CN103144114A - Movable type underprop robot - Google Patents
Movable type underprop robot Download PDFInfo
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- CN103144114A CN103144114A CN2013100678496A CN201310067849A CN103144114A CN 103144114 A CN103144114 A CN 103144114A CN 2013100678496 A CN2013100678496 A CN 2013100678496A CN 201310067849 A CN201310067849 A CN 201310067849A CN 103144114 A CN103144114 A CN 103144114A
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Abstract
The invention discloses a movable type underprop robot, and relates to an underprop robot for solving the problem that rescuers can not go into ruins due to the fact that spaces of the ruins after an earthquake are narrow. Stepped type underprop boards are arranged at the front end of an upper underprop board on a secondary shear mode underprop mechanism, two transmission mechanisms are arranged on two sides of the secondary shear mode underprop mechanism symmetrically, rear connection boards on the transmission mechanisms are connected with rear connection pins on the secondary shear mode underprop mechanism, front connection boards on the transmission mechanisms are connected with front connection pins on the secondary shear mode underprop mechanism, a transmission shaft, located on one side of a right side stepped type support, of each transmission mechanism is connected with a motor, the motor is fixedly installed on the right side stepped type support, the right side stepped type support and a left side stepped type support are arranged on the left side and the right side of the secondary shear mode underprop mechanism symmetrically, linear guide rails on the transmission mechanisms are arranged in corresponding linear guide rail grooves, and the right side stepped type support and the left side stepped type support are provided with right side steps and left side steps respectively. The movable type underprop robot is used for rescuing after an earthquake.
Description
Technical field
The present invention relates to a kind of robot of shoring, be specifically related to a kind of movable type and shore robot.
Background technology
Earthquake disaster has a sudden and destructive natural calamity as a kind of, just never stops from ancient times to the present the invasion to the mankind.After the earthquake, to carry out life rescue in 72 hours be vital to the gold after shake.Yet, many complex situations that earthquake causes have restricted again the rescue personnel and have carried out the life relief in the very first time, be mainly reflected in the following aspects: one, communal facility and high-rise civil building are increasing, cause many survivors after the earthquake to be embedded in darker earthquake ruins by pressure, increased the difficulty of search and rescue work; Two, earthquake field exists various poisonous and harmful substances, as flammable explosive gas, poisonous gas and dust etc., can have a strong impact on the healthy of rescue personnel; Three, because earthquake rescue need to go deep into ruins internal rescue survivor, the possibility that the aftershock that constantly occurs and the unstability of ruins structure make earthquake ruins have at any time secondary to cave in, the earthquake ruins environment that is in extreme danger is threatening rescue personnel's personal safety constantly.
Along with the progress of industrial development and science and technology, specialized robot is used widely in various fields such as military affairs, medical treatment, agricultural, service, amusements.The multi-subject knowledges such as specialized robot technology and disaster rescue technology are organically blended, development is used for exploitation the assisting rescue robot that the disaster survivor searches and rescues, auxiliary or the replacement mankind complete the job tasks such as scouting, detection, search, rescue under dangerous, abominable condition, be one of the developing direction in specialized robot future, become challenging frontier in Robotics research.
The movable type that the present invention relates to is shored robot can enter shake ruins narrow space afterwards, replace the rescue personnel to carry out the task of getting through of rescue passage, multiple sensors be can also configure in robot, feature detection and risk assessment to complex environment in the narrow space of ruins realized.
Summary of the invention
The objective of the invention is to be the ruins narrow space after the solution earthquake, the rescue personnel can't enter the problem in ruins, provides a kind of movable type to shore robot.
the present invention includes right side deformable crawler belt four-bar mechanism, the right side notch cuttype supports, secondary scissors top bracing mechanism, the left side notch cuttype supports, left side deformable crawler belt four-bar mechanism, the wriggling drive motors, tape handler and two transmission mechanisms, right side deformable crawler belt four-bar mechanism and left side deformable crawler belt four-bar mechanism include driving shaft, first induces axle, second induces axle, the 3rd induces axle, driving wheel, the first inducer, the second inducer, the 3rd inducer, driving crank, the crawler belt connecting rod, passive crank, crawler belt, worm gear, worm screw, shaft coupling and four-bar mechanism drive motors, driving shaft, first induces axle, second induces axle, the 3rd induces axle to arrange clockwise successively and consists of parallelogram, and driving shaft and first induces axle to be positioned at top, driving wheel, the first inducer, the second inducer and the 3rd inducer are arranged on respectively driving shaft, first induces axle, second induces axle and the 3rd to induce on axle, one end of driving crank induces axle to be connected with first, the other end of driving crank induces axle to be connected with second, one end of crawler belt connecting rod induces axle to be connected with second, the other end of crawler belt connecting rod and the 3rd induces axle to be connected, one end and the 3rd of passive crank induces axle to be connected, and the other end of passive crank is connected with driving shaft, and crawler belt is arranged on driving wheel, the first inducer, on the second inducer and the 3rd inducer, first induces axle to be arranged on the right side notch cuttype by bearing supports, worm gear is arranged on first and induces on the input of axle, the worm and wheel engagement, the input of worm screw by shaft coupling be connected with the four-bar mechanism drive motors, secondary scissors top bracing mechanism comprises top bracing plate|, hydraulic cylinder, base plate, bearing pin, two first connecting rods, two second connecting rods, two third connecting rods, two the 4th connecting rods, two upper roller shafts, two upper rollers, two upper idler wheel channel, two bottom roller axles, two bottom rollers, two bottom roller grooves, connecting pin and two front connecting pins after two, the tail end of hydraulic cylinder and base plate hinged, piston rod and the bearing pin of hydraulic cylinder are hinged, the two ends of bearing pin are hinged with corresponding first connecting rod respectively, the upper end of each first connecting rod is hinged with corresponding upper roller shaft, each upper roller shaft is arranged in corresponding upper roller, upper roller is arranged in corresponding upper idler wheel channel, upper idler wheel channel is packed on the lower surface of top bracing plate|, after the lower end of each first connecting rod is passed through one with the upper end of corresponding second connecting rod, connecting pin is hinged, the lower end of each second connecting rod is hinged with corresponding bottom roller axle, each bottom roller axle is arranged in corresponding bottom roller, bottom roller is arranged in corresponding bottom roller groove, the bottom roller groove is packed on the upper surface of base plate, third connecting rod and first connecting rod are arranged in a crossed manner, and the upper end of third connecting rod and upper top bracing plate| are hinged, the upper end of the lower end of each third connecting rod and corresponding the 4th connecting rod is hinged by a front connecting pin, the lower end of each the 4th connecting rod and base plate hinged, the front end of upper top bracing plate| is provided with the notch cuttype top bracing plate|, each transmission mechanism comprises front connecting plate, rear connecting plate, front-slider, rear slider, the leading screw nut, leading screw, follower, driving wheel, belt, power transmission shaft, line slideway, two ball-screw bearings and two cushion blocks, driving wheel is arranged on power transmission shaft, driving wheel is connected with follower by belt, follower is fixedly connected with leading screw, the leading screw nut is connected with threads of lead screw, the two ends of leading screw are separately positioned in two ball-screw bearings, ball-screw bearing and cushion block are connected, cushion block and the support of right side notch cuttype that transmission mechanism is positioned at right side notch cuttype support one side are connected, cushion block and the support of left side notch cuttype that transmission mechanism is positioned at left side notch cuttype support one side are connected, the leading screw nut is connected with the front end of rear connecting plate, the rear end of rear connecting plate is connected with rear slider, rear slider is arranged on line slideway, front-slider is positioned at the place ahead of rear slider, and a side end face of front-slider is connected with front connecting plate, the opposite side end face of front-slider is arranged on line slideway, two transmission mechanisms are symmetricly set on the both sides of secondary scissors top bracing mechanism, and the rear connecting plate on transmission mechanism is connected with rear connecting pin on secondary scissors top bracing mechanism, front connecting plate on transmission mechanism is connected with front connecting pin on secondary scissors top bracing mechanism, the power transmission shaft that transmission mechanism is positioned at right side notch cuttype support one side is connected with the wriggling drive motors, the wriggling drive motors is packed in the right side notch cuttype and supports, tape handler is arranged between two transmission mechanisms, and the input of tape handler is connected with power transmission shaft on the transmission mechanism of right side, the output of tape handler is connected with power transmission shaft on the transmission mechanism of left side, on the madial wall that the right side notch cuttype supports and the left side notch cuttype supports, along continuous straight runs is provided with the line slideway groove, the right side notch cuttype supports and the left side notch cuttype supports the left and right sides that is symmetricly set on secondary scissors top bracing mechanism, and the line slideway on transmission mechanism is arranged in corresponding line slideway groove, right side notch cuttype support and left side notch cuttype support and are respectively equipped with right side ladder and left side ladder, driving shaft and first on right side deformable crawler belt four-bar mechanism is induced axle to be arranged on the right side notch cuttype and is supported, driving shaft and first on left side deformable crawler belt four-bar mechanism is induced axle to be arranged on the left side notch cuttype and is supported.
The present invention has the following advantages:
One, the secondary scissors top bracing mechanism in the middle of the present invention and right side notch cuttype support, left side notch cuttype support and can alternately support weight, when wherein secondary scissors top bracing mechanism supports, the right side notch cuttype supports and the left side notch cuttype supports and can travel forward (or when the support of right side notch cuttype and left side notch cuttype supported, secondary scissors top bracing mechanism can travel forward), make robot have wriggling function, can walk below weight.The front end of robot adopts the notch cuttype structure, can insert in very little gap.Thereby the present invention can replace the rescue personnel to complete the foundation of rescue passage at disaster relief scene.
Two, secondary scissors top bracing mechanism adopts hydraulic-driven, its Front-end Design has hierarchic structure, can insert in less gap, when secondary scissors top bracing mechanism launches fully, can obtain the larger spacing of shoring, shore apart from 3.5 times that can reach the hydraulic cylinder piston throw of lever.
Three, right side deformable crawler belt four-bar mechanism and left side deformable crawler belt four-bar mechanism are adopted in the robot both sides, make robot have corresponding different motion mode under different mode of operations, have strengthened locomitivity.
Description of drawings
Fig. 1 is the overall structure stereogram that movable type of the present invention is shored robot; Fig. 2 is the structural perspective of secondary scissors top bracing mechanism 3; Fig. 3 is the annexation stereogram of transmission mechanism 6 and secondary scissors top bracing mechanism 3; Fig. 4 is the structural perspective of transmission mechanism 6; Fig. 5 is the structural perspective of right side deformable crawler belt four-bar mechanism 1 or left side deformable crawler belt four-bar mechanism 5; Fig. 6 is that right side notch cuttype support 2 or left side notch cuttype support 4 inboard stereogram; Fig. 7 is initial (static) state diagram (in figure, mark 22 is for being shored thing) that movable type of the present invention is shored robot; Fig. 8 is secondary scissors top bracing mechanism 3 when travelling forward, the state diagram of robot; Fig. 9 is the piston rod 3-2-1 of hydraulic cylinder 3-2 in secondary scissors top bracing mechanism 3 when stretching out, the state diagram of robot; Figure 10 is that right side deformable crawler belt four-bar mechanism 1, right side notch cuttype support 2, the left side notch cuttype supports 4, when left side deformable crawler belt four-bar mechanism 5 travels forward, the state diagram of robot; When Figure 11 is the piston rod 3-2-1 retraction of hydraulic cylinder 3-2 in secondary scissors top bracing mechanism 3, the state diagram of robot.
The specific embodiment
the specific embodiment one: present embodiment is described in conjunction with Fig. 1～Fig. 6, the robot of present embodiment comprises right side deformable crawler belt four-bar mechanism 1, the right side notch cuttype supports 2, secondary scissors top bracing mechanism 3, the left side notch cuttype supports 4, left side deformable crawler belt four-bar mechanism 5, wriggling drive motors 17, tape handler 21 and two transmission mechanisms 6, right side deformable crawler belt four-bar mechanism 1 and left side deformable crawler belt four-bar mechanism 5 include driving shaft 1-1, first induces axle 1-2, second induces axle 1-3, the 3rd induces axle 1-4, driving wheel 1-5, the first inducer 1-6, the second inducer 1-7, the 3rd inducer 1-8, driving crank 1-9, crawler belt connecting rod 1-10, passive crank 1-11, crawler belt 1-12, worm gear 1-13, worm screw 1-14, shaft coupling 1-15 and four-bar mechanism drive motors 1-16, driving shaft 1-1, first induces axle 1-2, second induces axle 1-3, the 3rd induces axle 1-4 to arrange clockwise successively and consists of parallelogram, driving shaft 1-1 and first induces axle 1-2 to be positioned at the top, driving wheel 1-5, the first inducer 1-6, the second inducer 1-7 and the 3rd inducer 1-8 are arranged on respectively driving shaft 1-1, first induces axle 1-2, second induces axle 1-3 and the 3rd to induce on axle 1-4, the end of driving crank 1-9 and first induces axle 1-2 to be connected, the other end of driving crank 1-9 and second induces axle 1-3 to be connected, the end of crawler belt connecting rod 1-10 and second induces axle 1-3 to be connected, the other end and the 3rd of crawler belt connecting rod 1-10 induces axle 1-4 to be connected, the end and the 3rd of passive crank 1-11 induces axle 1-4 to be connected, the other end of passive crank 1-11 is connected with driving shaft 1-1, crawler belt 1-12 is arranged on driving wheel 1-5, the first inducer 1-6, on the second inducer 1-7 and the 3rd inducer 1-8, first induces axle 1-2 to be arranged on the right side notch cuttype by bearing supports on 2, worm gear 1-13 is arranged on first and induces on the input of axle 1-2, worm screw 1-14 and worm gear 1-13 engagement, the input of worm screw 1-14 passes through shaft coupling 1-15 and is connected with four-bar mechanism drive motors 1-16, see Fig. 2, secondary scissors top bracing mechanism 3 comprises top bracing plate| 3-1, hydraulic cylinder 3-2, base plate 3-3, bearing pin 3-4, two first connecting rod 3-5, two second connecting rod 3-6, two third connecting rod 3-7, two the 4th connecting rod 3-8, two upper roller shaft 3-9, two upper roller 3-10, two upper idler wheel channel 3-11, two bottom roller axle 3-12, two bottom roller 3-13, two bottom roller groove 3-14, connecting pin 3-15 and two front connecting pin 3-16 after two, the tail end of hydraulic cylinder 3-2 and base plate 3-3 are hinged, piston rod 3-2-1 and the bearing pin 3-4 of hydraulic cylinder 3-2 are hinged, the two ends of bearing pin 3-4 are hinged with corresponding first connecting rod 3-5 respectively, two first connecting rod 3-5 be arranged in parallel, the upper end of each first connecting rod 3-5 is hinged with corresponding upper roller shaft 3-9, each upper roller shaft 3-9 is arranged in corresponding upper roller 3-10, upper roller 3-10 is arranged in corresponding upper idler wheel channel 3-11, upper idler wheel channel 3-11 is packed on the lower surface of top bracing plate| 3-1, after the lower end of each first connecting rod 3-5 is passed through one with the upper end of corresponding second connecting rod 3-6, connecting pin 3-15 is hinged, the lower end of each second connecting rod 3-6 is hinged with corresponding bottom roller axle 3-12, each bottom roller axle 3-12 is arranged in corresponding bottom roller 3-13, bottom roller 3-13 is arranged in corresponding bottom roller groove 3-14, bottom roller groove 3-14 is packed on the upper surface of base plate 3-3, third connecting rod 3-7 and first connecting rod 3-5 are arranged in a crossed manner, two third connecting rod 3-7 be arranged in parallel, and the upper end of third connecting rod 3-7 and upper top bracing plate| 3-1 are hinged, the upper end of the lower end of each third connecting rod 3-7 and corresponding the 4th connecting rod 3-8 is hinged by a front connecting pin 3-16, the lower end of each the 4th connecting rod 3-8 and base plate 3-3 are hinged, the 4th connecting rod 3-8 and second connecting rod 3-6 are arranged in a crossed manner, the front end of upper top bracing plate| 3-1 is provided with notch cuttype top bracing plate| 3-1-1, see Fig. 4, each transmission mechanism 6 comprises front connecting plate 7, rear connecting plate 8, front-slider 9, rear slider 10, leading screw nut 11, leading screw 12, follower 13, driving wheel 14, belt 15, power transmission shaft 16, line slideway 18, two ball-screw bearings 19 and two cushion blocks 20, driving wheel 14 is arranged on power transmission shaft 16, driving wheel 14 is connected with follower 13 by belt 15, follower 13 is fixedly connected with leading screw 12, leading screw nut 11 is threaded with leading screw 12, the two ends of leading screw 12 are separately positioned in two ball-screw bearings 19, ball-screw bearing 19 is connected with cushion block 20, the cushion block 20 that transmission mechanism 6 is positioned at right side notch cuttype support 2 one sides is connected with right side notch cuttype support 2, the cushion block 20 that transmission mechanism 6 is positioned at left side notch cuttype support 4 one sides is connected with left side notch cuttype support 4, leading screw nut 11 is connected with the front end of rear connecting plate 8, the rear end of rear connecting plate 8 is connected with rear slider 10, rear slider 10 is arranged on line slideway 18, front-slider 9 is positioned at the place ahead of rear slider 10, and a side end face of front-slider 9 is connected with front connecting plate 7, the opposite side end face of front-slider 9 is arranged on line slideway 18, two transmission mechanisms 6 are symmetricly set on the both sides of secondary scissors top bracing mechanism 3, and the rear connecting plate 8 on transmission mechanism 6 is connected with rear connecting pin 3-15 on secondary scissors top bracing mechanism 3, front connecting plate 7 on transmission mechanism 6 is connected with front connecting pin 3-16 on secondary scissors top bracing mechanism 3, the power transmission shaft 16 that transmission mechanism 6 is positioned at right side notch cuttype support 2 one sides is connected with wriggling drive motors 17, wriggling drive motors 17 is packed in the right side notch cuttype and supports on 2, tape handler 21 is arranged between two transmission mechanisms 6, and the input of tape handler 21 is connected with power transmission shaft 16 on right side transmission mechanism 6, the output of tape handler 21 is connected with power transmission shaft 16 on left side transmission mechanism 6, on the madial wall of right side notch cuttype support 2 and left side notch cuttype support 4, along continuous straight runs is provided with line slideway groove 2-2, right side notch cuttype support 2 and left side notch cuttype support 4 are symmetricly set on the left and right sides of secondary scissors top bracing mechanism 3, and the line slideway on transmission mechanism 6 18 is arranged in corresponding line slideway groove 2-2, right side notch cuttype support 2 and left side notch cuttype support on 4 and are respectively equipped with right side ladder 2-1 and left side ladder 4-1, driving shaft 1-1 and first on right side deformable crawler belt four-bar mechanism 1 induces axle 1-2 to be arranged on the right side notch cuttype and supports on 2, driving shaft 1-1 and first on left side deformable crawler belt four-bar mechanism 5 induces axle 1-2 to be arranged on the left side notch cuttype and supports on 4.
The specific embodiment two: present embodiment is described in conjunction with Fig. 2 and Fig. 7, in the secondary scissors top bracing mechanism 3 of present embodiment notch cuttype top bracing plate| 3-1-1 to the distance between base plate 3-3 be spacing h under the notch cuttype top bracing plate|, during original state, see Fig. 7, under the notch cuttype top bracing plate|, to reach minimum of a value hmin be 10mm to spacing h, in described secondary scissors top bracing mechanism 3 upper top bracing plate| 3-1 to the distance between base plate 3-3 for shoring spacing H, piston rod 3-2-1 is positioned at when stretching out fully, see Fig. 2, shoring spacing H, to reach maximum Hmax be 400mm.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment three: in conjunction with Fig. 1, present embodiment is described, the external structure of the robot initial state of present embodiment: long for 400mm～600mm, wide be 340mm～380mm, the high 140mm～160mm of being.Design makes robot easily insert in very little gap like this.Other composition and annexation are identical with the specific embodiment one or two.
The specific embodiment four: in conjunction with Fig. 1, present embodiment is described, the external structure of the robot initial state of present embodiment: long for 500mm, wide be 360mm, the high 150mm of being.Design makes robot easily insert in very little gap like this.Other composition and annexation are identical with the specific embodiment three.
operation principle: when the right side notch cuttype support 2 that needs both sides and left side notch cuttype support 4 support weight, referring to Fig. 1～Figure 15, right side notch cuttype support 2 and left side notch cuttype support 4 and fix with respect to ground, wriggling drive motors 17 is by power transmission shaft 16, driving wheel 14, when belt 15 and follower 13 drive leading screw 12 rotation, leading screw nut 11 is along leading screw 12 axially-movables, because leading screw nut 11 is connected with rear connecting plate 8, rear connecting plate 8 is connected with rear connecting pin 3-15, therefore, leading screw nut 11 drives secondary scissors top bracing mechanism 3 along with front-slider 9 and rear slider 10 slide along line slideway 18, secondary scissors top bracing mechanism 3 travels forward after certain distance vertically, 3 beginnings of secondary scissors top bracing mechanism are shored under the driving of hydraulic cylinder 3-2, when shoring, secondary scissors top bracing mechanism 3 is fixed with respect to ground, wriggling drive motors 17 is by power transmission shaft 16, driving wheel 14, when belt 15 and follower 13 drive leading screw 12 rotation, leading screw nut 11 keeps static (when secondary scissors top bracing mechanism 3 is shored weight, secondary scissors top bracing mechanism 3 is static with respect to the ground level direction, it is static that leading screw nut 11 also keeps, because leading screw nut 11 is connected with rear connecting plate 8, rear connecting plate 8 is connected with rear connecting pin 3-15, secondary scissors top bracing mechanism 3 is with respect to the not motion of ground level direction, so leading screw nut 11 relative ground horizontal directions are not motion also), leading screw 12 moves vertically, (support 2 of right side notch cuttype and the support 4 of left side notch cuttype and ground break away from thereby the right side notch cuttype support 2 that drive connects firmly with it and left side notch cuttype support 4 motions vertically, with reference to figure 9, wriggling drive motors 17 is by power transmission shaft 16, driving wheel 14, when driving belt 15 and follower 13 drive leading screw 12 rotation, leading screw 12 moves vertically, ball-screw bearing 19 is connected with cushion block 20, cushion block 20 supports 2 with the right side notch cuttype and is connected, realize that the right side notch cuttype supports 2 motions vertically, the left side in like manner.
When the piston rod 3-2-1 of hydraulic cylinder 3-2 stretched out, referring to Fig. 2, piston rod 3-2-1 drove two first connecting rod 3-5 and moves upward, and also drives upper roller 3-10 when first connecting rod 3-5 moves upward and moves backward; The upper end that also drives second connecting rod 3-6 when first connecting rod 3-5 moves upward moves upward, the lower end of second connecting rod 3-6 drives bottom roller 3-13 and moves backward, upper top bracing plate| 3-1 drives vertically motion by two first connecting rod 3-5, thereby with weight jack-up, the ladder 3-1-1 of upper top bracing plate| 3-1 front end can insert in very little gap, and maximum is shored spacing can reach 3.5 times of the hydraulic cylinder piston throw of lever.
When operation was shored by robot, referring to Fig. 1 and Fig. 4, right side deformable crawler belt four-bar mechanism 1 did not contact with ground with left side deformable crawler belt four-bar mechanism 5; When operation is shored by robot, right side deformable crawler belt four-bar mechanism 1 and left side deformable crawler belt four-bar mechanism 5 deform, and contact with ground, right side notch cuttype support 2, secondary scissors top bracing mechanism 3 and left side notch cuttype support 4 and break away from ground, at this moment, robot has stronger locomitivity.Worm Wheel System has auto-lock function, can provide enough holding torques to driving crank, make driving crank can in the situation that the motor power down keep former attitude and do not reverse.
Claims (4)
1. a movable type is shored robot, described robot comprises right side deformable crawler belt four-bar mechanism (1), the right side notch cuttype supports (2), secondary scissors top bracing mechanism (3), the left side notch cuttype supports (4), left side deformable crawler belt four-bar mechanism (5), wriggling drive motors (17), tape handler (21) and two transmission mechanisms (6), right side deformable crawler belt four-bar mechanism (1) and left side deformable crawler belt four-bar mechanism (5) include driving shaft (1-1), first induces axle (1-2), second induces axle (1-3), the 3rd induces axle (1-4), driving wheel (1-5), the first inducer (1-6), the second inducer (1-7), the 3rd inducer (1-8), driving crank (1-9), crawler belt connecting rod (1-10), passive crank (1-11), crawler belt (1-12), worm gear (1-13), worm screw (1-14), shaft coupling (1-15) and four-bar mechanism drive motors (1-16), driving shaft (1-1), first induces axle (1-2), second induces axle (1-3), the 3rd induces axle (1-4) to arrange clockwise successively and consists of parallelogram, driving shaft (1-1) and first induces axle (1-2) to be positioned at the top, driving wheel (1-5), the first inducer (1-6), the second inducer (1-7) and the 3rd inducer (1-8) are arranged on respectively driving shaft (1-1), first induces axle (1-2), second induces axle (1-3) and the 3rd to induce on axle (1-4), one end of driving crank (1-9) and first induces axle (1-2) to be connected, the other end of driving crank (1-9) and second induces axle (1-3) to be connected, one end of crawler belt connecting rod (1-10) and second induces axle (1-3) to be connected, the other end and the 3rd of crawler belt connecting rod (1-10) induces axle (1-4) to be connected, one end and the 3rd of passive crank (1-11) induces axle (1-4) to be connected, the other end of passive crank (1-11) is connected with driving shaft (1-1), crawler belt (1-12) is arranged on driving wheel (1-5), the first inducer (1-6), on the second inducer (1-7) and the 3rd inducer (1-8), first induces axle (1-2) to be arranged on the right side notch cuttype by bearing supports on (2), worm gear (1-13) is arranged on first and induces on the input of axle (1-2), worm screw (1-14) and worm gear (1-13) engagement, the input of worm screw (1-14) passes through shaft coupling (1-15) and is connected 1-16 with the four-bar mechanism drive motors) be connected, secondary scissors top bracing mechanism (3) comprises top bracing plate| (3-1), hydraulic cylinder (3-2), base plate (3-3), bearing pin (3-4), two first connecting rods (3-5), two second connecting rods (3-6), two third connecting rods (3-7), two the 4th connecting rods (3-8), two upper roller shafts (3-9), two upper rollers (3-10), two upper idler wheel channel (3-11), two bottom roller axles (3-12), two bottom rollers (3-13), two bottom roller grooves (3-14), connecting pin after two (3-15) and two front connecting pins (3-16), the tail end of hydraulic cylinder (3-2) and base plate (3-3) are hinged, the piston rod (3-2-1) of hydraulic cylinder (3-2) is hinged with bearing pin (3-4), the two ends of bearing pin (3-4) are hinged with corresponding first connecting rod (3-5) respectively, the upper end of each first connecting rod (3-5) is hinged with corresponding upper roller shaft (3-9), each upper roller shaft (3-9) is arranged in corresponding upper roller (3-10), upper roller (3-10) is arranged in corresponding upper idler wheel channel (3-11), upper idler wheel channel (3-11) is packed on the lower surface of top bracing plate| (3-1), after the lower end of each first connecting rod (3-5) is passed through one with the upper end of corresponding second connecting rod (3-6), connecting pin (3-15) is hinged, the lower end of each second connecting rod (3-6) is hinged with corresponding bottom roller axle (3-12), each bottom roller axle (3-12) is arranged in corresponding bottom roller (3-13), bottom roller (3-13) is arranged in corresponding bottom roller groove (3-14), bottom roller groove (3-14) is packed on the upper surface of base plate (3-3), third connecting rod (3-7) is arranged in a crossed manner with first connecting rod (3-5), and the upper end of third connecting rod (3-7) and upper top bracing plate| (3-1) are hinged, the upper end of the lower end of each third connecting rod (3-7) and corresponding the 4th connecting rod (3-8) is hinged by a front connecting pin (3-16), the lower end of each the 4th connecting rod (3-8) and base plate (3-3) are hinged, the front end of upper top bracing plate| (3-1) is provided with notch cuttype top bracing plate| (3-1-1), each transmission mechanism (6) comprises front connecting plate (7), rear connecting plate (8), front-slider (9), rear slider (10), leading screw nut (11), leading screw (12), follower (13), driving wheel (14), belt (15), power transmission shaft (16), line slideway (18), two ball-screw bearings (19) and two cushion blocks (20), driving wheel (14) is arranged on power transmission shaft (16), driving wheel (14) is connected with follower (13) by belt (15), follower (13) is fixedly connected with leading screw (12), leading screw nut (11) is threaded with leading screw (12), the two ends of leading screw (12) are separately positioned in two ball-screw bearings (19), ball-screw bearing (19) is connected with cushion block (20), the cushion block (20) that transmission mechanism (6) is positioned at right side notch cuttype support (2) one sides is connected with right side notch cuttype support (2), the cushion block (20) that transmission mechanism (6) is positioned at left side notch cuttype support (4) one sides is connected with left side notch cuttype support (4), leading screw nut (11) is connected with the front end of rear connecting plate (8), the rear end of rear connecting plate (8) is connected with rear slider (10), rear slider (10) is arranged on line slideway (18), front-slider (9) is positioned at the place ahead of rear slider (10), and a side end face of front-slider (9) is connected with front connecting plate (7), the opposite side end face of front-slider (9) is arranged on line slideway (18), two transmission mechanisms (6) are symmetricly set on the both sides of secondary scissors top bracing mechanism (3), and the rear connecting plate (8) on transmission mechanism (6) is connected with rear connecting pin (3-15) on secondary scissors top bracing mechanism (3), front connecting plate (7) on transmission mechanism (6) is connected with front connecting pin (3-16) on secondary scissors top bracing mechanism (3), the power transmission shaft (16) that transmission mechanism (6) is positioned at right side notch cuttype support (2) one sides is connected with wriggling drive motors (17), wriggling drive motors (17) is packed in the right side notch cuttype and supports on (2), tape handler (21) is arranged between two transmission mechanisms (6), and the input of tape handler (21) is connected with power transmission shaft (16) on right side transmission mechanism (6), the output of tape handler (21) is connected with power transmission shaft (16) on left side transmission mechanism (6), on the madial wall of right side notch cuttype support (2) and left side notch cuttype support (4), along continuous straight runs is provided with line slideway groove (2-2), the right side notch cuttype supports (2) and the left side notch cuttype supports the left and right sides that (4) are symmetricly set on secondary scissors top bracing mechanism (3), and the line slideway (18) on transmission mechanism (6) is arranged in corresponding line slideway groove (2-2), the right side notch cuttype supports in (2) and left side notch cuttype support (4) and is respectively equipped with right side ladder (2-1) and left side ladder (4-1), driving shaft (1-1) and first on right side deformable crawler belt four-bar mechanism (1) is induced axle (1-2) to be arranged on the right side notch cuttype and is supported on (2), driving shaft (1-1) and first on left side deformable crawler belt four-bar mechanism (5) is induced axle (1-2) to be arranged on the left side notch cuttype and is supported on (4).
2. a kind of movable type is shored robot according to claim 1, it is characterized in that: in described secondary scissors top bracing mechanism (3), notch cuttype top bracing plate| (3-1-1) to the distance between base plate (3-3) is spacing under the notch cuttype top bracing plate| (h), during original state, it is 10mm that spacing under the notch cuttype top bracing plate| (h) reaches minimum of a value hmin, in described secondary scissors top bracing mechanism (3) upper top bracing plate| (3-1) to the distance between base plate (3-3) for shoring spacing (H), piston rod (3-2-1) is positioned at when stretching out fully, shoring spacing (H), to reach maximum Hmax be 400mm.
3. described a kind of movable type is shored robot according to claim 1 and 2, it is characterized in that: the external structure of described robot initial state: the long 400mm～600mm of being, the wide 340mm～380mm of being, height are 140mm～160mm.
4. a kind of movable type is shored robot according to claim 3, it is characterized in that: the external structure of described robot initial state: the long 500mm of being, the wide 360mm of being, height are 150mm.
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| CN201310067849.6A CN103144114B (en) | 2013-03-04 | 2013-03-04 | Movable type underprop robot |
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| CN201310067849.6A CN103144114B (en) | 2013-03-04 | 2013-03-04 | Movable type underprop robot |
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| CN103144114B CN103144114B (en) | 2015-04-15 |
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| CN103144114B (en) | 2015-04-15 |
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