CN-117585084-B - Robot and method for layout and recovery of ground node type detectors

CN117585084BCN 117585084 BCN117585084 BCN 117585084BCN-117585084-B

Abstract

The invention belongs to the technical field of advanced geological prediction, and provides a robot and a method for layout and recovery of ground node detectors, wherein a storage device for storing the detectors is arranged at one end of a chassis, a conveying device is arranged in the middle of the chassis, and a drilling device and a mechanical arm are arranged at the other end of the chassis; the chassis is also provided with a navigation positioning system. According to the information provided by the navigation positioning system, the traveling device is controlled to travel to a layout position, the drilling device is used for drilling, the mechanical arm is used for placing the detectors in the drilling holes to finish layout of the detectors, the traveling device is controlled to travel to all the positions of the detectors in sequence, the mechanical arm is used for picking up the detectors on the conveying device, the conveying device is used for conveying the picked-up detectors into the storage device to finish recycling of the detectors, a series of automatic operations such as transportation, measurement, drilling and burying in the layout and recycling processes of the detectors are integrated, and the layout and recycling efficiency of the node type detectors is greatly improved.

Inventors

WU NING
LIU CONGLIN
ZHANG BAOLI
PANG YAN
LI YAO
CAO HONGYI

Assignees

山东百廿慧通工程科技有限公司

Dates

Publication Date: 20260512
Application Date: 20231120

Claims (5)

1. The robot for layout and recovery of the ground node type detectors is characterized by comprising a chassis and a traveling device arranged on the chassis; the detector comprises a chassis, a storage device, a conveying device, a drilling device, a mechanical arm, a navigation positioning system, a controller, a traveling device, a conveying device, a drilling device and the mechanical arm, wherein the storage device is used for storing the detector; The controller controls the running device to run to a layout position according to the information provided by the navigation positioning system, the conveying device conveys the detectors in the storage device to the mechanical arm, the drilling device drills holes, the mechanical arm places the detectors in the drill holes to layout the detectors, the controller controls the running device to run to the position of the detectors according to the information provided by the navigation positioning system, the mechanical arm picks up the detectors on the conveying device, and the conveying device conveys the picked detectors into the storage device to recycle the detectors; The storage device comprises a plurality of telescopic mechanisms arranged on the chassis, two ends of the telescopic mechanisms are respectively provided with a detector placing bin, and an ejecting mechanism is arranged on the side surface, far away from the telescopic mechanisms, of the detector placing bin; The detector placing bin is provided with a limit door at one side close to the telescopic mechanism, the telescopic mechanism is a bidirectional electric cylinder, the ejecting mechanism is a spring, and the conveying device comprises a guide rail arranged between the telescopic mechanism and the detector placing bin and a guide rail arranged between the storage device and the mechanical arm.
2. A robot for deployment and retrieval of land node detectors according to claim 1, wherein said chassis is further provided with at least one obstacle avoidance device.
3. A robot for deployment and retrieval of ground node detectors according to claim 1, wherein said running gear is a mecanum wheel.
4. The robot for deployment and retrieval of a ground node detector of claim 1, wherein the drilling device comprises a first telescoping rod vertically disposed on the chassis, a second telescoping rod hinged on the first telescoping rod, a fourth telescoping rod hinged on the second telescoping rod, and a drill bit disposed on the fourth telescoping rod, and a third telescoping rod is further disposed on the chassis, and an end of the third telescoping rod remote from the chassis is hinged on the first telescoping rod.
5. A method for ground node detector deployment and retrieval using a robot for ground node detector deployment and retrieval as claimed in any one of claims 1 to 4, comprising: The controller controls the traveling device to travel to a layout position according to the information provided by the navigation positioning system, the conveying device conveys the detectors in the storage device to the mechanical arm, the drilling device drills holes, and the mechanical arm places the detectors in the drill holes to layout the detectors; the controller controls the traveling device to travel to the position of the detector according to the information provided by the navigation positioning system, the mechanical arm picks up the detector on the conveying device, and the conveying device conveys the picked detector into the storage device for recovery of the detector.

Description

Robot and method for layout and recovery of ground node type detectors Technical Field The invention belongs to the technical field of advanced geological prediction, and particularly relates to a robot and a method for layout and recovery of a ground node type detector. Background The combined detection technology of the earth holes is one of important methods in tunnel and underground engineering construction, dozens of node detectors are respectively distributed on the geological surface above a shield machine according to different distances in a mode of changing noise into a source, earthquake waves are generated during tunneling of the shield machine, when the earthquake waves meet the bad geological body interface, part of earthquake wave signals are reflected back to be received by the node detectors distributed on the ground, and the position and the image of the bad geology in front of the tunnel are obtained through analyzing and processing the signals received by the node detectors. The inventor finds that aiming at the layout and recovery of the ground node detectors, the layout and recovery are mainly realized in a manual mode at present, because the node detectors are required to be laid in a large number and are required to be manually measured, in addition, each node detector is required to be buried in order to ensure the coupling degree between the node detectors and the ground surface, so that the efficiency of the whole layout process is low, a large amount of manpower and material resources are required to be consumed, and in order to improve the layout and recovery efficiency, the existing detector picking and placing robot only can realize semi-automatic operation, and at least one worker is required to perform cooperation construction on site. Disclosure of Invention In order to solve the problems, the invention provides a robot and a method for layout and recovery of a ground node detector, which integrate a series of automatic operations such as transportation, measurement, drilling and burying, greatly improve the layout and recovery efficiency of the node detector and save manpower and material resources. In order to achieve the above object, in a first aspect, the present invention provides a robot for layout and recovery of a ground node type geophone, which adopts the following technical scheme: A robot for layout and recovery of a ground node type detector comprises a chassis and a traveling device arranged on the chassis; the detector comprises a chassis, a storage device, a conveying device, a drilling device, a mechanical arm, a navigation positioning system, a controller, a traveling device, a conveying device, a drilling device and the mechanical arm, wherein the storage device is used for storing the detector; The controller controls the running device to run to a layout position according to the information provided by the navigation positioning system, the conveying device conveys the detectors in the storage device to the mechanical arm, the drilling device drills holes, the mechanical arm places the detectors in the drill holes to layout the detectors, the controller controls the running device to run to the position of the detectors according to the information provided by the navigation positioning system, the mechanical arm picks up the detectors on the conveying device, and the conveying device conveys the picked detectors into the storage device to recycle the detectors. Further, at least one obstacle avoidance device is arranged on the chassis. Further, the walking device is a Mecanum wheel. Further, the storage device comprises a plurality of telescopic mechanisms arranged on the chassis, two ends of the telescopic mechanisms are respectively provided with a detector placing bin, and an ejecting mechanism is arranged on the side surface, far away from the telescopic mechanisms, of the detector placing bin. Further, a limit door is arranged on one side, close to the telescopic mechanism, of the detector placement bin. Further, the telescopic mechanism is a bidirectional electric cylinder. Further, the ejecting mechanism is a spring. Further, the conveying device comprises a guide rail arranged between the telescopic mechanism and the detector placement bin, and a guide rail arranged between the storage device and the mechanical arm. Further, the drilling device comprises a first telescopic rod vertically arranged on the chassis, a second telescopic rod hinged on the first telescopic rod, a fourth telescopic rod hinged on the second telescopic rod and a drill bit arranged on the fourth telescopic rod, wherein a third telescopic rod is further arranged on the chassis, and one end, far away from the chassis, of the third telescopic rod is hinged on the first telescopic rod. In order to achieve the above object, in a second aspect, the present invention further provides a method for layout and recovery of a ground node detector, which adopts the following technic