air inlet through holes 68, the high-pressure air enters the shell of the wind wheel power machine 55 through the air inlet hose 57 to blow the wind wheel 56 to rotate and is discharged through the air outlet pipe 58, the central shaft of the wind wheel 56 drives the power input shaft of the generator to rotate, and the generator generates electricity to charge the rechargeable battery, thereby ensuring the power supply; be provided with smoke transducer on automobile body 1, whether there is the conflagration to take place in can monitoring underground tunnel 72 through smoke transducer to send signal for the controller, the controller passes to ground workstation with the signal again, and so the staff alright obtains the police dispatch newspaper.
After the surveying and mapping in the underground roadway 72 is completed, the multifunctional robot for surveying and mapping underground engineering is driven to the ground, the information of the surveying and mapping image can be obtained through a storage device of a surveying and mapping system, in order to obtain a rock core in the core taking cavity 15, the sampling side door 76 is opened, a long cutter is firstly used and upwards extends from the lower port of the core taking drill bit 16, the long cutter moves along the inner circle of the core taking drill bit 16, the cutter tip cuts a sealing rubber film on the lower end face of the rock core, then, the air-filled sealing cover 33 is opened, the outer end of the air pressure channel 32 is connected with an air pump, high-pressure air is injected into the air pressure groove 31 through the air pressure channel 32, the rock core is pushed out from the core taking cavity 15 of the core taking drill rod 14 through air, and the rock core is directly taken out from the sampling side door 76.
When not surveying and mapping for charging the wind power of the surveying and mapping device, the plurality of vertical branch air pipes connected to the positive pressure air pipe can be used for other positions in the underground roadway 72 to use the wind power as driving force, such as an air drill, an air pick and the like.
The above embodiments are merely to illustrate rather than to limit the technical solutions of the present invention, and although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that; modifications and equivalents may be made thereto without departing from the spirit and scope of the invention and it is intended to cover in the claims the invention as defined in the appended claims.

Claims (10)

1. Multifunctional robot is used in underground works survey and drawing, its characterized in that: the device comprises a vehicle body, a mapping system, a lighting system, a controller, a hydraulic power system, a charging system and a rechargeable battery, wherein the mapping system and the lighting system are all arranged at the top of the vehicle body, the controller, the hydraulic power system, the charging system and the rechargeable battery are all arranged in the vehicle body, the width direction of the vehicle body is taken as the left-right direction, the length direction of the vehicle body is taken as the front-back direction, the bottom of the vehicle body is provided with a crawler walking mechanism, a lifting system is arranged between the crawler walking mechanism and the vehicle body, a bottom plate of the vehicle body is provided with four sampling holes which are through up and down and are arranged in a rectangular array, four sampling systems are arranged in the vehicle body and respectively correspond to the four sampling holes one by one, guide wheels which are positioned outside the periphery of the crawler walking mechanism are rotatably arranged around the bottom of the vehicle body through spacing adjusting supports, self-driving motors are arranged in the guide wheels, and the vehicle body walks in an underground roadway through the crawler walking mechanism or the four guide wheels, the hydraulic power system provides power for the crawler travelling mechanism, the lifting system, the four distance adjusting supports and the sampling systems respectively, the charging system is electrically connected with the rechargeable battery, the rechargeable battery provides power for the surveying and mapping system, the lighting system, the controller, the four self-driving motors and the hydraulic power system respectively, and the controller is in signal connection with the surveying and mapping system, the lighting system, the hydraulic power system, the lifting system, the four distance adjusting supports, the four self-driving motors and the four sampling systems respectively.
2. The multifunctional robot for underground engineering surveying and mapping according to claim 1, wherein: the surveying and mapping system comprises a distance measuring sensor and a surveying and mapping camera, and the controller is respectively in signal connection with the distance measuring sensor and the surveying and mapping camera;
the lighting system comprises a searchlight, a rechargeable battery is electrically connected with the searchlight, a lighting control switch is arranged on a circuit between the searchlight and the rechargeable battery, and a controller is in signal connection with the lighting control switch.
3. The multifunctional robot for underground engineering surveying and mapping according to claim 2, wherein: the hydraulic power system comprises a hydraulic oil pump and a hydraulic oil tank, the hydraulic oil pump is connected with the hydraulic oil tank through a first oil path, the rechargeable battery is electrically connected with the hydraulic oil pump, and the controller is in signal connection with the hydraulic oil pump.
4. The multifunctional robot for underground engineering surveying and mapping according to claim 3, wherein: the crawler belt traveling mechanism comprises a frame, a plurality of driving wheels, a supporting chain wheel and a tensioning wheel are rotatably arranged on the left side and the right side of the frame, a traveling crawler belt is sleeved outside each of the driving wheels, the supporting chain wheel and the tensioning wheel, a traveling hydraulic motor for driving the driving wheels to rotate is arranged on the frame, the traveling hydraulic motor is connected with a hydraulic oil pump through a second oil path, the traveling hydraulic motor is connected with a hydraulic oil tank through a third oil path, and a controller is in signal connection with the traveling hydraulic motor;
the lifting system comprises a plurality of first vertical hydraulic oil cylinders symmetrically arranged on the left side and the right side of the vehicle body, each of the left first vertical hydraulic oil cylinders and each of the right first vertical hydraulic oil cylinders are arranged at intervals front and back, the bottom of the cylinder body of each of the left first vertical hydraulic oil cylinders is fixedly arranged on the lower side of the left side surface of the vehicle body, the piston rod of each of the left first vertical hydraulic oil cylinders extends downwards, the lower end of the piston rod of each of the left first vertical hydraulic oil cylinders is hinged to the left side portion of the vehicle frame, the bottom of the cylinder body of each of the right first vertical hydraulic oil cylinders is fixedly arranged on the lower side portion of the right side surface of the vehicle body, the piston rod of each of the right first vertical hydraulic oil cylinders extends downwards, the lower end of the piston rod of each of the right first vertical hydraulic oil cylinders is hinged to the right side portion of the vehicle frame, each of the first vertical hydraulic oil cylinders is connected with a hydraulic oil pump through a fourth oil path, and the controller is in signal connection with each of the first vertical hydraulic oil cylinders.
5. The multifunctional robot for underground engineering surveying and mapping according to claim 4, wherein: the four spacing adjusting brackets are identical in structure and arranged in a rectangular array, the spacing adjusting bracket on the left front side comprises a guide seat, a guide sleeve, a wheel shaft and a spacing adjusting hydraulic oil cylinder, the guide seat is fixedly arranged on the right front side of the bottom of the vehicle body, the guide sleeve is horizontally and fixedly connected to the bottom of the vehicle body along the left-right direction and is positioned on the left side of the guide seat, the guide seat is provided with guide through holes corresponding to the left and the right of the guide sleeve, the wheel shaft is concentrically and slidably connected in the guide sleeve, the right end part of the wheel shaft penetrates through the guide through hole rightwards, the guide wheel on the left front side is rotatably installed at the right end part of the wheel shaft through a bearing, the distance adjusting hydraulic cylinder is horizontally and fixedly connected to the bottom of the vehicle body in the left-right direction and located on the left side of the guide sleeve, a piston rod of the distance adjusting hydraulic cylinder extends rightwards and is overlapped with the central line of the guide sleeve, and the right end of the piston rod of the distance adjusting hydraulic cylinder is connected with the left end of the wheel shaft.
6. The multifunctional robot for underground engineering surveying and mapping according to claim 5, wherein: the four sampling systems are identical in structure and arranged in a rectangular array, the sampling system on the front right side comprises a door frame type support, a sampling hydraulic motor and two second vertical hydraulic cylinders, the left side and the right side of the door frame type support are through, the lower sides of the front vertical plates and the rear vertical plates of the door frame type support are open, the lower sides of the front vertical plates and the rear vertical plates of the door frame type support are fixedly connected to the upper surface of the inner bottom plate of the vehicle body, sampling support plates parallel to the vertical plates are fixedly connected between the lower surface of the top horizontal plate of the door frame type support and the upper surface of the inner bottom plate of the vehicle body, two guide rails which are vertically arranged at intervals are arranged on the left side surface of each sampling support plate, the central line of the sampling hydraulic motor is vertically arranged and positioned right above a corresponding sampling hole, the right side of a casing of the sampling hydraulic motor is slidably connected to the two guide rails, a support sleeve sleeved outside a power shaft of the sampling hydraulic motor is fixedly arranged in the middle of the lower side of the casing of the sampling hydraulic motor, the outer circumference of the power shaft of the sampling hydraulic motor is rotatably connected with the inner circumference of the support sleeve in a sealing manner, the lower end of a power shaft of the sampling hydraulic motor is coaxially connected with a core drill rod in a transmission way, the upper side part of the core drill rod is connected in a supporting sleeve in a sealing and rotating way, the lower side part of the core drill rod extends out of the lower end of the supporting sleeve, the middle part of the core drill rod is provided with a core cavity with an open lower side, the lower end of the core drill rod is connected with a core drill bit which is a hollow drill bit, the inner diameter of the core drill bit is the same as that of the core cavity, the front and the back of two second vertical hydraulic oil cylinders are arranged at the front side and the back side of the sampling hydraulic motor at intervals and positioned at the left side of a sampling support plate, the bottom of the cylinder bodies of the two second vertical hydraulic oil cylinders are respectively hinged on the lower surface of a top horizontal plate of a door frame type support, the piston rods of the two second vertical hydraulic oil cylinders both extend downwards and are respectively hinged on the front side surface and the back side surface of a shell of the sampling hydraulic motor, and the lower side part of the outer circumference of the core drill rod is provided with four circular cutting through holes in a circumferential array, the annular cutting through hole is arranged along the radial direction, the inner end of the annular cutting through hole is communicated with the inside of the coring cavity, a cylindrical annular cutter is arranged in the annular cutting through hole in a sealing and sliding mode, a circular end cover used for sealing and plugging the annular cutting through hole is fixedly connected to the outer circumference of the coring drill rod at the outer end of the annular cutting through hole, the inner end of the cylindrical annular cutter is a conical cutting edge, the inner end of the cylindrical annular cutter is flush with the inner end of the annular cutting through hole, the outer end of the cylindrical annular cutter is located in the annular cutting through hole, an outside open force application blind hole is formed in the middle of the outer end face of the cylindrical annular cutter, a first tension spring is connected between the bottom of the force application blind hole and the middle of the inner surface of the circular end cover, a hydraulic annular cavity is concentrically arranged on the lower side portion of the coring drill rod, a plurality of first oil supply channels respectively correspondingly communicated with the hydraulic annular cavity and the annular cutting through holes are arranged on the lower side portion of the coring drill rod, first hydraulic annular grooves which are formed in an outside open shape and are spaced up and down are formed in the outer circumference of the side portion of the coring drill rod, A second hydraulic ring groove and a cooling ring groove, wherein a second oil supply channel communicated with the first hydraulic ring groove and the hydraulic ring cavity is axially arranged at the left part of the left side of the coring drill rod, a first oil delivery channel is radially arranged at the left part of the lower side of the supporting sleeve, the inner end of the first oil delivery channel is communicated with the first hydraulic ring groove, the outer end of the first oil delivery channel is connected with a first oil supply pipe through a first oil supply joint, the outer end of the first oil supply pipe is connected with a hydraulic oil pump, an air pressure groove is arranged at the center of the bottom of the cavity of the coring cavity, an air pressure channel communicated with the air pressure groove is arranged at the right side of the middle part of the coring drill rod, the outer end of the air pressure channel is positioned at the right side part of the coring drill rod and is provided with an air-filled sealing cover, a glue spraying and air leakage preventing system is arranged on the coring drill rod, a cooling pipeline system is arranged on the coring drill bit, and the hydraulic oil pump is respectively connected with a sampling hydraulic motor and two second vertical hydraulic oil cylinders through a fifth oil circuit, the controller is respectively in signal connection with the sampling hydraulic motor and the two second vertical hydraulic oil cylinders;
the front side part and the rear side part of the right side plate of the vehicle body and the front side part and the rear side part of the left side plate of the vehicle body are respectively provided with a sampling side door, the two left sampling side doors respectively correspond to the left and the right of the two left doorframe-type supports, and the two right sampling side doors respectively correspond to the left and the right of the two right doorframe-type supports.
7. The multifunctional robot for underground engineering surveying and mapping according to claim 6, wherein: the glue spraying air leakage preventing system comprises two fan-shaped spray heads, a glue supplying circular ring cavity positioned on the lower side of the hydraulic circular ring cavity is concentrically arranged at the lower end part of the coring drill rod, the diameter of the glue supplying circular ring cavity is smaller than that of the hydraulic circular ring cavity, a glue spraying through hole is radially arranged on the right front side and the left rear side of the lower end part of the coring drill rod, the two glue spraying through holes are radially symmetrical, the glue spraying through hole on the right front side is obliquely arranged at a low position outside and at a high position inside, the outer ends of the two glue spraying through holes are communicated with the glue supplying circular ring cavity, the inner ends of the two glue spraying through holes are communicated with the coring cavity, the two fan-shaped spray heads are respectively and fixedly installed in the two glue spraying through holes in a sealing mode, the spraying ends of the two fan-shaped spray heads are respectively flush with the inner ends of the two glue spraying through holes, the fan-shaped spray head on the right front side is sprayed towards the left upper rear side, the fan-shaped spray head on the left rear side is sprayed towards the right upper front side, a glue adding channel is radially arranged on the right side of the lower end part of the coring drill rod, the inner end of the gluing channel is communicated with the gluing circular ring cavity, the outer end of the gluing channel is provided with a gluing sealing cover, the right front side of the lower side of the coring drill rod is axially provided with a cylindrical hydraulic cavity, an extrusion piston is arranged in the cylindrical hydraulic cavity in a sealing sliding manner, a second tension spring is connected between the upper side face of the extrusion piston and the upper side face of the cylindrical hydraulic cavity, the right front side of the coring drill rod is axially provided with a third oil supply channel communicated with a second hydraulic ring groove and the cylindrical hydraulic cavity, the right front side of the lower end of the coring drill rod is axially provided with a fourth oil supply channel communicated with the gluing circular ring cavity and the cylindrical hydraulic cavity, the right front side of the middle part of the supporting sleeve is radially provided with a second oil delivery channel, the inner end of the second oil delivery channel is communicated with the second hydraulic ring groove, the outer end of the second oil delivery channel is connected with a second pipe through a second oil supply connector, and the oil supply pump of the second oil delivery pipe is connected with a hydraulic oil pump.
8. The multifunctional robot for underground engineering surveying and mapping according to claim 7, wherein: the cooling pipeline system comprises a plurality of cooling liquid spray holes, each cooling liquid spray hole is uniformly arranged on the ring surface of the lower end of the coring bit, a cooling circular ring cavity is concentrically arranged in the middle of the coring bit, a plurality of first cooling liquid channels which are respectively and correspondingly communicated with the cooling circular ring cavity and each cooling liquid spray hole are axially arranged at the lower side part of the coring bit, a second cooling liquid channel which is vertically communicated is axially arranged at the right rear part of the upper side of the coring bit and the right rear part of the coring drill rod, the lower end of the second cooling liquid channel is communicated with the cooling circular ring cavity, the upper end of the second cooling liquid channel is communicated with the cooling circular groove, a water delivery channel is radially arranged at the right rear side of the upper side part of the supporting sleeve, the inner end of the water delivery channel is communicated with the cooling circular groove, the outer end of the water delivery channel is connected with a cooling liquid supply pipe through a water supply joint, an electric stop valve is arranged on the cooling liquid supply pipe, a cooling water tank and a water pump are arranged in the vehicle body, the water inlet of the water pump is connected with the water outlet of the cooling water tank, the water outlet of the water pump is connected with the water inlet of the cooling liquid supply pipe, the rechargeable battery is electrically connected with the water pump, and the controller is respectively in signal connection with the water pump and the electric stop valve.
9. The multifunctional robot for underground engineering surveying and mapping according to claim 8, wherein: the charging system comprises a wind wheel power machine and a generator, a wind wheel is rotatably arranged in a shell of the wind wheel power machine, one end of a central shaft of the wind wheel is in transmission connection with a power input shaft of the generator, the generator is electrically connected with a rechargeable battery, an air inlet hose is connected to an air inlet of the shell of the wind wheel power machine, an air outlet pipe is connected to an air outlet of the shell of the wind wheel power machine, a positive pressure air pipe is arranged in an underground roadway, a plurality of vertical branch air pipes are connected to the positive pressure air pipe, a sealing end cover is fixedly connected to the lower end of each vertical branch air pipe, a conical hole which is through from top to bottom and large in top to bottom is formed in the middle of each sealing end cover, a sealing ring groove is formed in the lower surface of each sealing end cover, a cross-shaped support is fixedly connected to the inner middle of each vertical branch air pipe, a sealing conical plug is installed in a matching mode in each conical hole, a compression spring is connected between the center of the top surface of each sealing conical plug and the cross-shaped support, and a cylindrical bulge extending out of the lower end of each conical hole is integrally formed at the lower end of each sealing plug, the upper end of the air inlet hose is fixedly connected with a disc type electromagnet, a plurality of air inlet through holes which are through up and down are arranged on the upper circumference array of the disc type electromagnet, the upper surface of the disc type electromagnet is fixedly connected with a sealing ring which is vertically corresponding to the sealing ring groove, the cross section of the sealing ring is larger than that of the sealing ring groove, each air inlet through hole is positioned in the sealing ring, a positioning groove which is vertically corresponding to the cylindrical protrusion is arranged at the center of the upper surface of the disc type electromagnet, the depth of the positioning groove is smaller than the length of the cylindrical protrusion, a piezoelectric sensor is arranged in the positioning groove, at least two positioning cameras which are connected with a controller through signals are arranged on the outer circumference of the disc type electromagnet, the outer edge of the sealing end cover is seen upwards by all the positioning cameras, a three-dimensional mechanical arm is arranged on the vehicle body, a clamping part of the three-dimensional mechanical arm is clamped on the outer circumference of the upper side part of the air inlet hose, and a rechargeable battery is respectively and electrically connected with the disc type electromagnet and the three-dimensional mechanical arm, and the controller is respectively in signal connection with the disc type electromagnet, the three-dimensional mechanical arm and the piezoelectric sensor.
10. The multifunctional robot for underground engineering surveying and mapping according to claim 8, wherein: the vehicle body is provided with a smoke sensor, and the controller is in signal connection with the smoke sensor.
CN202110750610.3A 2021-07-02 2021-07-02 Multifunctional robot for underground engineering surveying and mapping Active CN113624213B (en)

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