CN108086388B

CN108086388B - Stone output device for excavating robot

Info

Publication number: CN108086388B
Application number: CN201711397365.2A
Authority: CN
Inventors: 王盛学
Original assignee: Chongqing Topeng Technology Co ltd
Current assignee: Chongqing Topeng Technology Co ltd
Priority date: 2017-12-21
Filing date: 2017-12-21
Publication date: 2020-05-05
Anticipated expiration: 2037-12-21
Also published as: CN108086388A

Abstract

The invention belongs to the technical field of transmission mechanisms, and discloses a stone output device for an excavating robot, which comprises two output units, wherein each output unit comprises a driving wheel, a driven wheel and an annular chain belt; the output unit also comprises two hollow mounting shafts, air inlets are arranged on the mounting shafts, supporting rods are hinged on the mounting shafts, industrial vacuum suckers are arranged on the supporting rods, and negative pressure holes are arranged on the supporting rods; the support wheel is provided with a rotating shaft, and the rotating shaft is far away from the rotating disc; the negative pressure unit comprises a gas storage barrel, a first supporting rod, a second supporting rod and a third supporting rod which are sequentially hinged, and a piston is connected in the gas storage barrel in a sliding manner; the gas storage barrel is provided with two gas inlets and a gas outlet. The invention solves the problems that the output loading box provided by the prior art is large in size and occupies a large space, so that the excavating robot cannot swing randomly, and the excavating robot has a poor cutting effect on natural rock masses.

Description

Stone output device for excavating robot

Technical Field

The invention belongs to the field of conveying mechanisms, and particularly relates to a stone output device for an excavating robot.

Background

The stone is a high-grade decorative material and is widely applied to the fields of indoor and outdoor decorative design, curtain wall decoration and public facility construction. At present, the most common stone materials on the market are divided into natural stones and artificial stones. Natural stone is a generic term for a slab material which is mined from a natural rock mass and processed into blocks. Common natural stones are mainly composed of both granite and marble. Since the stone mining process is very expensive, functional excavating robots are often used to cut, pick, grind and transport the stone.

After mining and cutting natural rock masses, the existing excavating robots need to transport the cut stones and then perform subsequent teaching to form stones which can be used as decorative materials. At present, the output of the cut stone blocks is generally carried out by adopting an output device, and the output device generally comprises a box body, a transmission chain and a motor for driving the transmission chain to rotate. During the use, place the stone on the conveying chain, restart sender for the engine drives the conveying chain and rotates, thereby realizes the transmission to the stone.

The size of the box body of the output device is very large, so that the output device can occupy required space, and the excavating robot can not swing randomly, so that the excavating robot has poor cutting effect on natural rock. In order to solve the technical problem, the application provides a stone output device for an excavating robot.

Disclosure of Invention

The invention aims to provide a stone output device for an excavating robot, and aims to solve the problems that an output box provided by the prior art is large in size and occupies a large space, so that the excavating robot cannot swing randomly, and the excavating robot is poor in cutting effect on natural rock.

In order to achieve the above object, the present invention provides the following technical solution, a stone block output device for an excavating robot, comprising two output units respectively located at both sides of a main body of the excavating robot, the output units comprising a driving wheel, a driven wheel, an annular chain belt wound around the driving wheel and the driven wheel, and an engine driving the driving wheel to rotate; the output unit also comprises two hollow mounting shafts fixedly connected to the excavating robot body, and the driving wheel and the driven wheel are respectively and rotatably connected to the two mounting shafts; an air inlet is formed in one end, away from the excavating robot body, of the mounting shaft, a hollow support rod is hinged to one end, away from the excavating robot body, of the mounting shaft, the hinged point of the support rod and the mounting shaft is located above the air inlet, an industrial vacuum chuck communicated with the support rod is arranged at one end, away from the mounting shaft, of the support rod, and a negative pressure hole is formed in one side, close to the mounting shaft, of the support rod; a supporting wheel meshed with the driving wheel is further arranged between the driving wheel and the driven wheel, a rotating shaft is arranged in the middle of the supporting wheel, and a rotating disc is arranged at one end, far away from the supporting wheel, of the rotating shaft; the mining robot further comprises two negative pressure units, each negative pressure unit comprises a gas storage barrel fixed on the mining robot body, and a first supporting rod, a second supporting rod and a third supporting rod which are sequentially hinged, a piston is connected in the gas storage barrel in a sliding mode, one end, far away from the second supporting rod, of the first supporting rod is fixed on the piston, and one end, far away from the second supporting rod, of the third supporting rod is fixed on the rotary table; one end of the gas storage barrel, which is far away from the first supporting rod, is provided with two gas inlets and a gas outlet, a negative pressure pipe is arranged between one of the gas inlets and the mounting shaft, the gas outlet is connected with a gas outlet pipe, and the negative pressure pipe and the gas outlet pipe are both provided with one-way valves.

The technical effect and the technical principle of the technical characteristics of the scheme are as follows:

the engine drives the driving wheel to rotate, the driving wheel rotates to drive the supporting wheel to rotate, and meanwhile, the annular chain belt is driven to rotate, so that the excavating robot walks. Rotating the support rod to enable the air inlet hole to be communicated with the negative pressure hole and enable the industrial vacuum chuck to be attached to the ground, and supporting the excavating robot by the support rod to enable the excavating robot and the annular chain belt to be suspended in the air; through carrying out the negative pressure to industry vacuum chuck, realize the fixed to the bracing piece, realize the fixed to excavating robot.

The driving wheel rotates to drive the supporting wheel to rotate, the supporting wheel rotates to drive the rotating shaft to rotate, and the rotating shaft drives the rotating disc to rotate. The first support rod, the second support rod and the third support rod form a crank-slider mechanism which takes the third support rod as a crank and the first support rod as a slider. The third supporting rod connected with the turntable is driven to rotate by the turntable, and the piston can reciprocate along the side wall of the air storage barrel according to the motion characteristic of the slider-crank mechanism.

When the piston moves towards the direction far away from the air inlets, air is sucked through the two air inlets, so that the industrial vacuum chuck is under negative pressure, the industrial vacuum chuck adsorbs the ground, and the excavating robot is fixed. Meanwhile, the driving wheel rotates to drive the annular chain belt to rotate, and stones can be conveyed by being placed on the annular chain belt. When the piston moves towards the direction close to the air inlet, the air is discharged from the air outlet, the air outlet pipe connected to the air outlet conducts flow guiding to the air, dust on the surface of the stone on the annular crawler belt can be cleaned, and follow-up processing of the stone is facilitated.

The technical effect that this scheme can produce is:

1. according to the stone output device, the stone can be output without arranging an additional conveying device, the use of space can be reduced, and the use cost of equipment is reduced;

2. the supporting rod and the annular chain belt are arranged, so that the supporting rod is rotated to support the excavating robot body, the annular chain belt is suspended, and stones can be transported in the process of rotating the annular chain belt to be transported;

3. the annular chain belt can drive the excavating robot to move and output the stone, other mechanisms are not needed to output the stone, the utilization of space can be reduced, the influence on the work of the excavating robot is avoided, and the stone cutting effect of the excavating robot is good;

4. through setting up industry vacuum chuck, can make excavation robot inseparable fix on ground for the effectual of stone output.

The following are preferred schemes based on the above scheme:

the first preferred scheme is as follows: based on basic scheme, two baffles of equal fixedly connected with in both sides of excavation robot body, the one end that excavation robot body was kept away from to two baffles is located the annular chain belt and supports the wheel and from between the driving wheel, is equipped with the support gasbag between two baffles, is equipped with the gas storage mouth on the support gasbag, is equipped with the reflux valve on the gas storage mouth, and the one end that first branch was kept away from to the gas receiver still is equipped with the gas vent, is equipped with the intake pipe between gas storage mouth and the gas vent, is equipped with the check valve in.

The working principle and the beneficial effects are as follows: the baffle plate is used for installing and limiting the supporting airbag, when the piston slides towards the direction close to the exhaust port, gas in the gas storage barrel is guided into the airbag through the gas inlet pipe, so that the airbag is inflated, the expansion of the airbag is realized, the airbag is used for supporting the annular chain belt, and the annular chain belt is prevented from collapsing under the gravity of the stone block; thereby can realize tensioning the annular chain belt for the transmission effect of annular chain belt is good. The gas storage port is provided with the reverse flow valve, so that the pressure of the air bag can be adjusted, and when the air pressure in the air bag is higher, the gas in the air bag is discharged through the reverse flow valve, and the air bag is prevented from being damaged.

The preferred scheme II is as follows: based on preferred scheme one, installation axle sliding connection is on the excavation robot body, and is equipped with a plurality of spacing holes on the excavation robot body, is equipped with the stopper in the spacing downthehole. Through the installation axle that slides, realize the tensioning to the annular chain belt, through inserting the stopper in the spacing hole of installation axle both sides, can realize fixing the installation axle.

The preferable scheme is three: based on the second preferred scheme, the feeding end of the annular chain belt is provided with a feeding sliding plate, and the discharging end of the annular chain belt is provided with a discharging sliding plate. The feeding slide plate can realize the feeding of stone, and the ejection of compact slide plate can realize the ejection of compact of stone.

The preferable scheme is four: based on preferred scheme three, it has spacing latch to install epaxial the articulating, and the one end that installation axle was kept away from to spacing latch is located between the adjacent teeth of a cogwheel of action wheel. The reverse rotation of the driving wheel can be avoided, so that the influence on stone output caused by the reverse rotation of the annular chain can be avoided.

The preferable scheme is five: based on the preferred scheme four, be connected with the air duct on one of them air inlet, the one end that the air duct is kept away from the air inlet is fixed on the thermovent of engine. The gas guide pipe can suck the gas with higher temperature around the engine into the gas storage barrel, and can cool the engine; meanwhile, as the natural rock wall usually has certain water flow, the gas in the gas storage barrel is led out through the gas outlet pipe, the moisture on the surface of the cut stone can be dried, and the stone and the annular chain are prevented from slipping.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

fig. 2 is a schematic structural view of the negative pressure unit of the present invention.

Detailed Description

The following is further detailed by the specific embodiments:

reference numerals in the drawings of the specification include: the device comprises an output unit 1, a driving wheel 11, a supporting wheel 12, a driven wheel 13, an annular chain belt 14, a mounting shaft 2, a supporting rod 3, a rotary disc 4, a baffle 5, an air bag 6, a negative pressure unit 7, an air storage barrel 71, an air inlet 711, an air outlet 712, an air outlet 713, a piston 72, a first support rod 73, a second support rod 74 and a third support rod 75.

The embodiment is basically as shown in the attached figure 1:

the utility model provides a stone output device for excavating robot, includes two output unit 1 that are located excavating robot body left and right both sides respectively, and output unit 1 includes action wheel 11, supporting wheel 12 and the follow driving wheel 13 that sets gradually from a left side to the right side, and 11 supporting wheels of action wheel 12 and follow driving wheel 13 outer winding have an annular chain belt 14, and action wheel 11 meshes with supporting wheel 12. An engine is arranged on the excavating robot body, and an output shaft of the engine is connected with the driving wheel 11. The middle part of the supporting wheel 12 is connected with a rotating shaft, and the right end of the rotating shaft is connected with a turntable 4.

Two baffles 5 are respectively arranged on the left side and the right side of the excavating robot body, the two baffles 5 are positioned between the supporting wheel 12 and the driven wheel 13, and the supporting air bag 6 is arranged between the two baffles 5. The left side and the right side of the supporting air bag 6 are respectively fixed on the two baffles 5, an air storage opening is arranged on the supporting air bag 6, and a reverse flow valve is arranged on the air storage opening.

The output unit 1 further comprises two hollow mounting shafts 2 which are connected to the excavating robot body in a sliding mode, the driving wheel 11 and the driven wheel 13 are respectively connected to the two mounting shafts 2 in a rotating mode, a plurality of limiting holes are formed in the excavating robot body, and limiting blocks are arranged in the limiting holes. The left end of installation axle 2 is equipped with the inlet port, and installs that axle 2 left end inlet port top articulates there is hollow bracing piece 3, and the one end that installation axle 2 was kept away from to bracing piece 3 is equipped with the industry vacuum chuck that communicates with bracing piece 3, and the one side that is close to installation axle 2 on the bracing piece 3 is equipped with the negative pressure hole.

The mining robot further comprises two negative pressure units 7 arranged on the left side and the right side of the mining robot, as shown in fig. 2, each negative pressure unit 7 comprises a gas storage barrel 71 fixed on the body of the mining robot, and a first supporting rod 73, a second supporting rod 74 and a third supporting rod 75 which are sequentially hinged, a piston 72 is connected in the gas storage barrel 71 in a sliding mode, the right end of the first supporting rod 73 is fixed on the piston 72, and the left end of the third supporting rod 75 is fixed on the turntable 4.

Two air inlets 711, an air outlet 712 and an air outlet 713 are arranged at the right end of the air storage barrel 71 far away from the right end, a negative pressure pipe is arranged between one air inlet 711 and the mounting shaft 2, an air guide pipe is connected to the other air inlet 711, an air outlet pipe is connected to the air outlet 712, and an air inlet pipe is arranged between the air storage port and the air outlet 713. One end of the air duct, which is far away from the air inlet 711, is fixed on a heat radiation port of the engine, and the negative pressure pipe, the air duct, the air outlet pipe and the air inlet pipe are all provided with one-way valves. The feeding end of the annular chain belt 14 is provided with an inclined feeding sliding plate, and the discharging end of the annular chain belt 14 is provided with an inclined discharging sliding plate. The last articulated spacing latch that has of installation axle 2, the one end that installation axle 2 was kept away from to spacing latch is located between the adjacent teeth of a cogwheel of action wheel 11.

When the excavating robot needs to move, the annular chain belt 14 is attached to the ground, the engine is started, the engine drives the driving wheel 11 to rotate, the driven wheel 13 is used for transmission, the annular chain belt 14 is driven to rotate, and transmission of the excavating robot is achieved.

When the excavating robot stops to cut the rock wall, the support rod 3 is rotated so that the industrial vacuum chuck is attached to the ground, and the support rod 3 supports the excavating robot so that the endless chain belt 14 is separated from the bottom surface. The engine continuously drives the driving wheel 11 to rotate, so that the annular chain belt 14 continuously rotates, and the cut stone blocks are placed on the annular chain belt 14 and are transmitted through the annular chain belt 14. The driving wheel 11 drives the supporting wheel 12 to rotate, and the supporting wheel 12 drives the turntable 4 to rotate through the transmission of the rotating shaft.

The first support rod 73, the second support rod 74 and the third support rod 75 form a crank-slider mechanism with the third support rod 75 as a crank and the first support rod 73 as a slider, and according to the motion characteristics of the crank-slider, the turntable 4 rotates to drive the third support rod 75 to do circular motion, so that the first support rod 73 drives the piston 72 to do reciprocating motion in the gas storage barrel 71.

When the piston 72 moves leftwards, the air storage barrel 71 sucks air through the air inlet 711 to realize negative pressure on the industrial vacuum chuck, and the support rod 3 is fixed on the ground, so that the excavating robot is fixed; and the intake pipe sucks hot air generated by the operation of the engine into the air storage barrel 71. When the piston 72 moves rightwards, the gas is exhausted from the gas outlet 712 and the gas outlet 713, and the gas is guided and sprayed onto the stone blocks on the endless chain belt 14 through the gas outlet pipe, so that the stone blocks are dried, and dust on the stone blocks is cleaned. The gas is also introduced into the support airbag 6 through the gas inlet 711, and the support airbag 6 is expanded to support and tension the endless chain belt 14.

It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the spirit and scope of the invention, which should not be construed as affecting the effect of the invention and its practical application.

Claims

1. A stone block output device for an excavating robot, characterized in that: the excavating robot comprises two output units which are respectively positioned at two sides of an excavating robot body, wherein each output unit comprises a driving wheel, a driven wheel, an annular chain belt wound on the driving wheel and the driven wheel, and an engine for driving the driving wheel to rotate; the output unit also comprises two hollow mounting shafts fixedly connected to the excavating robot body, and the driving wheel and the driven wheel are respectively and rotatably connected to the two mounting shafts; an air inlet is formed in one end, away from the excavating robot body, of the mounting shaft, a hollow support rod is hinged to one end, away from the excavating robot body, of the mounting shaft, the hinged point of the support rod and the mounting shaft is located above the air inlet, an industrial vacuum chuck communicated with the support rod is arranged at one end, away from the mounting shaft, of the support rod, and a negative pressure hole is formed in one side, close to the mounting shaft, of the support rod; a supporting wheel meshed with the driving wheel is further arranged between the driving wheel and the driven wheel, a rotating shaft is arranged in the middle of the supporting wheel, and a rotating disc is arranged at one end, far away from the supporting wheel, of the rotating shaft; the mining robot further comprises two negative pressure units, each negative pressure unit comprises a gas storage barrel fixed on the mining robot body, and a first supporting rod, a second supporting rod and a third supporting rod which are sequentially hinged, a piston is connected in the gas storage barrel in a sliding mode, one end, far away from the second supporting rod, of the first supporting rod is fixed on the piston, and one end, far away from the second supporting rod, of the third supporting rod is fixed on the rotary table; two air inlets and one air outlet are arranged at one end of the air storage barrel, which is far away from the first supporting rod, a negative pressure pipe is arranged between one air inlet and the mounting shaft, the air outlet is connected with an air outlet pipe, and the negative pressure pipe and the air outlet pipe are both provided with one-way valves; two baffles are fixedly connected to two sides of the excavating robot body, one ends, far away from the excavating robot body, of the two baffles are located between the supporting wheel and the driven wheel in the annular chain belt, a supporting air bag is arranged between the two baffles, an air storage port is arranged on the supporting air bag, a reverse flow valve is arranged on the air storage port, an air exhaust port is further arranged at one end, far away from the first supporting rod, of the air storage barrel, an air inlet pipe is arranged between the air storage port and the air exhaust port, and a check.

2. The stone block carry-out apparatus for an excavating robot according to claim 1, wherein: installation axle sliding connection is equipped with a plurality of spacing holes on the digging robot body, and spacing downthehole stopper that is equipped with.

3. The stone block carry-out apparatus for an excavating robot according to claim 2, wherein: the feeding end of the annular chain belt is provided with a feeding sliding plate, and the discharging end of the annular chain belt is provided with a discharging sliding plate.

4. The stone block carry-out apparatus for an excavating robot according to claim 3, wherein: the installation epaxial articulated spacing latch that has, the one end that the installation axle was kept away from to spacing latch is located between the adjacent teeth of a cogwheel of action wheel.

5. The stone block carry-out apparatus for an excavating robot according to claim 4, wherein: one of the air inlets is connected with an air duct, and one end of the air duct, which is far away from the air inlet, is fixed on a heat dissipation port of the engine.