CN115922924A

CN115922924A - Rope saw robot for building dismantling

Info

Publication number: CN115922924A
Application number: CN202310045546.8A
Authority: CN
Inventors: 丁宏洲
Original assignee: Jinzhai Zongjia Intelligent Technology Development Co ltd
Current assignee: Jinzhai Zongjia Intelligent Technology Development Co ltd
Priority date: 2023-01-30
Filing date: 2023-01-30
Publication date: 2023-04-07

Abstract

The invention relates to the technical field of building waste component breaking and dismantling, and discloses a building breaking and dismantling rope saw robot which comprises a base, wherein a walking mechanism is arranged on the base, a supporting plate is arranged on the base, a rope saw cutting assembly is arranged on the supporting plate, a robot position calibration assembly is arranged on the rope saw cutting assembly, the robot position calibration assembly comprises a fixed block arranged on the rope saw cutting assembly, an inserting rod is arranged on the fixed block in a damping sliding mode along the cutting direction, one end of the inserting rod is connected with a connecting block, two groups of first pressure sensors are symmetrically arranged on the side face of the connecting block, and the building breaking and dismantling rope saw robot further comprises a handheld control terminal. This broken rope saw robot of tearing open in building can guarantee through the robot position calibration subassembly that sets up that the straightness that hangs down between saw rope cutting direction and the building length direction is enough high to guaranteed that cutting length is the shortest, the cutting resistance is the minimum, so can effectively improve the efficiency of tearing open.

Description

Rope saw robot for building dismantling

Technical Field

The invention relates to the technical field of building waste component breaking and dismantling, in particular to a building breaking and dismantling rope saw robot.

Background

The building is arriving life, or because default construction, when removing and demolishing, whole building can be demolishd by whole, and whole demolishs the back, still can remain great concrete building component, and these great concrete building component are bulky, and weight is heavy, is difficult to the transportation, so need break once more and tear open in order to reduce its volume once more so that the transportation.

The mode of tearing open traditional is mostly the handheld sledgehammer of workman and carries out the hammering, perhaps adopts the excavator to be equipped with the quartering hammer and carry out the hammering, and the manual work is broken to tear open inefficiency, and workman intensity of labour is high, it is higher to adopt excavator cooperation quartering hammer energy consumption, can increase and break the cost of tearing open, consequently people have designed rope saw robot and broken tearing open this type of concrete building component, it can go on smoothly in complicated topography, it is efficient and the energy consumption is lower to break to tear open, extensive application has been obtained.

But current rope saw robot is when breaking open concrete building element, in order to reduce the resistance when cutting and practice thrift the cutting time, need make saw rope cutting direction and component length direction mutually perpendicular as far as, thereby can reduce cutting length, reduce the cutting resistance, and current rope saw robot can only rely on staff's visual observation to guarantee the straightness that hangs down between saw rope cutting direction and the component length direction at the during operation, consequently can't avoid resulting in the straightness that hangs down between saw rope cutting direction and the component length direction to be lower, thereby increased cutting length, the cutting resistance has been improved, and then the efficiency of the work of breaking open has been reduced.

Disclosure of Invention

In view of the shortcomings of the prior art, the invention provides a robot for a rope saw for demolishing buildings, which solves the problems mentioned in the background.

The invention provides the following technical scheme: the utility model provides a broken rope saw robot of tearing open of building, includes the base, be equipped with running gear on the base, be equipped with the backup pad on the base, be equipped with rope saw cutting assembly in the backup pad, be equipped with robot position calibration subassembly on the rope saw cutting assembly, robot position calibration subassembly is including establishing the fixed block on rope saw cutting assembly, it is equipped with the inserted bar to slide along cutting direction damping on the fixed block, inserted bar one end is connected with the connecting block, connecting block side symmetry is equipped with two sets of first pressure sensor, still includes handheld control terminal. Through the robot position calibration subassembly that sets up, make before the work is torn open in the cutting, the staff removes the robot to treating to tear the comparatively smooth one side department of building element open, then promote the inserted bar and drive two sets of first pressure sensor and tightly support on the building element planishing face, then observe the pressure differential between two sets of first pressure sensor, when pressure differential is less than the threshold value, can guarantee that the straightness that hangs down between saw rope cutting direction and the building length direction is enough high, thereby it is shortest to have guaranteed cutting length, cutting resistance is minimum, can improve the efficiency of tearing open so.

Preferably, the traveling mechanism comprises a group of first rollers and two groups of second rollers which are arranged at the bottom of the base, the traveling mechanism further comprises two driving motors which are arranged on the base, the two driving motors are connected with a speed change gear box, the speed change gear box is connected with a group of driving wheels, the outer peripheral surfaces of the group of driving wheels are in meshing connection with two crawler wheels, and the group of first rollers and the group of second rollers are respectively kneaded with the two crawler wheels. The crawler wheels can enable the robot to smoothly and reliably move in a building breaking and dismantling field with a complex and severe ground environment, so that the robot can smoothly break and dismantle work, and the efficiency of the breaking and dismantling work is improved.

Preferably, the rope saw cutting assembly comprises a cutting motor arranged on the supporting plate, the cutting motor is connected with a driving tooth, a saw rope is arranged on the driving tooth, a protective baffle is connected to the cutting motor, the protective baffle covers the outer side of the driving tooth, and the fixing block is connected to the top of the protective baffle. Can drive the saw rope through cutting motor and drive tooth and rotate in order to cut the broken dismantlement of building element.

Preferably, the rope saw inclination monitoring device further comprises a rope saw inclination monitoring assembly, the rope saw inclination monitoring assembly comprises a through groove formed in the bottom of the connecting block, two groups of second pressure sensors are symmetrically connected to the front inner wall and the rear inner wall of the through groove, the number of the second pressure sensors in each group is two, two baffles are symmetrically connected to the two groups of second pressure sensors, and the saw rope penetrates through the through groove and penetrates between the two baffles. Make when the sawing rope gradient is too big, be two second pressure sensor atresss that diagonal distribution can increase among two sets of second pressure sensor, so can indicate the sawing rope slope serious to stop the cutting and tear open work, wait for the staff to handle, thereby effectively prevent to lead to cutting length extension or sawing rope wearing and tearing too big and fracture because the sawing rope slope.

Preferably, the wire saw tension adjusting device further comprises a wire saw tension adjusting assembly, the wire saw tension adjusting assembly comprises a moving plate arranged at the top of the supporting plate in a sliding mode, two groups of hydraulic cylinders are symmetrically connected to the supporting plate, the number of each group of hydraulic cylinders is not less than two, the two groups of hydraulic cylinders are connected with tension sensors, and the tension sensors are connected with the side face of the moving plate. The tension sensor can detect the tension on the sawing rope, and at the moment, if the tension of the tension sensor is smaller than a set lower limit value, the hydraulic cylinder is started to pull the movable plate to move towards the direction far away from the building component, and the movable plate drives the driving teeth and the sawing rope to move, so that the tension of the sawing rope can be increased, and the cutting force is ensured; if the tension sensor is used for detecting the tension of the building component, the hydraulic cylinder is started to pull the movable plate to move towards the direction close to the building component, the movable plate drives the driving teeth and the sawing rope to move, so that the tension of the sawing rope can be reduced, the sawing rope is prevented from being broken due to over tightness, and the cutting work can be guaranteed to go down smoothly and stably.

Preferably, the rope saw turning assembly comprises a turning motor connected to the side face of the moving plate, an output shaft of the turning motor penetrates through the moving plate and is connected with a rotating disc, and the cutting motor is connected to the side face of the rotating disc. Can drive tooth and sawing rope clockwise through turning to motor cooperation carousel and rotate ninety degrees for drive tooth and sawing rope are in the horizontality, so can take more convenient suitable cutting direction according to building element's position and shape etc. has improved this robot's practicality effectively.

Preferably, the rope saw steering assembly further comprises an air cylinder arranged at the top of the supporting plate, the air cylinder is connected with an arc-shaped friction plate, and the arc-shaped friction plate is located under the rotary table. The cylinder pushes the circular arc friction plate to move upwards until the circular arc friction plate tightly abuts against the outer peripheral surface of the rotary table, so that the rotary table can be limited, the position stability of the sawing rope cutting assembly in the cutting and breaking-in process can be effectively guaranteed, and smooth breaking-in work is guaranteed.

Preferably, the vertical midline of the through slot is located at the upper side of the top end of the driving tooth, the height of the through slot is more than three times of the thickness of the sawing cord, and the length of the through slot is less than two times of the width of the through slot. The sawing rope can be ensured to have larger inclination allowance in the cutting work, so that the through groove can not block the rotation of the sawing rope when a large building component is cut.

Preferably, the speed change gear box comprises a gear box arranged on the supporting plate, two worms are arranged between the inner walls of the gear box in a rotating mode and are respectively connected with output shafts of two driving motors, a rotating shaft is arranged between the inner walls of the gear box in a rotating mode, two worm wheels are fixedly sleeved on the outer peripheral surface of the rotating shaft and are respectively meshed with the two worms, and two ends of the rotating shaft penetrate through two side walls of the gear box respectively and are connected with two driving wheels. So that the robot can move at a suitable speed.

Preferably, the transmission ratio of the worm gear and the holding rod is not greater than. The robot is ensured to have enough power and can move smoothly in certain gradient or undulating terrain.

Compared with the prior art, the invention has the following beneficial effects:

1. this rope saw robot is torn open to building brokenly, position calibration subassembly through the robot that sets up, make before the work is torn open in the cutting, the staff removes the robot to treating brokenly tear comparatively smooth one side department of building element open, then promote the inserted bar and drive two sets of first pressure sensor and tightly support on the building element plane, then observe the pressure differential between two sets of first pressure sensor, when pressure differential is less than the threshold value, can guarantee that the straightness that hangs down between saw rope cutting direction and the building length direction is enough high, thereby it is the shortest to have guaranteed cutting length, cutting resistance is minimum, so can improve the efficiency of tearing open.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is a first partial schematic of the present invention;

FIG. 4 is a second partial structural view of the present invention;

FIG. 5 is a third partial structural view of the present invention;

FIG. 6 is a fourth partial structural view of the present invention;

FIG. 7 is a schematic view of the rope saw inclination monitoring assembly of the present invention;

fig. 8 is a front sectional view of the change speed gear box of the present invention.

In the figure: 1. a base; 2. a traveling mechanism; 21. a first roller; 22. a second roller; 23. a drive motor; 24. a change speed gear box; 241. a gear case; 242. a worm; 243. a rotating shaft; 244. a worm gear; 25. a drive wheel; 26. a crawler wheel; 3. a support plate; 4. a wire saw cutting assembly; 41. cutting the motor; 42. a drive tooth; 43. sawing a rope; 44. a protective baffle; 5. a robot position calibration assembly; 51. a fixed block; 52. inserting a rod; 53. connecting blocks; 54. a first pressure sensor; 6. a rope saw inclination monitoring assembly; 61. a through groove; 62. a second pressure sensor; 63. a baffle plate; 7. a wire saw tension adjustment assembly; 71. moving the plate; 72. a hydraulic cylinder; 73. a tension sensor; 8. a wire saw steering assembly; 81. a steering motor; 82. a turntable; 83. a cylinder; 84. a circular arc-shaped friction plate; 9. a building element.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

Referring to fig. 1-8, a rope saw robot for demolishing buildings comprises a base 1, a traveling mechanism 2 is arranged on the base 1, a supporting plate 3 is fixedly connected to the base 1 through two groups of supporting rods, a rope saw cutting assembly 4 is arranged on the supporting plate 3, a robot position calibration assembly 5 is arranged on the rope saw cutting assembly 4, the robot position calibration assembly 5 comprises a fixed block 51 arranged on the rope saw cutting assembly 4, an inserting rod 52 is arranged on the fixed block 51 in a damping sliding mode along a cutting direction, one end of the inserting rod 52 is connected with a connecting block 53, two groups of first pressure sensors 54 are symmetrically arranged on the side face of the connecting block 53, and the rope saw robot further comprises a handheld control terminal. Through the robot position calibration subassembly 5 that sets up, make before the cutting is broken to tear the work open, the staff removes the robot to treating to break and tear comparatively smooth one side department of building element open, then promote inserted bar 52 and drive two sets of first pressure sensor 54 and tightly support on the building element plane, then observe the pressure differential between two sets of first pressure sensor 54, when pressure differential is less than the threshold value, can guarantee that the straightness that hangs down between saw rope cutting direction and the building length direction is enough high, thereby it is shortest to have guaranteed cutting length, cutting resistance is minimum, so can improve the efficiency of breaking and tearing open.

The traveling mechanism 2 comprises a group of first rollers 21 and two groups of second rollers 22 which are arranged at the bottom of the base 1, the traveling mechanism 2 further comprises two driving motors 23 which are arranged on the base 1, the two driving motors 23 are connected with a speed change gear box 24, the speed change gear box 24 is connected with a group of driving wheels 25, the outer peripheral surfaces of the group of driving wheels 25 are connected with two crawler wheels 26 in a meshing manner, and the group of first rollers 21 and the two groups of second rollers 22 are kneaded with the two crawler wheels 26. The crawler wheels 26 can enable the robot to smoothly and reliably move in a building breaking and dismantling field with a complex and severe ground environment, so that the robot can smoothly break and dismantle, and the efficiency of the breaking and dismantling work is improved.

Wherein, rope saw cutting assembly 4 is including establishing the cutting motor 41 in backup pad 3, and cutting motor 41 is connected with drive tooth 42, is equipped with the saw rope 43 on the drive tooth 42, is connected with guard flap 44 on the cutting motor 41, and guard flap 44 covers the outside at drive tooth 42, fixed block 51 is connected at guard flap 44 top. The sawing wire 43 can be driven to rotate by the cutting motor 41 and the driving tooth 42 so as to cut and break the building component.

Wherein, still including rope saw gradient monitoring assembly 6, rope saw gradient monitoring assembly 6 is including seting up the logical groove 61 in connecting block 53 bottom, and the symmetrical connection has two sets of second pressure sensor 62 on leading to the front and back inner wall of groove 61, and every group second pressure sensor 62's quantity is two, and the symmetrical connection has two baffles 63 on two sets of second pressure sensor 62, and saw rope 43 runs through logical groove 61 and passes between two baffles 63. When the inclination of the sawing rope is too large, the stress of the two second pressure sensors 62 which are diagonally distributed in the two groups of second pressure sensors 62 is increased, so that the sawing rope 43 can be prompted to be seriously inclined, the cutting and breaking operation is stopped, and the processing of a worker is waited, so that the cutting length is effectively prevented from being prolonged or the sawing rope is prevented from being broken due to the fact that the sawing rope 43 is inclined and the cutting length is prolonged or the sawing rope is abraded too much.

The rope saw tension adjusting device comprises a rope saw tension adjusting assembly 7, the rope saw tension adjusting assembly 7 comprises a moving plate 71 which is arranged at the top of a supporting plate 3 in a sliding mode, two groups of hydraulic cylinders 72 are symmetrically connected to the supporting plate 3, the number of each group of hydraulic cylinders 72 is not less than two, the two groups of hydraulic cylinders 72 are connected with tension sensors 73, and the tension sensors 73 are connected with the side faces of the moving plate 71. The tension sensor 73 can detect the tension on the sawing rope 43, and at the moment, if the tension of the tension sensor 73 is smaller than a set lower limit value, the hydraulic cylinder 72 is started to pull the moving plate 71 to move towards the direction away from the building component, and the moving plate 71 drives the driving teeth 42 and the sawing rope 43 to move, so that the tension of the sawing rope 43 can be increased, and the cutting force is ensured; if the tension of the tension sensor 73 is greater than the set upper limit value, the hydraulic cylinder 72 is started to pull the moving plate 71 to move towards the direction close to the building component, and the moving plate 71 drives the driving teeth 42 and the sawing rope 43 to move, so that the tension of the sawing rope 43 can be reduced, the sawing rope 43 is prevented from being broken due to over tightening, and the smooth and stable proceeding of the cutting work can be ensured.

The rope saw turning assembly 8 comprises a turning motor 81 connected to the side face of the moving plate 71, an output shaft of the turning motor 81 penetrates through the moving plate 71 and is connected with a rotating disc 82, and the cutting motor 41 is connected to the side face of the rotating disc 82. Through steering motor 81 cooperation carousel 72 can drive tooth 42 and saw rope 43 clockwise ninety degrees for drive tooth 42 and saw rope 43 are in the horizontality, so can take more convenient suitable cutting direction according to building element's position and shape etc. has improved this robot's practicality effectively.

The rope saw steering assembly 8 further comprises an air cylinder 83 arranged at the top of the support plate 3, the air cylinder 83 is connected with an arc friction plate 84, and the arc friction plate 84 is located right below the turntable 82. The circular arc friction plate 84 is pushed by the cylinder 83 to move upwards until abutting against the peripheral surface of the rotary disc 82, so that the rotary disc 82 can be limited, the position stability of the sawing rope cutting assembly 4 in the cutting and breaking process can be effectively guaranteed, and the smooth operation of breaking and breaking is guaranteed.

Wherein, the vertical central line of the through groove 61 is positioned at the upper side of the top end of the driving tooth 42, the height of the through groove 61 is more than three times of the thickness of the sawing cord 43, and the length of the through groove 61 is less than two times of the width thereof. The sawing rope 43 can be ensured to have larger inclination allowance in the cutting work, so that the through groove 61 can not block the rotation of the sawing rope 43 when a large building component is cut.

The speed change gear box 24 includes a gear box 241 disposed on the support plate 3, two worms 242 are rotatably disposed between inner walls of the gear box 241, the two worms 242 are respectively connected to output shafts of the two driving motors 23, a rotating shaft 243 is rotatably disposed between the inner walls of the gear box 241, two worm wheels 244 are fixedly sleeved on an outer peripheral surface of the rotating shaft 243, the two worm wheels 244 are respectively engaged with the two worms 242, and two ends of the rotating shaft 243 respectively penetrate through two side walls of the gear box 241 and are connected to the two driving wheels 25. So that the robot can move at a suitable speed.

Wherein the gear ratio of the worm gear 244 and the grip lever 242 is not more than 30. The robot is ensured to have enough power and can move smoothly in certain gradient or undulating terrain.

The theory of operation, during operation, control this robot moves to waiting to tear comparatively smooth one side of building element open to make drive tooth 42 face this planishing face, then promote inserted bar 52 and drive two sets of first pressure sensor 54 through connecting block 53 and be close to building element until tightly supporting on its planishing face, then observe through handheld control terminal whether the pressure differential that two sets of first pressure sensor 54 receive is less than the threshold value, if be less than the threshold value, can begin the work of tearing open of cutting.

Then the sawing rope 43 is sleeved outside the building component, then the robot is controlled to move linearly in the direction away from the building component until the sawing rope 43 is tensioned, then whether the pulling force applied to the pulling force sensor 73 is within a preset range or not is observed, if the pulling force is within the preset range, the driving motor 41 can be started, the sawing rope 43 is driven to rotate through the driving teeth 42, and the robot is matched to move linearly in the direction away from the building component, so that the building component is cut and demolished.

If the pulling force applied to the pulling force sensor 73 is smaller than the preset lower limit value in the cutting process, the hydraulic cylinder 72 is started to drive the moving plate 71 to move towards the direction away from the building component, so that the sawing rope 43 can be driven to move towards the direction away from the building component to increase the tension of the sawing rope 43 until the tension is larger than the preset lower limit value; if the pulling force applied to the pulling force sensor 73 is greater than the preset upper limit value during the cutting process, the hydraulic cylinder 72 is started to drive the moving plate 71 to move towards the direction close to the building component, so that the sawing rope 43 can be driven to move towards the direction close to the building component to reduce the tension of the sawing rope 43 until the tension is smaller than the preset upper limit value, and therefore smooth cutting and breaking operation is guaranteed.

If the sawing rope 43 is seriously inclined in the cutting process, the stress of two second pressure sensors 62 which are diagonally distributed in the two groups of second pressure sensors 62 is increased, when the stress value is greater than a threshold value, the fact that the sawing rope is excessively inclined is prompted, the cutting motor 41 is paused to pause the cutting and breaking work, then the contact position of the sawing rope and the building component is changed by a worker to perform the cutting and breaking again, and therefore the sawing rope is prevented from being damaged in the cutting process due to excessive inclination.

The above cycle is repeated, and the device breaks the building element to be broken into a plurality of smaller-sized elements for subsequent transportation and handling.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a broken rope saw robot of tearing open of building, includes base (1), its characterized in that, be equipped with running gear (2) on base (1), be equipped with backup pad (3) on base (1), be equipped with rope saw cutting component (4) on backup pad (3), be equipped with robot position calibration subassembly (5) on rope saw cutting component (4), robot position calibration subassembly (5) are including establishing fixed block (51) on rope saw cutting component (4), it is equipped with inserted bar (52) to slide along cutting direction damping on fixed block (51), inserted bar (52) one end is connected with connecting block (53), connecting block (53) side symmetry is equipped with two sets of first pressure sensor (54), still includes handheld control terminal.

2. The building breaking and dismantling rope saw robot according to claim 1, wherein the traveling mechanism (2) comprises a first set of rollers (21) and a second set of rollers (22) which are arranged at the bottom of the base (1), the traveling mechanism (2) further comprises two driving motors (23) which are arranged on the base (1), the two driving motors (23) are connected with a speed change gear box (24), the speed change gear box (24) is connected with a set of driving wheels (25), the outer peripheral surfaces of the set of driving wheels (25) are connected with two crawler wheels (26) in a meshing manner, and the first set of rollers (21) and the second set of rollers (22) are respectively kneaded with the two crawler wheels (26).

3. The building demolishing rope saw robot according to claim 1, wherein the rope saw cutting assembly (4) comprises a cutting motor (41) arranged on the support plate (3), the cutting motor (41) is connected with a driving tooth (42), a saw rope (43) is arranged on the driving tooth (42), the cutting motor (41) is connected with a protective baffle (44), the protective baffle (44) covers the outer side of the driving tooth (42), and the fixing block (51) is connected to the top of the protective baffle (44).

4. The building demolition rope saw robot according to claim 3, further comprising a rope saw inclination monitoring assembly (6), wherein the rope saw inclination monitoring assembly (6) comprises a through groove (61) formed at the bottom of the connecting block (53), two sets of second pressure sensors (62) are symmetrically connected to the front and rear inner walls of the through groove (61), the number of the second pressure sensors (62) in each set is two, two baffles (63) are symmetrically connected to the two sets of second pressure sensors (62), and the saw rope (43) penetrates through the through groove (61) and between the two baffles (63).

5. The building demolishing wire saw robot according to claim 1, further comprising a wire saw tension adjusting assembly (7), wherein the wire saw tension adjusting assembly (7) comprises a moving plate (71) slidably arranged at the top of the support plate (3), two sets of hydraulic cylinders (72) are symmetrically connected to the support plate (3), the number of each set of hydraulic cylinders (72) is not less than two, the two sets of hydraulic cylinders (72) are both connected with a tension sensor (73), and the tension sensor (73) is connected with the side surface of the moving plate (71).

6. The robot for rope saw for demolishing buildings according to claim 5, characterized in that it further comprises a rope saw steering assembly (8), said rope saw steering assembly (8) comprises a steering motor (81) connected to the side of the moving plate (71), the output shaft of said steering motor (81) penetrates the moving plate (71) and is connected to the turntable (82), said cutting motor (41) is connected to the side of the turntable (82).

7. The robot for the building demolition rope saw according to claim 6, wherein the rope saw steering assembly (8) further comprises a cylinder (83) arranged at the top of the support plate (3), the cylinder (83) is connected with a circular arc friction plate (84), and the circular arc friction plate (84) is positioned right below the turntable (82).

8. A building demolition rope saw robot according to claim 4, characterized in that the vertical centre line of the through slot (61) is located on the upper side of the top of the driving tooth (42), the height of the through slot (61) is more than three times the thickness of the saw rope (43), the length of the through slot (61) is less than twice its width.

9. The building breaking and dismantling rope saw robot according to claim 2, wherein the speed change gear box (24) comprises a gear box (241) arranged on the support plate (3), two worms (242) are rotatably arranged between inner walls of the gear box (241), the two worms (242) are respectively connected with output shafts of two driving motors (23), a rotating shaft (243) is rotatably arranged between the inner walls of the gear box (241), two worm wheels (244) are fixedly sleeved on the outer peripheral surface of the rotating shaft (243), the two worm wheels (244) are respectively meshed with the two worms (242), and two ends of the rotating shaft (243) respectively penetrate through two side walls of the gear box (241) and are connected with the two driving wheels (25).

10. The robot of claim 9, wherein the gear ratio of the worm gear (244) and the grip lever (242) is no greater than 30.