CN106437706A - Novel wheel-leg type rock drilling robot - Google Patents
Novel wheel-leg type rock drilling robot Download PDFInfo
- Publication number
- CN106437706A CN106437706A CN201611220504.XA CN201611220504A CN106437706A CN 106437706 A CN106437706 A CN 106437706A CN 201611220504 A CN201611220504 A CN 201611220504A CN 106437706 A CN106437706 A CN 106437706A
- Authority
- CN
- China
- Prior art keywords
- vehicle body
- axle
- assembly
- bracing frame
- rock
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C29/00—Propulsion of machines for slitting or completely freeing the mineral from the seam
- E21C29/22—Propulsion of machines for slitting or completely freeing the mineral from the seam by wheels, endless tracks or the like
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
Abstract
The invention discloses a novel wheel-leg type rock drilling robot comprising a wheeled chassis (1), a support frame (2), a body moving assembly (3), an electrically driven rotor assembly (4), a hydraulic lifting leg assembly (5), a body (6), a visual information collecting device (7) and two robotic arm assemblies (8); the robotic arm assemblies (8) are arranged on both sides of the body (6) and equipped with a hydraulic splitting machine (8.1.3). The moving device of the novel wheel-leg type rock drilling robot integrates the advantages of fast speed of the wheel-type device and excellent obstacle crossing ability of the leg-type device, can pass the rugged area quickly, the hydraulic splitting machine is mounted on the mechanical arms. Through the coordinated movement of the body movement components and the double mechanical arms of multi-degrees of freedom, the working angle and distance of the hydraulic splitting machine can be intelligently adjusted, so that the hydraulic splitting machine can perform complicated tasks instead of the staff. Therefore, the novel wheel-leg type rock drilling robot is high in efficiency, and high ability to work.
Description
Technical field
The present invention relates to a kind of robot, specifically a kind of new wheel leg type problem of rock-drilling robot, belong to roboticses neck
Domain.
Background technology
In mining, there are a lot of deathtraps, be often unsuitable for personnel's manual work, if at this moment using mobile energy
The problem of rock-drilling robot that power is good and ability to work is strong, to replace manually performing task, not only can guarantee that the safety of staff but also can carry
High efficiency.
In existing technical scheme, it usually needs staff is hand-held or hand push hydraulic splitting machine goes work on the spot, both
Danger and it cannot be guaranteed that efficiency.
Content of the invention
The problem existing for above-mentioned prior art, the present invention provides a kind of new wheel leg type problem of rock-drilling robot, its movement
Device combines the advantage that wheeled devices speed is fast and lower limb formula device obstacle climbing ability is strong, can rapidly enter deathtrap, pass through
Vehicle body moving assembly and the coordination exercise of double multi-degree-of-freemechanical mechanical arm, replace staff's execution rock drilling task, efficiency high, work
Ability is strong.
To achieve these goals, the technical solution used in the present invention is：A kind of new wheel leg type problem of rock-drilling robot, including
Wheel undercarriage, scaffold, vehicle body moving assembly, electric drive swivel component, fluid pressure type lift leg assembly, vehicle body, visual information are adopted
Acquisition means and robot assemblies；Two sets of wheel undercarriages provide translational speed fast wheel type mobile mode for problem of rock-drilling robot, car
Body moving assembly adjusts the position of centre of gravity of robot, and electric drive swivel component and fluid pressure type lift leg assembly provide for tow-armed robot
The strong lower limb formula move mode of obstacle climbing ability, thus be combined into have that translational speed is fast and the new wheel of strong two advantages of obstacle climbing ability concurrently
Lower limb formula problem of rock-drilling robot, quickly reaches deathtrap；The guidance of the visual information getting in four groups of visual information harvesters
Under, by the coordination exercise of vehicle body moving assembly and two sets of robot assemblies, replace the complicated operation task of staff's execution；
Described wheel undercarriage is identical with typical wheel undercarriage structure on the market, has only adjusted in part fitted position；
Described visual information harvester has four groups, is separately mounted to front, rear, left and right four orientation of vehicle body；For operation
Personnel provide the environmental information residing for robot, in order to the remote control of robot；
Described robot assemblies have two groups, are separately mounted to vehicle body both sides, including axle one assembly, axle two assembly, axle three assembly,
Axle four assembly and mechanical arm are electrically held；Axle one assembly, axle two assembly, axle three assembly, axle four assembly are sequentially connected, and are combined into many
The mechanical part of degree-of-freedom manipulator, mechanical arm electrically holds external power supply and signal receiving/transmission device, thus constitute can be by working
Personnel's remote control executes the multi freedom degree mechanical rock drilling of complex task；
Described axle one assembly includes nut, bolt, hydraulic splitting machine and pawl headstock（8.1.4）；Hydraulic splitting machine embeds pawl
The circular port of headstock simultaneously realizes its positioning by nut, bolt；；
Described axle two assembly includes little arm seat electric motor end cap, little arm seat electric rotating machine and large arm；Little arm seat electric rotating machine is altogether
There are two groups, every group has upper and lower two motors, the rotation of control shaft one assembly, realizes the regulation of operating distance；Little arm seat motor side
Little arm seat electric rotating machine is bolted in the circular port of large arm lid；
Described axle three assembly includes large arm electric motor end cap, large arm electric rotating machine, large arm swivel bearing and big arm seat；Large arm is revolved
The Internal and external cycle that rotating shaft is held respectively with large arm and big arm seat bolt connection, the output shaft of large arm electric rotating machine is bonded with large arm；Greatly
Arm electric motor end cap is fixed with big arm seat bolt through periphery holes, then fixes large arm electric rotating machine through inner ring hole；Large arm electric rotating machine is defeated
It is axle five rotation around large arm electric rotating machine axis direction that the rotation of shaft drives large arm, thus realizing the rotation around axle three for axle two assembly
Turn；
Described axle four assembly includes big arm seat rotary connector, large arm seat rotating axis hold, mechanical arm pedestal and big arm seat revolve
Turn reducing motor；Mechanical arm pedestal is bolted on vehicle body, the Internal and external cycle that large arm seat rotating axis hold respectively with mechanical arm
Pedestal and big arm seat rotary connector bolt connection, the other end of big arm seat rotary connector and big arm seat bolt connection；Large arm
, through being bolted on mechanical arm pedestal, its output shaft is bonded with big arm seat rotary connector for seat rotational delay motor；Large arm
The rotation of seat rotational delay motor output shaft drives big arm seat around big arm seat rotational delay motor shaft through big arm seat rotary connector
Line direction is axle four rotation, thus realizing the rotation around axle four for axle three assembly, and then realizes the regulation of splitting machine operating angle；
Described vehicle body moving assembly includes vehicle body mobile motor, vehicle body mobile motor seat, vehicle body moves shaft coupling, vehicle body moves
Drive block, vehicle body mobile link part, vehicle body move linear slider, vehicle body moves ball-screw, vehicle body moves line slide rail, vehicle body
The mobile lead screw shaft bearings of moving substrate, vehicle body and vehicle body move leading screw bearing；The mobile straight line of vehicle body mobile motor seat, vehicle body is slided
Rail and the mobile lead screw shaft bearings of vehicle body are all bolted on vehicle body moving substrate, and vehicle body mobile motor and vehicle body move
Leading screw bearing is bolted on vehicle body mobile motor seat and the mobile lead screw shaft bearings of vehicle body respectively；Vehicle body moves shaft coupling
Two ends connect the output shaft of the mobile ball-screw of vehicle body and vehicle body mobile motor respectively, the other end of the mobile ball-screw of vehicle body with
The inner ring tight fit of the mobile leading screw bearing of vehicle body；Vehicle body both sides are passed through bolt linear slider mobile with four vehicle bodies and are connected, middle
Fixed with vehicle body mobile link part by bolt, fix with vehicle body by mobile drive block bolt again for vehicle body mobile link part；Vehicle body moves
The inner ring of dynamic drive block and vehicle body mobile ball-screw screw thread cooperation, the rotation of vehicle body mobile motor output shaft, by ball wire
Thick stick is driven, and is converted to the mobile drive block of vehicle body along the movement in the mobile ball-screw axis direction of vehicle body, thus realizing vehicle body in car
Horizontal linear motion on body moving substrate；Vehicle body moving assembly one side is adjusted flexibly robot in robot kinematics
Position of centre of gravity, for fluid pressure type lift leg assembly work provide precondition；On the other hand after robot reaches specified location,
Increase the working place of mechanical arm by transverse movement；
Described fluid pressure type lift leg assembly includes rotatable base, vehicle body bracing frame, Barrel of Hydraulic Cylinders, hydraulic cylinder piston rod, props up
Support rotates little bearing, bracing frame rotary shaft, bracing frame rotates big bearing, bracing frame rotates hubcap, hydraulic cylinder rotary shaft is fixed
Bit slice and hydraulic cylinder rotary shaft；Vehicle body bracing frame is connected with carriage bolt, and its two side holes is with bracing frame rotary shaft through spline even
Connect and pass through the shaft shoulder and sleeve axially position；Bracing frame rotating shaft terminal rotates little bearing and bracing frame rotation respectively with bracing frame
The inner ring tight fit of big bearing, bracing frame rotates little bearing and bracing frame rotate the outer ring of big bearing respectively with rotatable base
Two counterbore tight fits, bracing frame rotation hubcap is adjacent to and is bolted on rotatable with the outer face of bracing frame rotary shaft
On pedestal, thus realizing the axially position of bracing frame rotary shaft；The interlude outer surface of hydraulic cylinder rotary shaft and Barrel of Hydraulic Cylinders
Or the connection end internal surface gaps cooperation of hydraulic cylinder piston rod, both sides section outer surface and rotatable base or vehicle body bracing frame right
Answer the cooperation of hole position internal surface gaps and through hydraulic cylinder rotary shaft spacer positioning, thus by Barrel of Hydraulic Cylinders and hydraulic cylinder piston rod
Connection end be connected to rotatable base or the specified location of vehicle body bracing frame；Unilateral hydraulic cylinder piston rod is along its axis side
To linear motion the rotation around bracing frame rotary shaft for the vehicle body bracing frame is converted to by linkage rod slide block mechanism, thus by opposite side
Rotatable base lift, for electric drive swivel component work provide precondition；
Described electric drive swivel component includes turning motor, swivel decelerator, turntable bearing, swivel set axle and set axle
Spacer；The two ends of turntable bearing respectively with rotatable base and scaffold bolt connection, turning decelerator, to pass through bolt solid
It is scheduled on rotatable base, its power source comes from swivel motor；Swivel set axle one end and the output shaft turning decelerator
Bonded, the other end and scaffold are through spline connection and by covering axle spacer axially position；The output of swivel motor
Torque is amplified through swivel decelerator, then is delivered on scaffold through swivel set axle, on the premise of scaffold maintains static,
Being converted to rotating backward of swivel decelerator, thus driving rotatable base to rotate, lifting the motion of leg assembly in conjunction with fluid pressure type, real
The lower limb formula of existing rock drill device people moves and obstacle detouring.
Described rotatable base and vehicle body bracing frame are formed by rustless steel casting, do on the basis of ensureing bearing capacity
Light-weight technologg.
Described pawl headstock, forearm, little arm seat, large arm, big arm seat and the casting of mechanical arm pedestal form, and are ensureing to carry
Light-weight technologg is done on the basis of ability.
Described scaffold is welded using structural steel.
The present invention is a kind of new wheel leg type problem of rock-drilling robot, and its mobile device combines that wheeled devices speed is fast and lower limb formula
The strong advantage of device obstacle climbing ability, can rapidly enter mine deathtrap, by vehicle body moving assembly and double multiple degrees of freedom machine
The coordination exercise of tool arm, replaces staff's execution rock drilling task, efficiency high, ability to work is strong.
Brief description
Fig. 1 is new wheel leg type problem of rock-drilling robot principle schematic provided in an embodiment of the present invention；
In figure：1st, wheel undercarriage, 2, scaffold, 3, vehicle body moving assembly, 4, electric drive swivel component, 5, fluid pressure type lift lower limb
Assembly, 6, vehicle body, 7, visual information harvester, 8, robot assemblies.
Fig. 2 is new wheel leg type problem of rock-drilling robot front view provided in an embodiment of the present invention；
Fig. 3 is new wheel leg type problem of rock-drilling robot top view provided in an embodiment of the present invention；
Fig. 4 is new wheel leg type problem of rock-drilling robot side view provided in an embodiment of the present invention；
Fig. 5 is robot assemblies principle schematic provided in an embodiment of the present invention；
In figure：8.1st, axle one assembly, 8.2, axle two assembly, 8.3, axle three assembly, 8.4, axle four assembly, 8.5, mechanical arm electric
End.
Fig. 6 is axle one assembly principle schematic diagram provided in an embodiment of the present invention；
In figure：8.1.1, nut, 8.1.2, bolt, 8.1.3, hydraulic splitting machine, 8.1.4, pawl headstock.
Fig. 7 is axle two assembly principle schematic diagram provided in an embodiment of the present invention；
In figure：8.2.1, little arm seat electric motor end cap, 8.2.2, little arm seat electric rotating machine, 8.2.3, large arm.
Fig. 8 is axle three assembly principle schematic diagram provided in an embodiment of the present invention；
In figure：8.3.1, large arm electric motor end cap, 8.3.2, large arm electric rotating machine, 8.3.3, large arm swivel bearing, 8.3.4, large arm
Seat.
Fig. 9 is axle four assembly principle schematic diagram provided in an embodiment of the present invention；
In figure：8.4.1, big arm seat rotary connector, 8.4.2, large arm seat rotating axis hold, 8.4.3, gadget arm pedestal,
8.4.4, big arm seat rotational delay motor.
Figure 10 is vehicle body moving assembly principle schematic provided in an embodiment of the present invention；
In figure：3.1st, vehicle body mobile motor, 3.2, vehicle body mobile motor seat, 3.3, vehicle body move shaft coupling, 3.4, vehicle body move
Drive block, 3.5, vehicle body mobile link part, 3.6, vehicle body move linear slider, 3.7, vehicle body move ball-screw, 3.8, vehicle body
Mobile line slide rail, 3.9, vehicle body moving substrate, 3.10, vehicle body move lead screw shaft bearings, 3.11, vehicle body move leading screw bearing.
Figure 11 is that fluid pressure type provided in an embodiment of the present invention lifts leg assembly principle schematic；
Circle A enlarged drawing in Figure 12 fluid pressure type provided in an embodiment of the present invention lift leg assembly principle schematic；
In figure：5.1st, rotatable base, 5.2, vehicle body bracing frame, 5.3, Barrel of Hydraulic Cylinders, 5.4, hydraulic cylinder piston rod, 5.5,
Support rotates little bearing, 5.6, bracing frame rotary shaft, 5.7, bracing frame rotate big bearing, 5.8, bracing frame rotation hubcap,
5.9th, hydraulic cylinder rotary shaft spacer, 5.10, hydraulic cylinder rotary shaft.
Figure 13 electric drive provided in an embodiment of the present invention swivel component principle schematic；
In figure：4.1st, turn motor, 4.2, swivel decelerator, 4.3, turntable bearing, 4.4, swivel set axle, 4.5, set axle fixed
Bit slice.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
Refer to Fig. 1 to Fig. 4, be a kind of new wheel leg type problem of rock-drilling robot principle schematic provided in an embodiment of the present invention
And three-view diagram, it includes wheel undercarriage 1, scaffold 2, vehicle body moving assembly 3, electric drive swivel component 4, fluid pressure type lift lower limb group
Part 5, vehicle body 6, visual information harvester 7 and robot assemblies 8；Two sets of wheel undercarriages 1 provide for problem of rock-drilling robot and move
Fireballing wheel type mobile mode, vehicle body moving assembly 3 adjusts position of centre of gravity, electric drive swivel component 4 and the hydraulic pressure of robot
It is that problem of rock-drilling robot provides obstacle climbing ability strong lower limb formula move mode that formula lifts leg assembly 5, thus being combined into, to have translational speed concurrently fast
The new wheel leg type problem of rock-drilling robot of two advantages strong with obstacle climbing ability, quickly reaches deathtrap；Adopt in four groups of visual informations
Under the guidance of the visual information that acquisition means 7 get, by the coordination of vehicle body moving assembly 3 and two sets of multi-spindle machining arm components 8
Motion, replaces the complicated operation task of staff's execution；
Described wheel undercarriage 1 is identical with typical wheel undercarriage structure on the market, has only adjusted in part fitted position；
Described scaffold 2 is welded using structural steel；
Described visual information harvester 7 has four groups, is separately mounted to front, rear, left and right four orientation of vehicle body 6；For behaviour
Make the environmental information residing for personnel's offer robot, in order to the remote control of robot.
Refer to Fig. 5, be a kind of new wheel leg type problem of rock-drilling robot robot assemblies principle provided in an embodiment of the present invention
Schematic diagram, electrically holds including axle one assembly 8.1, axle two assembly 8.2, axle three assembly 8.3, axle four assembly 8.4 and mechanical arm
8.5；Axle one assembly 8.1, axle two assembly 8.2, axle three assembly 8.3, axle four assembly 8.4 are sequentially connected, and are combined into multiple degrees of freedom machine
The mechanical part of tool arm, mechanical arm electrically holds 8.5 external power supplys and signal receiving/transmission device, thus constitute can be remote by staff
The multi freedom degree mechanical both arms of journey manipulation execution complex task.
Refer to Fig. 6, be a kind of new wheel leg type problem of rock-drilling robot axle one principle schematic provided in an embodiment of the present invention,
It includes nut 8.1.1, bolt 8.1.2, hydraulic splitting machine 8.1.3 and pawl headstock 8.1.4；Hydraulic splitting machine 8.1.3 embeds
The circular port of pawl headstock 8.1.4 simultaneously realizes its positioning by nut 8.1.1, bolt 8.1.2；
Described pawl headstock 8.1.4 casting forms, and does light-weight technologg on the basis of ensureing bearing capacity.
Refer to Fig. 7, be that a kind of new wheel leg type problem of rock-drilling robot axle two assembly principle provided in an embodiment of the present invention shows
It is intended to, it includes little arm seat electric motor end cap 8.2.1, little arm seat electric rotating machine 8.2.2 and large arm 8.2.3；Little arm seat electric rotating
Machine 8.2.2 has two groups, and every group has upper and lower two motors, the rotation of control shaft one assembly, realizes the regulation of operating distance；Forearm
Little arm seat electric rotating machine 8.2.2 is bolted in the circular port of large arm 8.2.3 seat electric motor end cap 8.2.1；
Described large arm 8.2.3 casting forms, and does light-weight technologg on the basis of ensureing bearing capacity.
Refer to Fig. 8, be that a kind of new wheel leg type problem of rock-drilling robot axle three assembly principle provided in an embodiment of the present invention shows
It is intended to, it includes large arm electric motor end cap 8.3.1, large arm electric rotating machine 8.3.2, large arm swivel bearing 8.3.3 and big arm seat
8.3.4；The Internal and external cycle of large arm swivel bearing 8.3.3 respectively with large arm 8.3.4 and big arm seat 8.3.4 bolt connection, large arm rotate
The output shaft of motor 8.3.2 is bonded with large arm 8.2.3；Large arm electric motor end cap 8.3.1 is through periphery holes and big arm seat 8.3.4 bolt
Fixing, then fix large arm electric rotating machine 8.3.2 through inner ring hole；The rotation of large arm electric rotating machine 8.3.2 output shaft drives large arm
8.2.3 around large arm electric rotating machine 8.3.2 axis direction be axle five rotation, thus realizing the rotation around axle three for axle two assembly 8.4；
Described big arm seat 8.3.4 casting forms, and does light-weight technologg on the basis of ensureing bearing capacity.
Refer to Fig. 9, be that a kind of new wheel leg type problem of rock-drilling robot axle four assembly principle provided in an embodiment of the present invention shows
It is intended to, it includes big arm seat rotary connector 8.4.1, large arm seat rotating axis hold 8.4.2, mechanical arm pedestal 8.4.3 and large arm
Seat rotational delay motor 8.4.4；Mechanical arm pedestal 8.4.3 is bolted on vehicle body 6, and large arm seat rotating axis hold 8.4.2
Internal and external cycle respectively with mechanical arm pedestal 8.4.3 and big arm seat rotary connector 8.4.1 bolt connection, big arm seat rotary connector
8.4.1 the other end and big arm seat 8.4.4 bolt connection；Big arm seat rotational delay motor 8.4.4 is through being bolted to mechanical arm
On pedestal 8.4.3, its output shaft is bonded with big arm seat rotary connector 8.4.1；Big arm seat rotational delay motor 8.4.4 output
The rotation of axle drives big arm seat 8.4.4 around big arm seat rotational delay motor 8.4.4 axis side through big arm seat rotary connector 8.4.1
Rotating to i.e. axle four, thus realizing the rotation around axle four for axle three assembly 8.5, and then realizing the regulation of splitting machine operating angle；
Described mechanical arm pedestal 8.4.3 casting forms, and does light-weight technologg on the basis of ensureing bearing capacity.
Refer to Figure 10, be that a kind of new wheel leg type problem of rock-drilling robot vehicle body moving assembly provided in an embodiment of the present invention is former
Reason schematic diagram, it includes vehicle body mobile motor 3.1, vehicle body mobile motor seat 3.2, vehicle body moves shaft coupling 3.3, vehicle body moves and drives
Motion block 3.4, vehicle body mobile link part 3.5, vehicle body move linear slider 3.6, vehicle body moves ball-screw 3.7, vehicle body is mobile straight
The mobile lead screw shaft bearings 3.10 of line slide rail 3.8, vehicle body moving substrate 3.9, vehicle body and vehicle body move leading screw bearing 3.11；Vehicle body
The mobile line slide rail 3.8 of mobile motor seat 3.2, vehicle body and the mobile lead screw shaft bearings 3.10 of vehicle body are all bolted on car
On body moving substrate 3.9, vehicle body mobile motor 3.1 and the mobile leading screw bearing 3.11 of vehicle body are bolted on vehicle body respectively and move
On galvanic electricity support 3.2 and the mobile lead screw shaft bearings 3.10 of vehicle body；Mobile shaft coupling 3.3 two ends of vehicle body connect the mobile rolling of vehicle body respectively
Ballscrew 3.7 and the output shaft of vehicle body mobile motor 3.1, the other end of the mobile ball-screw 3.7 of vehicle body moves leading screw with vehicle body
The inner ring tight fit of bearing 3.11；Vehicle body 6 both sides are passed through bolt linear slider mobile with four vehicle bodies and are connected, and bolt is passed through in centre
Fixing with vehicle body mobile link part 3.5, fix with vehicle body by mobile drive block 3.4 bolt again for vehicle body mobile link part 3.5；Vehicle body moves
The inner ring of dynamic drive block 3.4 and vehicle body mobile ball-screw 3.7 screw thread cooperation, the rotation of vehicle body mobile motor 3.1 output shaft, lead to
Cross ball-screw-transmission, be converted to the movement that the mobile drive block 3.4 of vehicle body moves ball-screw 3.7 axis direction along vehicle body, from
And realize horizontal linear motion on vehicle body moving substrate 3.9 for the vehicle body 6；Vehicle body moving assembly 3 one aspect is in robot motion
During the position of centre of gravity of robot is adjusted flexibly, the work lifting leg assembly 5 for fluid pressure type provides precondition；On the other hand exist
After robot reaches specified location, increase the working place of mechanical arm by transverse movement；
Refer to Figure 11 and 12, be a kind of fluid pressure type lift lower limb group of new wheel leg type problem of rock-drilling robot provided in an embodiment of the present invention
Part principle schematic and the schematic diagram of wherein round A, it includes rotatable base 5.1, vehicle body bracing frame 5.2, Barrel of Hydraulic Cylinders
5.3rd, hydraulic cylinder piston rod 5.4, bracing frame rotate little bearing 5.5, bracing frame rotary shaft 5.6, bracing frame rotate big bearing 5.7,
Bracing frame rotation hubcap 5.8, hydraulic cylinder rotary shaft spacer 5.9 and hydraulic cylinder rotary shaft 5.10；Vehicle body bracing frame 5.2 with
Vehicle body moving substrate 3.9 bolt connection, its two side holes passes through the shaft shoulder and sleeve axial direction with bracing frame rotary shaft 5.6 through spline connection
Positioning；Bracing frame rotary shaft 5.6 two ends rotate little bearing 5.5 with bracing frame respectively and bracing frame rotates the inner ring of big bearing 5.7
Tight fit, bracing frame rotates little bearing 5.5 and bracing frame and rotates the outer ring of big bearing 5.7 respectively with rotatable base 5.1 two
Counterbore tight fit, the outer face of bracing frame rotation hubcap 5.8 and bracing frame rotary shaft 5.6 is adjacent to and is bolted on can
On rotating basiss 5.1, thus realizing the axially position of bracing frame rotary shaft 5.6；The interlude appearance of hydraulic cylinder rotary shaft 5.10
The connection end internal surface gaps cooperation of face and Barrel of Hydraulic Cylinders 5.3 or hydraulic cylinder piston rod 5.4, both sides section outer surface with rotatable
The corresponding hole position internal surface gaps cooperation of pedestal 5.1 or vehicle body bracing frame 5.2 simultaneously positions through hydraulic cylinder rotary shaft spacer 5.9,
Thus the connection end of Barrel of Hydraulic Cylinders 5.3 and hydraulic cylinder piston rod 5.4 is connected to rotatable base 5.1 or vehicle body support
The specified location of frame 5.2；Unilateral hydraulic cylinder piston rod 5.4 is changed along the linear motion of its axis direction by linkage rod slide block mechanism
For vehicle body bracing frame 5.2 around bracing frame rotary shaft 5.6 rotation, thus the rotatable base 5.1 of opposite side is lifted, for electricity
The work driving swivel component 4 provides precondition；
Described rotatable base 5.1 and vehicle body bracing frame 5.2 are formed by rustless steel casting, on the basis of ensureing bearing capacity
Do light-weight technologg.
Refer to Figure 13, be a kind of electric drive swivel group of new wheel leg type problem of rock-drilling robot provided in an embodiment of the present invention
Part principle schematic, it include turn motor 4.1, swivel decelerator 4.2, turntable bearing 4.3, swivel set axle 4.4 and
Set axle spacer 4.5；The two ends of turntable bearing 4.3 respectively with rotatable base 5.1 and scaffold 2 bolt connection, swivel subtracts
Fast device 4.2 is bolted on rotatable base 5.1, and its power source comes from swivel motor 4.1；Swivel set axle
4.4 one end are bonded with the output shaft of swivel decelerator 4.2, and the other end is through spline connection and fixed by covering axle with scaffold 2
Bit slice 4.5 axially position；The output torque of swivel motor 4.1 is amplified through swivel decelerator 4.2, then through swivel set axle 4.4
It is delivered on scaffold 2, on the premise of scaffold 2 maintains static, be converted to rotating backward of swivel decelerator 4.2,
Thus driving rotatable base 5.1 to rotate, lifting the motion of leg assembly 5 in conjunction with fluid pressure type, realizing the lower limb formula of Novel double-arm robot
Move and obstacle detouring.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of the spirit or essential attributes of the present invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as limiting involved claim.
Claims (10)
1. a kind of new wheel leg type problem of rock-drilling robot, including wheel undercarriage（1）, scaffold（2）, vehicle body moving assembly（3）, electricity
Drive swivel component（4）, fluid pressure type lift leg assembly（5）, vehicle body（6）, visual information harvester（7）And robot assemblies
（8）；Two sets of wheel undercarriages（1）There is provided translational speed fast wheel type mobile mode for problem of rock-drilling robot, vehicle body moving assembly（3）Adjust
The position of centre of gravity of section robot, electric drive swivel component（4）Lift leg assembly with fluid pressure type（5）There is provided obstacle detouring energy for problem of rock-drilling robot
The strong lower limb formula move mode of power,
Described visual information harvester（7）Have four groups, be separately mounted to vehicle body（6）Front, rear, left and right four orientation；
Described robot assemblies（8）There are two groups, be separately mounted to vehicle body（6）Both sides, including axle one assembly（8.1）, axle two assembly
（8.2）, axle three assembly（8.3）, axle four assembly（8.4）And mechanical arm electrically holds（8.5）；Axle one assembly（8.1）, axle two assembly
（8.2）, axle three assembly（8.3）, axle four assembly（8.4）It is sequentially connected, be combined into the mechanical part of multi-degree-of-freemechanical mechanical arm, machinery
Arm is electrically held（8.5）External power supply and signal receiving/transmission device, thus constitute can be appointed by the execution of staff's remote control is complicated
The multi freedom degree mechanical rock drilling of business；
Described axle one assembly（8.1）Including nut（8.1.1）, bolt（8.1.2）, hydraulic splitting machine（8.1.3）And pawl head
Seat（8.1.4）；Hydraulic splitting machine（8.1.3）Embedded pawl headstock（8.1.4）Circular port and by nut（8.1.1）, bolt
（8.1.2）Realize its positioning.
2. a kind of new wheel leg type problem of rock-drilling robot according to claim 1 is it is characterised in that described axle two assembly
（8.2）Including little arm seat electric motor end cap（8.2.1）, little arm seat electric rotating machine（8.2.2）And large arm（8.2.3）；Little arm seat rotation
Rotating motor（8.2.2）Have two groups, every group has upper and lower two motors, the rotation of control shaft one assembly, realizes the tune of operating distance
Section；Little arm seat electric motor end cap（8.2.1）By little arm seat electric rotating machine（8.2.2）It is bolted on large arm（8.2.3）Circle
In shape hole.
3. a kind of new wheel leg type problem of rock-drilling robot according to claim 1 is it is characterised in that described axle three assembly
（8.3）Including large arm electric motor end cap（8.3.1）, large arm electric rotating machine（8.3.2）, large arm swivel bearing（8.3.3）And large arm
Seat（8.3.4）；Large arm swivel bearing（8.3.3）Internal and external cycle respectively with large arm（8.3.4）With big arm seat（8.3.4）Bolt is even
Connect, large arm electric rotating machine（8.3.2）Output shaft and large arm（8.2.3）Bonded；Large arm electric motor end cap（8.3.1）Through periphery holes
With big arm seat（8.3.4）Bolt is fixed, then fixes large arm electric rotating machine through inner ring hole（8.3.2）；Large arm electric rotating machine（8.3.2）
The rotation of output shaft drives large arm（8.2.3）Around large arm electric rotating machine（8.3.2）Axis direction is axle five rotation, thus realizing axle
Two assemblies（8.4）Rotation around axle three.
4. a kind of new wheel leg type problem of rock-drilling robot according to claim 1 is it is characterised in that described axle four assembly
（8.6）Including big arm seat rotary connector（8.4.1）, large arm seat rotating axis hold（8.4.2）, mechanical arm pedestal（8.4.3）And
Big arm seat rotational delay motor（8.4.4）；Mechanical arm pedestal（8.4.3）It is bolted on vehicle body（6）On, big arm seat rotation
Bearing（8.4.2）Internal and external cycle respectively with mechanical arm pedestal（8.4.3）With big arm seat rotary connector（8.4.1）Bolt connection,
Big arm seat rotary connector（8.4.1）The other end and big arm seat（8.4.4）Bolt connection；Big arm seat rotational delay motor
（8.4.4）Through being bolted to mechanical arm pedestal（8.4.3）On, its output shaft and big arm seat rotary connector（8.4.1）It is bonded
Connect；Big arm seat rotational delay motor（8.4.4）The rotation of output shaft is through big arm seat rotary connector（8.4.1）Drive big arm seat
（8.4.4）Around big arm seat rotational delay motor（8.4.4）Axis direction is axle four rotation, thus realizing axle three assembly（8.5）Around
The rotation of axle four, and then realize the regulation of splitting machine operating angle.
5. a kind of new wheel leg type problem of rock-drilling robot according to claim 1 is it is characterised in that described vehicle body moves group
Part（3）Including vehicle body mobile motor（3.1）, vehicle body mobile motor seat（3.2）, vehicle body move shaft coupling（3.3）, vehicle body is mobile drives
Motion block（3.4）, vehicle body mobile link part（3.5）, vehicle body move linear slider（3.6）, vehicle body move ball-screw（3.7）, car
Body moves line slide rail（3.8）, vehicle body moving substrate（3.9）, vehicle body move lead screw shaft bearings（3.10）And vehicle body movable wire
Thick stick bearing（3.11）；Vehicle body mobile motor seat（3.2）, vehicle body move line slide rail（3.8）And vehicle body moves lead screw shaft bearings
（3.10）All it is bolted on vehicle body moving substrate（3.9）On, vehicle body mobile motor（3.1）Move leading screw bearing with vehicle body
（3.11）It is bolted on vehicle body mobile motor seat respectively（3.2）Move lead screw shaft bearings with vehicle body（3.10）On；Vehicle body
Mobile shaft coupling（3.3）Two ends connect vehicle body respectively and move ball-screw（3.7）With vehicle body mobile motor（3.1）Output shaft,
Vehicle body moves ball-screw（3.7）The other end and vehicle body move leading screw bearing（3.11）Inner ring tight fit；Vehicle body（6）Both sides
Move linear slider by bolt and four vehicle bodies（3.6）It is connected, centre is by bolt and vehicle body mobile link part（3.5）Gu
Fixed, vehicle body mobile link part（3.5）Move drive block with vehicle body again（3.4）Bolt is fixed；Vehicle body moves drive block（3.4）Interior
Circle moves ball-screw with vehicle body（3.7）Screw thread coordinates, vehicle body mobile motor（3.1）The rotation of output shaft, by ball-screw
Transmission, is converted to vehicle body and moves drive block（3.4）Move ball-screw along vehicle body（3.7）The movement of axis direction, thus realize
Vehicle body（6）In vehicle body moving substrate（3.9）On horizontal linear motion；Vehicle body moving assembly（3）On the one hand in robot motion
During the position of centre of gravity of robot is adjusted flexibly.
6. a kind of new wheel leg type problem of rock-drilling robot according to claim 1 is it is characterised in that described fluid pressure type lifts lower limb
Assembly（5）Including rotatable base（5.1）, vehicle body bracing frame（5.2）, Barrel of Hydraulic Cylinders（5.3）, hydraulic cylinder piston rod（5.4）、
Bracing frame rotates little bearing（5.5）, bracing frame rotary shaft（5.6）, bracing frame rotate big bearing（5.7）, bracing frame rotation axle head
Lid（5.8）, hydraulic cylinder rotary shaft spacer（5.9）And hydraulic cylinder rotary shaft（5.10）；Vehicle body bracing frame（5.2）Move with vehicle body
Dynamic substrate（3.9）Bolt connection, its two side holes and bracing frame rotary shaft（5.6）Through spline connection and by the shaft shoulder and sleeve axial direction
Positioning；Bracing frame rotary shaft（5.6）Two ends rotate little bearing with bracing frame respectively（5.5）Rotate big bearing with bracing frame（5.7）
Inner ring tight fit, bracing frame rotate little bearing（5.5）Rotate big bearing with bracing frame（5.7）Outer ring respectively with rotatable base
Seat（5.1）Two counterbore tight fits, bracing frame rotate hubcap（5.8）With bracing frame rotary shaft（5.6）Outer face be adjacent to simultaneously
It is bolted on rotatable base（5.1）On, thus realizing bracing frame rotary shaft（5.6）Axially position；Hydraulic cylinder revolves
Rotating shaft（5.10）Interlude outer surface and Barrel of Hydraulic Cylinders（5.3）Or hydraulic cylinder piston rod（5.4）Connection end inner surface between
Gap cooperation, both sides section outer surface and rotatable base（5.1）Or vehicle body bracing frame（5.2）The cooperation of corresponding hole position internal surface gaps
And through hydraulic cylinder rotary shaft spacer（5.9）Positioning, thus by Barrel of Hydraulic Cylinders（5.3）And hydraulic cylinder piston rod（5.4）Company
Connect end and be connected to rotatable base（5.1）Or vehicle body bracing frame（5.2）Specified location；Unilateral hydraulic cylinder piston rod
（5.4）Linear motion along its axis direction is converted to vehicle body bracing frame by linkage rod slide block mechanism（5.2）Rotate around bracing frame
Axle（5.6）Rotation, thus the rotatable base by opposite side（5.1）Lift.
7. a kind of new wheel leg type problem of rock-drilling robot according to claim 1 is it is characterised in that described electric drive turns
Assembly（4）Including swivel motor（4.1）, swivel decelerator（4.2）, turntable bearing（4.3）, swivel set axle（4.4）And
Set axle spacer（4.5）；Turntable bearing（4.3）Two ends respectively with rotatable base（5.1）And scaffold（2）Bolt is even
Connect, turn decelerator（4.2）It is bolted on rotatable base（5.1）On, its power source comes from swivel motor
（4.1）；Swivel set axle（4.4）One end and swivel decelerator（4.2）Output shaft bonded, the other end and scaffold（2）Warp
Spline connection simultaneously is passed through to cover axle spacer（4.5）Axially position；Swivel motor（4.1）Output torque through turn decelerator
（4.2）Amplify, then through swivel set axle（4.4）It is delivered to scaffold（2）On, in scaffold（2）On the premise of maintaining static,
Be converted to swivel decelerator（4.2）Rotate backward, thus driving rotatable base（5.1）Rotation, lifts lower limb group in conjunction with fluid pressure type
Part（5）Motion, realize rock drill device people lower limb formula is mobile and obstacle detouring.
8. a kind of new wheel leg type problem of rock-drilling robot according to claim 1 is it is characterised in that described rotatable base
（5.1）With vehicle body bracing frame（5.2）Formed by rustless steel casting.
9. a kind of new wheel leg type problem of rock-drilling robot according to claim 1 is it is characterised in that described pawl headstock
（8.1.4）, little arm seat electric motor end cap（8.2.1）, large arm（8.2.3）, big arm seat（8.3.4）And mechanical arm pedestal（8.4.3）
Casting forms.
10. a kind of new wheel leg type problem of rock-drilling robot according to claim 1 is it is characterised in that described scaffold
（2）It is welded using structural steel.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810983562.0A CN109441448A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot with visual information acquisition device |
| CN201810983563.5A CN109538207A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
| CN201611220504.XA CN106437706B (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
| CN201810882275.0A CN109083643A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
| CN201810983561.6A CN109184688A (en) | 2016-12-26 | 2016-12-26 | Wheel leg type problem of rock-drilling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611220504.XA CN106437706B (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
Related Child Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810983561.6A Division CN109184688A (en) | 2016-12-26 | 2016-12-26 | Wheel leg type problem of rock-drilling robot |
| CN201810983563.5A Division CN109538207A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
| CN201810983562.0A Division CN109441448A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot with visual information acquisition device |
| CN201810882275.0A Division CN109083643A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106437706A true CN106437706A (en) | 2017-02-22 |
| CN106437706B CN106437706B (en) | 2018-09-28 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810983562.0A Pending CN109441448A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot with visual information acquisition device |
| CN201810983561.6A Withdrawn CN109184688A (en) | 2016-12-26 | 2016-12-26 | Wheel leg type problem of rock-drilling robot |
| CN201810882275.0A Pending CN109083643A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
| CN201611220504.XA Active CN106437706B (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
| CN201810983563.5A Pending CN109538207A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810983562.0A Pending CN109441448A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot with visual information acquisition device |
| CN201810983561.6A Withdrawn CN109184688A (en) | 2016-12-26 | 2016-12-26 | Wheel leg type problem of rock-drilling robot |
| CN201810882275.0A Pending CN109083643A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810983563.5A Pending CN109538207A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110486014A (en) * | 2019-07-25 | 2019-11-22 | 广西雷公斧重工有限公司 | Multi-functional splitting machine |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111376667B (en) * | 2020-04-17 | 2024-02-13 | 合肥中科深谷科技发展有限公司 | Mobile inspection operation robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109441448A (en) | 2019-03-08 |
| CN109184688A (en) | 2019-01-11 |
| CN109538207A (en) | 2019-03-29 |
| CN106437706B (en) | 2018-09-28 |
| CN109083643A (en) | 2018-12-25 |
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