with each other to realize the free movement, steering and detection of the robot in the soil. The drilling system comprises a conical drill bit, a motor and a screw rod,DHD Drill bit, wherein the motor is provided with double output shafts, and the conical drill bit and the screw rod are respectively connected through a coupling pin.Fig. 9 is a steering schematic diagram of an embodiment of the present invention. The numbers in the figure are: 1. Conical drill; 2. Motor; 3. Detection device; 4. Robot body; 5. Suspension bearing; 6. Elastic dust cover; 7. Axial motor; 8. Support foot; 9. Axial screw rod; 10. Radial screw rod; 11. Radial motor; 12. Screw rod; 13. Reel; 14. Composite cable; 15. Ground computer control center; 16. Signal line; 17. DC power supply; 18. Power line; 19. Guide rope; 20. Control circuit board; 21. Gyroscope; 22. Slider; 23. Shaft sleeve; 24. Inner shell; 25. Web plate; 26. Cutting teeth; 27. Platform; 28. Outer shell; 29. Guide rail; 30. Through hole; 31. Rear baffle; 32. Threaded hole; 33. Window; 34. Front bezel; 35. Thread hole; 36. Groove; 37. Thread hole; 38. Lug; 39. Thread hole. Detailed description of the invention The invention will be further described with reference to the embodiments shown in the drawings. Referring to figs. 1-7, the self-propelled earth-boring robot of this embodiment is mainly composed of a head 1, a robot body 4, down the hole bit ,mining dth bit, a screw rod 12, and a supporting foot 8, and includes a boring system for cutting and conveying soil, a power system for providing motion capability, and a control system for controlling the boring system and the power system. 1, as shown in fig. 8A, the robot is in an initial state, and the supporting foot 8 is retracted in the robot body 4. The motor 2 drives the conical drill bit 1 and the screw rod 12 to rotate, and the robot cuts the soil to form a hole on one hand, and discharges the soil from the tail through the screw rod 12 on the other hand. Step 2, as shown in fig. 8 (B), the motor 11 drives the screw rod 10 to make the three supporting feet 8 extend radially from the robot body 4 at the same time, and support the hole wall tightly to provide sufficient supporting reaction force. Step 3, as shown in fig. 8C, the motor 7 drives the screw rod 9. Since the support foot 8 is supported tightly on the hole wall and cannot move axially, the screw rod 9 extends axially to drive the motor 7 to move axially, and the motor 7 is fixed on the inner shell 24, thereby driving the robot body to move forward by a distance H. Step 4, as shown in fig. 8d, the motor 11 drives the screw rod 10 to make the three supporting feet 8 contract into the robot body 4 along the radial direction at the same time. Step 5, as shown in fig. 8e, the motor 7 drives the screw rod 9, and because the friction between the robot body and the hole wall is greater than the sliding friction of the sliding block 22 along the inner shell 24, the screw rod 9 drives the sliding block 22 to move forward by a distance H along the axial direction. The robot returns to the initial state, that is, returns to step one. At this point, a cycle of motion is completed, and the robot as a whole moves forward by a step H, and so on, so that the robot can continuously move forward in a straight line. Please refer to fig. 9 for the turning movement principle of the robot. When any one of the supporting feet 8 stretches out and tightens the hole wall, the other supporting feet do not move, and the motor 7 drives the screw rod 9 to move, the overall moment of the robot is unbalanced due to the soil reaction force acting on a single supporting foot, and the robot body deflects accordingly,Borehole Drill Bits, so that the turning can be realized. The foregoing description of the embodiments is provided to facilitate the understanding and application of the present invention by those of ordinary skill in the art. It will be apparent to those skilled in the art that various modifications may be made to these embodiments and that the general principles described herein may be applied to other embodiments without the exercise of the inventive faculty. Therefore, the present invention is not limited to the embodiments herein, and any improvements and modifications made by those skilled in the art based on the disclosure of the present invention should be within the scope of the present invention. Return to Sohu to see more Responsible Editor:. wt-dthtools.com