Drilling robot

Abstract

The invention relates to a Drilling robot for drilling a borehole. The drilling robot ( 2 ) is purely electrically driven and comprises a movement unit for moving the drilling robot through the borehole, a rotary hammer unit with a drill head ( 21 ), a rotating system ( 22 ) and a hammering system ( 23 ). The rotating system ( 22 ) is adapted to rotate the drill head ( 21 ) and the hammering system ( 23 ) is adapted to hammer with the drill head ( 21 ). The hammering system ( 23 ) is adapted to operate according to an electro-pneumatic principle in order to generate an electro-pneumatic stroke.

1 . Drilling robot ( 2 ) for drilling a borehole ( 1 ), wherein the drilling robot ( 2 ) is purely electrically driven and comprises
 a movement unit ( 4 ) for moving and stabilizing the drilling robot ( 2 ) inside the borehole ( 1 ),   a rotary hammer unit with a drill head ( 21 ), a rotating system ( 22 ) and a hammering system ( 23 ), wherein the rotating system ( 22 ) is adapted to rotate the drill head ( 21 ) and wherein the hammering system ( 23 ) is adapted to hammer with the drill head ( 21 ),   characterized in that the hammering system ( 23 ) is adapted to operate according to an electro-pneumatic principle in order to generate an electro-pneumatic stroke.   
     
     
         2 . Drilling robot ( 2 ) according to  claim 1 , wherein the drilling robot ( 2 ) comprises at least one, in particular two, electric motors ( 27 ,  31 ). 
     
     
         3 . Drilling robot ( 2 ) according to  claim 2 , wherein a first electric motor ( 27 ) of the at least one electric motors ( 27 ,  31 ) drives the rotating system ( 22 ) and a second electric motor ( 31 ) of the at least one electric motors ( 27 ,  31 ) drives the hammering system ( 23 ). 
     
     
         4 . Drilling robot ( 2 ) according to  claim 1 , wherein the drilling robot ( 2 ) has a cylindrical shape with a diameter (D 1 ) smaller than 250 mm, in particular smaller than 200 mm, in particular smaller than 150 mm, in particular smaller than 100 mm, in particular smaller than 90 mm. 
     
     
         5 . Drilling robot ( 2 ) according to  claim 3 and 4 , wherein the first electric motor ( 27 ) and the second electric motor ( 31 ) are arranged within the cylindrical shape. 
     
     
         6 . Drilling robot ( 2 ) according to  claim 3 and claim 1 , wherein the first electric motor ( 27 ) is further away from the drill head ( 21 ) than the second electric motor ( 31 ). 
     
     
         7 . Drilling robot ( 2 ) according to  claim 6 , wherein the torque generated by the first electric motor ( 27 ) is transferred from the first electric motor ( 27 ) to the drill head ( 21 ) via a bypass shaft ( 29 ) arranged in longitudinal direction on the side of, in particular parallel to, the second electric motor ( 31 ). 
     
     
         8 . Drilling robot ( 2 ) according to  claim 7 , wherein the bypass shaft ( 29 ) rotates with a frequency higher than 30%, in particular higher than 50%, in particular higher than 100%, of the rotation frequency of the first electric motor ( 27 ). 
     
     
         9 . Drilling robot ( 2 ) according to  claim 3  and according to  claim 1 , wherein the drill head ( 21 ) comprises reamers ( 26 ) rotating with a frequency at least 10 times, in particular 20 times, lower than the rotation frequency of the first electric motor ( 27 ). 
     
     
         10 . Drilling robot ( 2 ) according to  claim 3  and according to  claim 1 , wherein a gearbox of the rotating system ( 22 ) arranged between the drill head ( 21 ) and the second electric motor ( 31 ) of the hammering system ( 23 ) provides a frequency conversion for the rotating system ( 22 ) with a conversion factor of at least 8, in particular at least 10, in particular at least 20, in particular at least 40. 
     
     
         11 . Drilling robot ( 2 ) according to  claim 1 , wherein the rotating system ( 22 ), in particular the gearbox according to  claim 10 , comprises an epicyclic gear train ( 30 ) or a cycloidal drive. 
     
     
         12 . Drilling robot ( 2 ) according to  claim 3  and according to  claim 11 , wherein the epicyclic gear train ( 30 ) or the cycloidal drive is arranged between the drill head ( 26 ) and the second electric motor ( 31 ). 
     
     
         13 . Drilling robot ( 2 ) according to  claim 11  or according to  claim 12 , wherein the hammering system ( 23 ) generates strokes, and wherein the strokes travel through the sun ( 33 ) of the epicyclic gear train ( 30 ) to the drill head ( 21 ). 
     
     
         14 . Drilling robot ( 2 ) according to  claim 1 , wherein the hammering system ( 23 ) comprises a piston ( 32 ), compressing and expanding air ( 33 ) between the piston ( 32 ) and a cylindric weight ( 34 ) without touching the cylindric weight ( 34 ). 
     
     
         15 . Drilling robot ( 2 ) according to  claim 1 , comprising a water-based flushing system ( 8 ) for flushing cuttings to the surface ( 5 ). 
     
     
         16 . Drilling robot ( 2 ) according to  claim 1 , wherein the hammering system ( 23 ) is adapted to operate with a hammer energy in relation to the diameter (D 1 ) of the cylindrically shaped drilling robot ( 2 ) of at least 0.08 J/mm, in particular of at least 0.1 J/mm, in particular 0.12 J/mm. 
     
     
         17 . Drilling robot ( 2 ) according to  claim 1 , wherein the drill head ( 21 ) is adapted to operate with a torque in relation to the diameter (D 1 ) of the cylindrically shaped drilling robot ( 2 ) of at least 0.35 Nm/mm, in particular of at least 0.62 Nm/mm.