CN110206491A - Suspended wall robot for punching and its execution method - Google Patents

Abstract

The invention discloses a kind of suspended wall robot for punching, including the robot body, perforating mechanism is installed in the robot body, the lower end of the robot body is provided with mechanical leg support, and circumferentially there are six outwardly extending pedipulator installation positions for array fixed setting for the surrounding of the machinery leg support；Six pedipulators are separately installed on six pedipulator installation positions；The machinery leg support includes the first mounting disc and the second mounting disc setting up and down, and first mounting disc is fixedly connected with second mounting disc by several connectors；First mounting disc connection integrated with the lower end profile of the robot body；Robot of the invention can replace place drilling manually steeper in massif, and then ensure the safety of operator.

Description

Suspended wall robot for punching and its execution method

Technical field

The invention belongs to robot fields.

Background technique

Punching generally requires manually to climb rocks or manually carry out by cableway, such people on the steeper wall surface face of massif slope surface The mode of work is likely to encounter uncontrollable hazard event and occurs；Due to drill bit during feeding down by relatively hard Drill bit can be rigidly prevented to carry out downwards when hard rock, will cause screw rod transport mechanism at this time, there is a phenomenon where all standing, Jin Erzao The risk burnt out at motor.

Summary of the invention

Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention, which provides, can replace a kind of artificial suspended wall Robot for punching and its execution method.

Technical solution: to achieve the above object, suspended wall robot for punching of the invention, including the robot body, the machine Perforating mechanism is installed, the lower end of the robot body is provided with mechanical leg support, the machinery leg support in device people's body Surrounding circumferentially array fixed setting there are six outwardly extending pedipulator installation position；Divide on six pedipulator installation positions It An Zhuan not be there are six pedipulator；The machinery leg support includes the first mounting disc and the second mounting disc setting up and down, and described the One mounting disc is fixedly connected with second mounting disc by several connectors；First mounting disc and the robot body Lower end profile integration connection.

Further, the front and back side of the robot body is separately installed with leading guide wheel assembly and rear guidance wheel assembly； The leading guide wheel assembly/rear guidance wheel assembly includes sheave bracket and guiding V-groove wheel；The bottom plate of the sheave pedestal lower end It is locked on the robot body by clamping screw fixation；The guiding V-groove wheel is rotatably arranged on described by shaft Sheave pedestal upper end；It further include the upper guiding rope and lower guiding rope of about two distributions；On the groove of the two guiding V-groove wheels Side and the upper guiding rope are rolled and are connected, and are rolled and are connected with the lower guiding rope on the downside of the groove of the two guiding V-groove wheels.

Further, the pedipulator includes the first steering engine, and first steering engine is fixedly mounted on the pedipulator installation On position, the first output shaft of first steering engine is vertically arranged, is equipped with first on the first output shaft of first steering engine Joint frame, the first steering engine drive first joint frame to swing along the first output shaft by the first output shaft；It further include second The root of joint frame, the second joint frame is fixedly connected with the end of first joint frame；It further include the second steering engine, and described Second output shaft of the second steering engine is laterally arranged, and the second output shaft of second steering engine is fixedly connected on the second joint On frame, second steering engine is driven by the second output shaft and itself is swung along the second output shaft；Second steering engine Casing tail end is fixedly connected with third joint frame；It further include third steering engine, and the third output shaft of the third steering engine is laterally set It sets, the third output shaft of the third steering engine is fixedly connected on the frame of the third joint, and the third steering engine is defeated by third Shaft drives and itself swings along the third output shaft；It further include vertical leg body, the upper end of the leg body is fixedly mounted on On the casing of the third steering engine；The lower end of the leg body is fixedly installed with columnar pedestal, and the lower end of the pedestal is equipped with Flexibly support foot.

Further, the open tube structure in the inside integrated setting lower end in the robot body, the cylinder The upper end of structure is the top wall body of integration, and the perforating mechanism is located in the tube inner chamber of the tube structure；

The perforating mechanism includes vertical main motor, and the casing two sides of the main motor are symmetrically arranged with guide groove；Also Including two vertical guide rails, the upper end of two guide rails is respectively fixedly connected with the top wall body, two guide grooves respectively with Two guide rails are slidably matched, and the main motor can be slided up and down along the extending direction of the guide rail；The output of the main motor It is synchronized on axis and drilling attachment is installed, the drilling attachment synchronizes on the drilling attachment and is clamped with drill bit.

Further, the casing side of the main motor is also fixedly installed with feed screw nut；It further include vertical screw rod, institute The threaded hole transmission stated on screw rod and the feed screw nut cooperates；Vertical lead screw motor, institute are additionally provided in the tube inner chamber The output end for stating lead screw motor is drivingly connected the screw rod, and the casing top rectangular array stationary distribution of the lead screw motor has Four guide posts, the top wall body are provided with four four guide holes up and down, and the upper end of four guide posts slides up respectively It moves across four guide holes；The top of each guide post is fixedly installed disk body, and the diameter of each disk body is all larger than described lead The internal diameter in hole；The medium position on the casing top of the lead screw motor is provided with lower spring retainer column, under the top wall body Side is fixedly installed upper spring limited post, the lower spring retainer column and the concentric setting of upper spring limited post, and under Spacing setting is kept between the upper end of spring retainer column and the lower end of the upper spring limited post；The lead screw motor and the top Relaxation power spring is provided between portion's wall body, the upper end of the relaxation power spring is set on the upper spring limited post, described The lower end of relaxation power spring is set on the lower spring retainer column；Elasticity presses the screw rod electricity to the relaxation power spring downwards Machine.

Further, the lower end integration of the pedestal is connected with spherical；The resilient support foot is in be flared downwards Tubaeform elastic wall body；The elasticity wall body is elastomeric material；The top of the elasticity wall body is to lower recess balling-up shape Slot, the spherical groove elastomeric overmold is on the outside of the spherical；Up-thin-low-thick cone is additionally provided on the inside of the elasticity wall body The conical inboard wall of shape spring, the cone-type spiral outer rim of the volute spring and the elastic wall body is in close contact；And the taper The upper end of spring is fixedly connected with the upper end of wall in the elastic wall body.

Further, the ball outer wall of the spherical is Nian Jie by bonding agent with the spherical groove inner wall.

Further, the execution method of suspended wall robot for punching:

Under the guidance constraint of upper guiding rope and upper guiding rope, coordinated lower edge of the robot body in six pedipulators Massif slope surface walking, due to the robot body due to be pedipulator driving, the robot body along massif slope surface walk During can also be always in the state that fluctuates up and down, and then drive leading guide wheel assembly and rear guidance wheel assembly along above drawing Dragline/lower guiding rope can also continue to fluctuate up and down during rolling；When the robot body fluctuates upwards, it is respectively oriented to V-groove Upper guiding rope can be pressed on the upside of the groove of wheel upwards, and then makes upper guiding rope that certain shape occur upwards under upward press effect Become, at this time since the guiding V-groove wheel random device people body fluctuates upwards, and then makes the groove downside of each guiding V-groove wheel under Guiding rope disengages, and respectively guiding V-groove wheel is rolled along upper guiding rope at this time, downward anti-work of the upper guiding rope to guiding V-groove wheel Firmly it effectively prevent the robot body the phenomenon that turning over side occur in upward wave process；When the robot body fluctuates downwards, respectively Lower guiding rope can be pressed downwards by being oriented on the downside of the groove of V-groove wheel, and then make under downward press effect lower guiding rope to issuing Raw certain deformation at this time since the guiding V-groove wheel random device people body fluctuates downwards, and then makes the slot of each guiding V-groove wheel It is disengaged on the upside of ditch with upper guiding rope, respectively guiding V-groove wheel is rolled along lower guiding rope at this time, and lower guiding rope is to guiding V-groove wheel The effective buffer robot body of upward reaction force forms thump to body slope surface in downward wave process, mitigates massif rolling Stone slides phenomenon；

Suspend walking after the robot body runs to punch position, start punch program at this time, under original state, in weight Under power and the effect of the relaxation power of relaxation power spring, the downside face contact top wall body of each disk body；Start lead screw motor at this time, in turn Screw rod is rotated, and then drives feed screw nut to bottom offset, and then make extending direction slide downward of the main motor along guide rail, until The lower end of drill bit contacts downwards and presses massif wall surface to be punctured；Start main motor at this time, and then so that drill bit is started high speed and revolve Turn, continues driving starting lead screw motor at this time, rotate screw rod, and then drill bit is made to drill to the massif wall surface at place, bore at this time Relaxation power spring can accordingly be elastically compressed one when head will receive stiff resistance during feeding down under the action of screw rod Set a distance plays buffer function, and then avoids making due to rigidity feeding resistance screw rod and feed screw nut from occurring stuck to burn out motor The phenomenon that；At this time since relaxation power spring is compressed by a certain distance, and then the feed pressure of drill bit is improved, promotes drill bit Brill opens resistance rock bigger than normal, and relaxation power spring can be gradually recovered initial relative relaxation again after resistance rotary rock drill bigger than normal is held State, until drilling operating is completed, inverted running screw rod after the completion of process hole to be drilled, and then feed screw nut is driven to shift up, And then make extending direction upward sliding of the main motor along guide rail, until the lower end of drill bit is upwardly separated from massif wall surface；It completes primary Drilling operating.

The utility model has the advantages that robot of the invention can replace place drilling manually steeper in massif, and then operation is ensured The safety of personnel, upper guiding rope effectively prevent the robot body fluctuating upwards the downward reaction force of guiding V-groove wheel There is the phenomenon that turning over side in process；Lower guiding rope exists to the effective buffer robot body of upward reaction force of guiding V-groove wheel Thump is formed to body slope surface in downward wave process, mitigates massif Rolling Stone and slides phenomenon.

Detailed description of the invention

Attached drawing 1 is the whole first posture schematic diagram of the robot；

Attached drawing 2 is the whole front view of the robot；

Attached drawing 3 is the overall top view of the robot；

Attached drawing 4 is pedipulator and pedipulator installation position mutual cooperation schematic diagram.

Attached drawing 5 is pedipulator schematic diagram；

Attached drawing 6 is that pedipulator conceals the schematic diagram after elastic wall body；

Attached drawing 7 is the schematic diagram under the mated condition of pedestal and elastic support；

Attached drawing 8 is the cut-away diagram of attached drawing 8；

Attached drawing 9 is the disassembly schematic diagram of attached drawing 7；

Attached drawing 10 is that the robot conceals the schematic diagram after all pedipulators；

Attached drawing 11 is that the robot conceals the front view after all pedipulators；

Attached drawing 12 is that the robot conceals the cut-away diagram after all pedipulators；

Attached drawing 13 is the structural schematic diagram of perforating mechanism；

Attached drawing 14 is the partial schematic diagram at four guide posts.

Specific embodiment

The present invention will be further explained with reference to the accompanying drawing.

The suspended wall robot for punching as shown in Fig. 1 to 14 and its execution method, including the robot body 2, the robot Perforating mechanism is installed, the lower end of the robot body 2 is provided with mechanical leg support 80, the machinery leg support in the body 2 Surrounding circumferentially array fixed setting there are six outwardly extending pedipulator installation position 38；Six pedipulator installation positions 38 On be separately installed with six pedipulators 28；The machinery leg support includes the first mounting disc 20 and the second mounting disc setting up and down 21, first mounting disc 20 is fixedly connected with second mounting disc 21 by several connectors 60；First mounting disc 20 connections integrated with the lower end profile of the robot body 2.

The front and back side of the robot body 2 is separately installed with leading guide wheel assembly 26 and rear guidance wheel assembly 27；It is described It includes sheave bracket 23 and guiding V-groove wheel 22 that wheel assembly 27 is guided after leading guide wheel assembly 26/；23 lower end of sheave bracket Bottom plate 45 by clamping screw 45 fixation be locked on the robot body 2；The guiding V-groove wheel 22 passes through shaft 07 It is rotatably arranged on 23 upper end of sheave bracket；It further include the upper guiding rope 24 and lower guiding rope 25 of about two distributions；Two institutes 09 upside of groove for stating guiding V-groove wheel 22 is rolled with the upper guiding rope 24 to be connected, the groove of the two guiding V-groove wheels 22 09 downside rolls with the lower guiding rope 25 and connects.

The tube structure 19 that inside integrated setting lower end in the robot body 2 opens, the tube structure 19 Upper end be integration top wall body 11, the perforating mechanism is located in the tube inner chamber 3 of the tube structure 19；

The perforating mechanism includes vertical main motor 4, and the casing two sides of the main motor 4 are symmetrically arranged with guide groove 39；It further include two vertical guide rails 1, the upper end of two guide rails 1 is respectively fixedly connected with the top wall body 11, two guiding Slot 39 is slidably matched with two guide rails 1 respectively, and the main motor 4 can be slided up and down along the extending direction of the guide rail 1；It is described It is synchronized on the output shaft 5 of main motor 4 and drilling attachment 6 is installed, the drilling attachment 6 is synchronized on the drilling attachment 6 and is clamped with Drill bit 7.

The casing side of the main motor 4 is also fixedly installed with feed screw nut 9；It further include vertical screw rod 8, the screw rod 8 are driven cooperation with the threaded hole on the feed screw nut 9；Vertical lead screw motor 10 is additionally provided in the tube inner chamber 3, it is described The output end of lead screw motor 10 is drivingly connected the screw rod 8, and the casing top rectangular array of the lead screw motor 10 is fixed to be divided Be furnished with four guide posts 12, the setting of top wall body 11 there are four four guide holes 14 up and down, four guide posts 12 it is upper Upward sliding passes through four guide holes 14 respectively at end；The top of each guide post 12 is fixedly installed disk body 13, each disk body 13 diameter is all larger than the internal diameter of the guide hole 14；The medium position on the casing top of the lead screw motor 10 is provided with lower spring Limited post 17, the downside of the top wall body 11 are fixedly installed upper spring limited post 15, the lower spring retainer column 17 with The concentric setting of the upper spring limited post 15, and the lower end of the upper end of lower spring retainer column 17 and the upper spring limited post 15 Between keep spacing setting；It is provided with relaxation power spring 16 between the lead screw motor 10 and the top wall body 11, described The upper end of relaxation power spring 16 is set on the upper spring limited post 15, the lower end of the relaxation power spring 16 be set in it is described under On spring retainer column 17；Elasticity presses the lead screw motor 10 to the relaxation power spring 16 downwards.

The pedipulator 28 of the present embodiment includes the first steering engine 37, and first steering engine 37 is fixedly mounted on the pedipulator peace It fills on position 38, the first output shaft 37.1 of first steering engine 37 is vertically arranged, the first output shaft of first steering engine 37 First joint frame 35 is installed, the first steering engine 37 drives first joint frame 35 along the by the first output shaft 37.1 on 37.1 One output shaft 37.1 is swung；It further include second joint frame 36, the root of the second joint frame 36 is fixedly connected with described first and closes Save the end of frame 35；It further include the second steering engine 34, and the laterally setting of the second output shaft 34.1 of second steering engine 34, described the Second output shaft 34.1 of two steering engines 34 is fixedly connected on the second joint frame 36, and second steering engine 34 is defeated by second The drive of shaft 34.1 is swung itself along second output shaft 34.1；The casing tail end of second steering engine 34 is fixedly connected with Three joint framves 33；It further include third steering engine 32, and the third output shaft 35.1 of the third steering engine 32 is laterally arranged, the third The third output shaft 35.1 of steering engine 32 is fixedly connected on third joint frame 33, and the third steering engine 32 is exported by third The drive of axis 35.1 is swung itself along the third output shaft 35.1；It further include vertical leg body 31, the upper end of the leg body 31 is solid Dingan County is on the casing of the third steering engine 32；The lower end of the leg body 31 is fixedly installed with columnar pedestal 30, the foot The lower end of seat 30 is equipped with resilient support foot 29.

The lower end integration of the pedestal 30 of the present embodiment is connected with spherical 42；The resilient support foot 29 is in flaring downwards Tubaeform elastic wall body 41；The elasticity wall body 41 is elastomeric material；The resilient support foot 29 of resilient nature makes machine Device people when walking in massif steep slope each resilient support foot 29 can grease it in, avoid flexibly supporting foot 29 to massif slope Face forms rigid collision, reduces the danger for causing Rolling Stone to slide；The top of the elastic wall body 41 of the present embodiment is to lower recess balling-up Shape slot 44,44 elastomeric overmold of spherical groove during installation, make spherical 42 in 42 outside of spherical under external force It falls into spherical groove 44, is also convenient for the replacement of resilient support foot 29 in this way；The inside of the elasticity wall body 41 is additionally provided with Up-thin-low-thick volute spring 43, the cone-type spiral outer rim of the volute spring 43 and the conical inboard wall of the elastic wall body 41 are tight Contiguity touching；And the upper end of the volute spring 43 is fixedly connected with the upper end of 41 inner wall of the elastic wall body；Volute spring 43 is right Elastic wall body 41 plays the role of return, after elastic wall body 41 is by external force compression deformation, 43 pairs of the volute spring elastic wall bodies 41 Play the role of promoting to be restored to original form, enables elastic 41 real-time recovery of wall body in horn-like form；Flexibly support foot After 29 use repeatedly, relative relaxation may be become at spherical groove 44, in the case of spherical groove 44 is loose, in order to continue It uses, it, can also be in the ball outer wall and the ball of spherical 42 in order to increase the bond strength of its spherical 42 and spherical groove 44 44 inner wall of shape slot is bonded by bonding agent, and the bonding agent of the present embodiment uses white glue with vinyl, effectively prevent resilient support foot 29 in this way The phenomenon that falling off.

The operating process of this programme, method and technological progress arrange as follows:

Under the guidance constraint of upper guiding rope 24 and upper guiding rope 24, collaboration of the robot body 2 in six pedipulators 28 Under cooperation along massif slope surface walk, due to the robot body 2 due to be pedipulator 28 driving, the robot body 2 is on edge Massif slope surface can also be always in the state fluctuated up and down during walking, and then drives leading guide wheel assembly 26 and rear guidance Wheel assembly 27 can also continue to fluctuate up and down during guiding rope 25 rolls under upper guiding rope 24/；When the robot body 2 to When upper fluctuation, guiding rope 24 can be pressed on the upside of each groove 09 for being oriented to V-groove wheel 22 upwards, and then under upward press effect Make guiding rope 24 that certain deformation occur upwards, at this time since the 22 random device people body 2 of guiding V-groove wheel fluctuates upwards, into And disengaging 09 downside of groove of each guiding V-groove wheel 22 with lower guiding rope 25, each guiding V-groove wheel 22 is along upper guiding rope at this time 24 roll, and the downward reaction force of 24 pairs of upper guiding rope guiding V-groove wheels 22 effectively prevent the robot body 2 fluctuating upwards There is the phenomenon that turning over side in process；It, can be downward on the downside of each groove 09 for being oriented to V-groove wheel 22 when the robot body 2 fluctuates downwards Lower guiding rope 25 is pressed, and then makes lower guiding rope 25 that certain deformation occur downwards under downward press effect, at this time due to leading To 22 fluctuation downwards of the random device people body 2 of V-groove wheel, and then make each 09 upside of groove for being oriented to V-groove wheel 22 and upper guiding rope 24 disengage, at this time respectively guiding V-groove wheel 22 is rolled along lower guiding rope 25,25 pairs of lower guiding rope guiding V-groove wheel 22 upwards The effective buffer robot body 2 of reaction force forms thump to body slope surface in downward wave process, and it is sliding to mitigate massif Rolling Stone Fall phenomenon；

Suspend walking after the robot body 2 runs to punch position, starts punch program at this time, under original state, Under the effect of the relaxation power of gravity and relaxation power spring 16, the downside face contact top wall body 11 of each disk body 13；Start screw rod at this time Motor 10, and then rotate screw rod 8, and then drive feed screw nut 9 to bottom offset, and then make main motor 4 along the extension side of guide rail 1 To slide downward, until the lower end of drill bit 7 contacts downwards and presses massif wall surface to be punctured；Start main motor 4 at this time, in turn So that drill bit 7 is started high speed rotation, continues driving starting lead screw motor 10 at this time, rotate screw rod 8, and then make drill bit 7 to place Massif wall surface drilling, relaxation power when drill bit 7 will receive stiff resistance during feeding down under the action of screw rod 8 at this time Spring 16 can accordingly be elastically compressed certain distance, play buffer function, so avoid due to rigidity feeding resistance make screw rod 8 with Feed screw nut burns out motor there is a phenomenon where stuck；At this time since relaxation power spring 16 is compressed by a certain distance, and then make The feed pressure of drill bit 7 improves, and promotes the brill of drill bit 7 to open resistance rock bigger than normal, the relaxation power after resistance rotary rock drill bigger than normal is opened Spring 16 can be gradually recovered initial relative relaxation state again, until drilling operating is completed, reversed fortune after the completion of process hole to be drilled Row screw rod 8, and then drive feed screw nut 9 to shift up, and then make extending direction upward sliding of the main motor 4 along guide rail 1, until The lower end of drill bit 7 is upwardly separated from massif wall surface；Complete a drilling operating.

The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered It is considered as protection scope of the present invention.

Claims (8)

1. suspended wall robot for punching, it is characterised in that: including the robot body (2), be equipped with and beat in the robot body (2) The lower end of holes mechanism, the robot body (2) is provided with mechanical leg support (80), and the surrounding of the machinery leg support is circumferentially There are six outwardly extending pedipulator installation positions (38) for array fixed setting；Pacify respectively on six pedipulator installation positions (38) There are six pedipulator (28) for dress；The machinery leg support includes the first mounting disc (20) and the second mounting disc setting up and down (21), first mounting disc (20) is fixedly connected with second mounting disc (21) by several connectors (60)；Described One mounting disc (20) connection integrated with the lower end profile of the robot body (2).

2. suspended wall robot for punching shown according to claim 1, it is characterised in that: the front and back side of the robot body (2) It is separately installed with leading guide wheel assembly (26) and rear guidance wheel assembly (27)；Leading guide wheel assembly (the 26)/rear guide wheel group Part (27) includes sheave bracket (23) and guiding V-groove wheel (22)；The bottom plate (45) of sheave bracket (23) lower end passes through lock Tight bolt (45) fixation is locked on the robot body (2)；The guiding V-groove wheel (22) is set by shaft (07) rotation It sets in sheave bracket (23) upper end；It further include the upper guiding rope (24) and lower guiding rope (25) of about two distributions；Two institutes It states to roll on the upside of the groove (09) of guiding V-groove wheel (22) with the upper guiding rope (24) and connect, the two guiding V-groove wheels (22) it rolls and connects with the lower guiding rope (25) on the downside of groove (09).

3. suspended wall robot for punching shown according to claim 1, it is characterised in that: the pedipulator (28) includes the first steering engine (37), first steering engine (37) is fixedly mounted on the pedipulator installation position (38), and the first of first steering engine (37) Output shaft (37.1) is vertically arranged, is equipped with the first joint frame on the first output shaft (37.1) of first steering engine (37) (35), the first steering engine (37) drives first joint frame (35) along the first output shaft (37.1) by the first output shaft (37.1) It swings；It further include second joint frame (36), the root of the second joint frame (36) is fixedly connected with first joint frame (35) End；It further include the second steering engine (34), and the second output shaft (34.1) of second steering engine (34) is laterally arranged, described the The second output shaft (34.1) of two steering engines (34) is fixedly connected on the second joint frame (36), and second steering engine (34) is logical It crosses the second output shaft (34.1) and drives and itself swung along second output shaft (34.1)；The casing tail of second steering engine (34) End is fixedly connected with third joint frame (33)；It further include third steering engine (32), and the third output shaft of the third steering engine (32) (35.1) laterally setting, the third output shaft (35.1) of the third steering engine (32) are fixedly connected on third joint frame (33) On, the third steering engine (32) is driven by third output shaft (35.1) and itself is swung along the third output shaft (35.1)；Also Including vertical leg body (31), the upper end of the leg body (31) is fixedly mounted on the casing of the third steering engine (32)；It is described The lower end of leg body (31) is fixedly installed with columnar pedestal (30), and the lower end of the pedestal (30) is equipped with resilient support foot (29)。

4. the suspended wall robot for punching according to shown in claim 3, it is characterised in that: the inside in the robot body (2) The open tube structure (19) in integrated setting lower end, the upper end of the tube structure (19) are the top wall body of integration (11), the perforating mechanism is located in the tube inner chamber (3) of the tube structure (19)；

The perforating mechanism includes vertical main motor (4), and the casing two sides of the main motor (4) are symmetrically arranged with guide groove (39)；It further include two vertical guide rails (1), the upper end of two guide rails (1) is respectively fixedly connected with the top wall body (11), and two The guide groove (39) is slidably matched with two guide rails (1) respectively, and the main motor (4) can be along the extension of the guide rail (1) Direction slides up and down；It synchronizes and is equipped with drilling attachment (6) on the output shaft (5) of the main motor (4), the drilling attachment (6), It is synchronized on the drilling attachment (6) and is clamped with drill bit (7).

5. the suspended wall robot for punching according to shown in claim 4, it is characterised in that: the casing side of the main motor (4) is also It is fixedly installed with feed screw nut (9)；It further include vertical screw rod (8), the spiral shell on the screw rod (8) and the feed screw nut (9) Pit transmission cooperation；It is additionally provided with vertical lead screw motor (10) in the tube inner chamber (3), the output of the lead screw motor (10) End is drivingly connected the screw rod (8), and the casing top rectangular array stationary distribution of the lead screw motor (10) has four guide posts (12), there are four four guide holes (14) up and down, the upper ends point of four guide posts (12) for top wall body (11) setting Other upward sliding passes through four guide holes (14)；The top of each guide post (12) is fixedly installed disk body (13), each disk The diameter of body (13) is all larger than the internal diameter of the guide hole (14)；The medium position on the casing top of the lead screw motor (10) is arranged There is lower spring retainer column (17), the downside of the top wall body (11) is fixedly installed upper spring limited post (15), under described Spring retainer column (17) and the concentric setting of the upper spring limited post (15), and the upper end of lower spring retainer column (17) with it is described Spacing setting is kept between the lower end of upper spring limited post (15)；Between the lead screw motor (10) and the top wall body (11) It is provided with relaxation power spring (16), the upper end of the relaxation power spring (16) is set on the upper spring limited post (15), institute The lower end for stating relaxation power spring (16) is set on the lower spring retainer column (17)；The relaxation power spring (16) is elastic downwards Press the lead screw motor (10).

6. the suspended wall robot for punching according to shown in claim 3, it is characterised in that: the lower end integration of the pedestal (30) connects It is connected to spherical (42)；Resilient support foot (29) is in the tubaeform elastic wall body (41) being flared downwards；The elastic wall Body (41) is elastomeric material；The top of the elasticity wall body (41) is to lower recess balling-up shape slot (44), the spherical groove (44) elastomeric overmold is on the outside of the spherical (42)；Up-thin-low-thick taper is additionally provided on the inside of the elasticity wall body (41) The conical inboard wall of spring (43), the cone-type spiral outer rim of the volute spring (43) and the elastic wall body (41) is in close contact； And the upper end of the volute spring (43) is fixedly connected with the upper end of described elastic wall body (41) inner wall.

7. the suspended wall robot for punching according to shown in claim 6, it is characterised in that: the ball outer wall of the spherical (42) and institute Spherical groove (44) inner wall is stated to be bonded by bonding agent.

8. the execution method of the suspended wall robot for punching according to shown in claim 7, it is characterised in that:

Under the guidance constraint of upper guiding rope (24) and upper guiding rope (24), the robot body (2) is in six pedipulators (28) Under coordinated along massif slope surface walk, due to the robot body (2) due to be pedipulator (28) driving, robot body Shell (2) can also be always in the state fluctuated up and down during along the walking of massif slope surface, and then drives leading guide wheel assembly (26) and rear guidance wheel assembly (27) can also continue wave up and down during rolling along upper guiding rope (24)/lower guiding rope (25) It is dynamic；When the robot body (2) fluctuation upwards, it can press and guide upwards on the upside of each groove (09) for being oriented to V-groove wheel (22) Rope (24), and then make upper guiding rope (24) that certain deformation occur upwards under upward press effect, at this time due to being oriented to V-groove It takes turns (22) random device people body (2) to fluctuate upwards, and then makes each groove (09) downside for being oriented to V-groove wheel (22) and lower guiding rope (25) it disengages, respectively guiding V-groove wheel (22) is rolled along upper guiding rope (24) at this time, and upper guiding rope (24) is to guiding V-groove wheel (22) downward reaction force effectively prevent the robot body (2) the phenomenon that turning over side occur in upward wave process；Work as machine When people's body (2) fluctuates downwards, it can be pressed downwards lower guiding rope (25) on the downside of each groove (09) for being oriented to V-groove wheel (22), into And downward press effect under make lower guiding rope (25) that certain deformation occur downwards, at this time due to guiding V-groove wheel (22) with The robot body (2) fluctuates downwards, and then keeps groove (09) upside of each guiding V-groove wheel (22) and upper guiding rope (24) de- Open, at this time respectively guiding V-groove wheel (22) along lower guiding rope (25) roll, lower guiding rope (25) to guiding V-groove wheel (22) to On the effective buffer robot body (2) of reaction force in downward wave process to body slope surface formed thump, mitigate massif Rolling Stone slides phenomenon；

Suspend walking after the robot body (2) runs to punch position, start punch program at this time, under original state, in weight Under power and the effect of the relaxation power of relaxation power spring (16), the downside face contact top wall body (11) of each disk body (13)；Start at this time Lead screw motor (10), and then rotate screw rod (8), and then drive feed screw nut (9) to bottom offset, and then make main motor (4) edge The extending direction slide downward of guide rail (1), until the lower end of drill bit (7) contacts downwards and presses massif wall surface to be punctured；This Shi Qidong main motor (4), and then drill bit (7) is made to start high speed rotation, continue driving starting lead screw motor (10) at this time, makes screw rod (8) rotate, and then make drill bit (7) to the massif wall surface at place drill, at this time drill bit (7) under the action of screw rod (8) downwards into Relaxation power spring (16) can accordingly be elastically compressed certain distance when will receive stiff resistance during giving, and play buffering and make With, and then avoid making screw rod (8) and feed screw nut burn out motor there is a phenomenon where stuck due to rigidity feeding resistance；At this time due to Relaxation power spring (16) is compressed by a certain distance, and then improves the feed pressure of drill bit (7), promotes drill bit (7) to bore and opens Resistance rock bigger than normal, relaxation power spring (16) can be gradually recovered initial relative relaxation again after resistance rotary rock drill bigger than normal is held State, until drilling operating is completed, inverted running screw rod (8) after the completion of process hole to be drilled, and then drive feed screw nut (9) upward Displacement, and then make main motor (4) along the extending direction upward sliding of guide rail (1), until the lower end of drill bit (7) is upwardly separated from massif Wall surface；Complete a drilling operating.