CN117206568B - Multi-degree-of-freedom automatic drilling crawling robot and crawling method - Google Patents
Multi-degree-of-freedom automatic drilling crawling robot and crawling method Download PDFInfo
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- CN117206568B CN117206568B CN202311470584.4A CN202311470584A CN117206568B CN 117206568 B CN117206568 B CN 117206568B CN 202311470584 A CN202311470584 A CN 202311470584A CN 117206568 B CN117206568 B CN 117206568B
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Abstract
The invention belongs to the technical field of drilling robots, in particular to a multi-degree-of-freedom automatic drilling crawling robot and a crawling method, which aim at the problem that the existing running robot cannot face a slope surface when walking on a convex surface, and the proposed multi-degree-of-freedom automatic drilling crawling robot comprises a chassis mounting frame, wherein four corners of the chassis mounting frame are respectively fixed with mutually symmetrical corner mounting blocks through bolts, the front side and the rear side of the chassis mounting frame are respectively provided with a first arch-shaped supporting rod which is mutually symmetrical and synchronously slides up and down, and the left side and the right side of the chassis mounting frame are respectively provided with a second arch-shaped supporting rod which is mutually symmetrical and synchronously moves up and down. The invention can walk along the plate surface with gradient on the surface and drill at any time in the drilling process, and can advance along the X axis and the Y axis; simultaneously, cooperation whole gliding carrier plate and around horizontal axis pivoted U-shaped layer board make drilling equipment to the domatic when punching, produce when preventing punching and skid.
Description
Technical Field
The invention relates to the technical field of drilling robots, in particular to an automatic drilling crawling robot with multiple degrees of freedom and a crawling method.
Background
The assembly and connection of aircraft skins or panels, the traditional drilling method, which is based on manual drilling, has the drawbacks of: the hole site and the normal vector of the hole are low in precision, poor in consistency and easy to form defects. The automatic drilling of the robot can effectively improve the drilling precision and efficiency, and the assembly consistency is good. The existing automatic drilling system of the robot mostly adopts a multi-joint serial mechanical arm as a matrix, and is matched with a pneumatic or electric drilling spindle with a feeding degree of freedom to be used as an end effector to be mounted on an end flange of the robot, so that continuous automatic drilling of aircraft skin/panel structures with different sizes and curvatures is realized. However, the positioning accuracy of the structure is low, and the formed principle error is amplified and the error caused by coordinate system conversion is difficult to eliminate and compensate; and the structural rigidity is poor, and the vibration generated in the drilling process further worsens the drilling quality. Besides serial mechanical arm type drilling robots, circular track type robot drilling systems are also used at present, circular tracks are erected on curved surfaces of skins/wall plates in advance, the drilling robots can slide on the tracks to realize continuous drilling, the drilling precision and efficiency of the equipment are high, the coverage surface is wide, a large amount of manpower and material resources are needed to be input for paving the tracks before drilling, the hole making object is only suitable for single-curvature wall plates (such as fuselage wall plates of airliners), and the processing flexibility is low.
Through retrieval, chinese patent (CN 115122299A) proposes a self-adaptive cambered surface crawler-type rolling adsorption wall climbing robot which can adapt to and stably adsorb on surfaces with different radians and has stronger adsorption force; but the rapid transition of the air pressure in the adsorption element can not be realized, and the vacuum adsorption state is rapidly switched to the motion state, so that the action speed of the robot is reduced. In order to solve the problem, the invention designs the multi-degree-of-freedom automatic drilling crawling robot facing the curved surface skin/panel, which can ensure the drilling precision and stability, improve the movement speed of the robot and improve the drilling efficiency.
Disclosure of Invention
Aiming at the technical problem that the existing running robot can not face the slope surface when walking on the convex surface and drilling can not be performed, the invention adopts the following technical scheme:
the utility model provides a multi freedom automatic drilling crawling robot, includes chassis installing frame, chassis installing frame's four corners department is fixed with the angle installation piece of mutual symmetry through the bolt respectively, chassis installing frame's front and back both sides are provided with the bow-shaped die-pin one of mutual symmetry and synchronous upper and lower slip respectively, and chassis installing frame's left and right sides is provided with the bow-shaped die-pin two of mutual symmetry and synchronous upper and lower removal respectively, bow-shaped die-pin one and bow-shaped die-pin two's both ends all are fixed with the direction inserted block, and the direction inserted block is kept away from chassis installing frame's one side all is provided with the chain drive case, and the centre of chain drive case all rotates the connection extension axle, and the tip of extension axle all is fixed with the transmission between the outer wall of two transmission sprocket that is located chassis installing frame same side is connected with same root chain, the chain is kept away from chassis installing frame's one side and is fixed with equidistant magnetic fixing piece that distributes, and all peg graft on every magnetic fixing piece; the sucker opening is far away from one side of the central connecting line of the two driving chain wheels; the middle of the chassis mounting frame is far away from the advancing end, a track cross beam which is longitudinally distributed is fixed on the track cross beam, a sliding clamping seat is connected to the track cross beam in a sliding manner, a carrier plate is fixed on the upper surface of the sliding clamping seat, a U-shaped supporting plate is connected to the vertical side surface of one end of the carrier plate far away from the sliding clamping seat in a rotating manner, the rotating axle center of the U-shaped supporting plate is parallel to the horizontal plane, and a drilling device is connected to the U-shaped supporting plate in a sliding manner; through the combination of the chain and the sucking disc which are arranged and move up and down synchronously, the device can walk along the plate surface with the gradient on the surface and drill at any time in the drilling process, and can advance along the X axis and the Y axis; simultaneously, cooperation whole gliding carrier plate and around horizontal axis pivoted U-shaped layer board make drilling equipment to the domatic when punching, produce when preventing punching and skid.
The angle mounting block is further arranged in a way that two vertical guide sliding rods are reserved on one side, far away from the chassis mounting frame, of the angle mounting block, the guide inserting blocks at two ends of the first arched supporting rod are sleeved on the guide sliding rods on the side where the angle mounting block is located in a sliding mode, fixed lug plates are fixed in the middle of the outer walls of the four sides of the chassis mounting frame, electric push rods I are fixed at the top ends of the four fixed lug plates, and the top ends of the electric push rods I are fixed in the middle of the first arched supporting rod or the middle of the second arched supporting rod; through the first electric push rod and the fixed position thereof, two groups of opposite chains can be synchronously operated, so that the robot is judged to walk forwards or transversely change positions.
The device is further arranged in that two corrugated pipe pressing plates are fixed on one opposite sides of the two arched supporting rods, corrugated expansion supporting pipes are fixed on the lower surfaces of the two corrugated pipe pressing plates, the corrugated expansion supporting pipes and the corrugated pipe pressing plates are located in the chain, a supporting pressing block is fixed at one end of each corrugated expansion supporting pipe, which is far away from each corrugated pipe pressing plate, a roller groove is formed in one surface, close to the inner side of the chain, of each supporting pressing block, and rollers are embedded in the roller grooves; through the ripple inflation of setting up support the pipe, can creep when carrying out the trompil on the slope of concave surface at this device, for inside air feed for the centre of chain produces and supports tight power, then lets the sucking disc at middle part inseparabler absorption at the surface of concave surface.
The device is further arranged in that a stepping motor and a shaft rod fixing seat are respectively fixed on the upper surface near two ends of the track beam, an lengthened shaft rod is rotatably connected in the middle of the shaft rod fixing seat, belt pulleys which are in transmission connection with each other are fixed at the end parts of the lengthened shaft rod and the end parts of the stepping motor, the same conveyor belt is in transmission connection between the two belt pulleys, two congruent belt perforations II are formed in the side face of the carrier plate, a rectangular perforation I which vertically penetrates through the carrier plate is formed in the top end of the carrier plate, the rectangular perforation I is mutually communicated with the two belt perforations II at the same time, and an electromagnet is embedded and clamped at the top end opening of the rectangular perforation I; the front surface of the carrier plate is provided with a bar-shaped hole which is communicated with the rectangular perforation I, the bar-shaped hole and the rectangular perforation I are simultaneously and slidably connected with the same iron core pressing block, the upper end and the lower end of the iron core pressing block are both fixedly provided with anti-skid brake pieces, one side of the iron core pressing block penetrates through the bar-shaped hole to be fixedly provided with two mutually symmetrical reset springs, one ends, far away from the two reset springs, of the two reset springs are both fixedly provided with a stop block, and the stop block is fixedly arranged on the surface of the carrier plate and positioned at the upper end and the lower end of the bar-shaped hole; the conveyor belt is not contacted with the inner wall of the second belt perforation under normal conditions; through iron core briquetting and the electro-magnet that sets up, can be when the longitudinal movement of drilling position is controlled to needs, only need control the electro-magnet forward and backward circular telegram can, can switch different running directions this moment.
The device is further arranged in that a cylindrical groove is formed in one side, close to the U-shaped supporting plate, of the carrier plate, a sliding column is rotatably connected in the cylindrical groove, a compression spring and a poking rod are fixed at one end, far away from the U-shaped supporting plate, of the sliding column, a spring baffle is fixed at the position, close to the notch, of one side, far away from the U-shaped supporting plate, of the carrier plate, and the poking rod penetrates through the spring baffle to be fixed with a poking wheel; the drilling device comprises a sliding seat which is connected in the U-shaped supporting plate groove in a sliding way, one side, far away from the groove bottom, of the sliding seat is clamped with a main drilling motor, and the top end of an output shaft of the main drilling motor is provided with a drill bit; a servo motor is fixed at the bottom of the groove of the U-shaped supporting plate far away from the working end, an adjusting screw is fixed at the top end of an output shaft of the servo motor through a coupler, the adjusting screw penetrates through a sliding seat, and guide round sliding rods are arranged at two sides of the sliding seat; the angle of the corner U-shaped supporting plate after adjustment can be locked when in use through the sliding column with the compression spring tensioning locking.
The electric push rod is characterized in that a shaft rod frame is fixed on the upper surface of the carrier plate, a short shaft rod is rotatably connected in the shaft rod frame, a first gear and a second gear are respectively arranged at two ends of the short shaft rod, the second gear is meshed with the stirring wheel, an electric push rod is fixed on the upper surface of the carrier plate, a toothed bar meshed with the first gear is fixed at the end part of the second extending rod of the electric push rod, and the other side of the toothed bar is attached to the surface of the carrier plate; the angle of the poking wheel can be adjusted, namely the angle of the U-shaped supporting plate is adjusted and locked.
The device is further arranged in that one end of the lengthened shaft rod, which is far away from the belt pulley, is fixed with a half gear, the lower part of the half gear is fixedly provided with a T-shaped guide bar below the chassis mounting frame, impact racks meshed with the half gear are connected to the T-shaped guide bar in a sliding manner, tension springs are arranged on two sides of the impact racks, one end of each tension spring, which is far away from the impact rack, is fixed on the chassis mounting frame, a cantilever block is further fixed on the inner side of the chassis mounting frame, a piston air cylinder is fixed on the cantilever block, an air outlet end of the piston air cylinder is inserted with an air injection pipe, and one end of the air injection pipe, which is far away from the piston air cylinder, is connected with an L-shaped adjustable air nozzle; the L-shaped adjustable air nozzle is fixed at a position, close to a drilling position, of the drilling device; through the adjustable air nozzle of L shape that sets up, can clear up the sweeps of exhaust simultaneously when drilling.
The piston plate is connected with the piston cylinder in a sliding manner, and the one-way air valve is arranged on the piston plate, so that air can be smoothly fed through the arranged one-way air valve.
The novel dust removing device is characterized in that one side, close to the advancing end, of each of the two arc-shaped supporting rods is rotatably connected with an arc-shaped pressing rod, a tight supporting spring is arranged between the concave surface of each arc-shaped pressing rod and the outer wall of the chain driving box, the bottom ends of the arc-shaped pressing rods are rotatably connected with dust removing brushes of a transverse triangular structure, water is filled in the dust removing brushes, scraping strips are arranged at the bottoms of the dust removing brushes, and water leakage holes and bristles are arranged at the bottoms of the dust removing brushes; through setting up the dust removal brush, can remove dust and humidification processing to the covering before sucking disc and chain arrive the position to improve later stage adsorption capacity, avoid the thrust of producing when drilling to influence the stability of device.
A crawling method of a multi-degree-of-freedom automatic drilling crawling robot comprises the following steps:
s1: firstly, placing the device on a skin with a gradient on the surface, and then filling water into two dust removing brushes; and the end with the dust removing brush is directed to the advancing end; the first extension rods of the first electric push rods on the front side and the rear side are controlled to shrink, the second electric push rods are extended, the second arched supporting rods are guaranteed to be in a lifting state, namely sucking discs on the front side and the rear side are landed, and then the sucking mechanism is controlled to work, so that the robot is sucked on the surface of the skin;
s2: when the drilling position needs to be controlled to longitudinally move, the electromagnet is only controlled to be electrified in the forward and reverse directions, and the electromagnet adsorbs the internal iron core pressing block to extrude the conveyor belt and the carrier plate to be relatively static, so that the carrier plate is driven to integrally move along the rail cross beam; then punching holes at different positions; when the robot needs to integrally advance, a chain driving box in the robot is controlled to send out an instruction;
s3: when the device crawls on a slope of a concave surface to open holes, air is supplied to the inside through the arranged corrugated expansion propping pipe, so that the middle of the chain generates propping force, and then the sucker in the middle is more tightly adsorbed on the concave surface; and the dust removing brush is arranged to remove dust and humidify the surface of the skin before the suction disc and the chain are positioned.
The beneficial effects of the invention are as follows:
1. through the combination of the chain and the sucking disc which are arranged and move up and down synchronously, the device can walk along the plate surface with the gradient on the surface and drill at any time in the drilling process, and can advance along the X axis and the Y axis; simultaneously, cooperation whole gliding carrier plate and around horizontal axis pivoted U-shaped layer board make drilling equipment to the domatic when punching, produce when preventing punching and skid.
2. Through the ripple inflation of setting up support the pipe, can creep when carrying out the trompil on the slope of concave surface at this device, for inside air feed for the centre of chain produces and supports tight power, then lets the sucking disc at middle part inseparabler absorption at the surface of concave surface.
3. Through setting up the dust removal brush, can remove dust and humidification processing to the covering before sucking disc and chain arrive the position to improve later stage adsorption capacity, avoid the thrust of producing when drilling to influence the stability of device.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an automatic drilling crawling robot with multiple degrees of freedom;
FIG. 2 is a schematic diagram of the rear structure of an automatic drilling crawling robot with multiple degrees of freedom;
FIG. 3 is a front view of an automatic drilling crawling robot with multiple degrees of freedom according to the present invention;
FIG. 4 is a top view of an automated drilling crawling robot with multiple degrees of freedom according to the present invention;
FIG. 5 is a cross-sectional view taken along line A-A in FIG. 4 of a multiple degree of freedom automatic drilling crawling robot in accordance with the present invention;
FIG. 6 is a schematic structural view of a chip removing mechanism in the multi-degree-of-freedom automatic drilling crawling robot;
fig. 7 is a schematic diagram of the overall structure of a carrier plate in the multi-degree-of-freedom automatic drilling crawling robot;
FIG. 8 is a schematic structural view of a multi-degree-of-freedom automatic drilling crawling robot dust removing brush provided by the invention;
FIG. 9 is an exploded view of a multiple degree of freedom automatic drilling crawling robot carrier plate according to the present invention;
fig. 10 is an exploded view of a corner mounting block of an automatic drilling crawling robot with multiple degrees of freedom.
In the figure: 1. a chassis mounting frame; 2. an arch-shaped support rod I; 3. an electric push rod I; 4. a chain; 5. a U-shaped supporting plate; 6. a sliding seat; 7. a main drilling motor; 8. a gas lance; 9. a piston inflator; 10. a guide slide bar; 11. a drive sprocket; 12. a bellows platen; 13. expanding the corrugated pipe; 14. a dust removing brush; 141. scraping the strip; 15. a suction cup; 16. a guide insert; 17. an arch-shaped support rod II; 18. a corner mounting block; 19. an arc-shaped compression bar; 20. a stepping motor; 21. a carrier plate; 211. a poking wheel; 212. a shaft rod frame; 213. an electromagnet; 214. a return spring; 215. a slide block; 216. a sliding column; 217. a spring baffle; 218. rectangular perforation I; 219. a second conveyor belt perforation; 22. pressing the pressing block tightly; 23. a magnetic fixing member; 24. a servo motor; 25. a cantilever block; 26. a conveyor belt; 27. a chain drive box; 28. fixing the ear plate; 29. a T-shaped guide bar; 30. a half gear; 31. a tension spring; 32. a rail cross beam; 33. a sliding clamping seat; 34. a shaft lever fixing seat; 35. an L-shaped adjustable air nozzle; 36. the spring is abutted tightly.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
In the present embodiment
Referring to fig. 1-10, an automatic drilling crawling robot with multiple degrees of freedom comprises a chassis mounting frame 1, wherein four corners of the chassis mounting frame 1 are respectively fixed with mutually symmetrical corner mounting blocks 18 through bolts, the front side and the rear side of the chassis mounting frame 1 are respectively provided with a first arched supporting rod 2 which is mutually symmetrical and synchronously slides up and down, the left side and the right side of the chassis mounting frame 1 are respectively provided with a second arched supporting rod 17 which is mutually symmetrical and synchronously moves up and down, both ends of the first arched supporting rod 2 and the second arched supporting rod 17 are respectively fixed with a guide inserting block 16, one side of the guide inserting block 16, which is far away from the chassis mounting frame 1, is provided with a chain driving box 27, the middle of the chain driving box 27 is respectively connected with an extension shaft in a rotating way, the end parts of the extension shafts are respectively fixed with driving chain wheels 11, the outer walls of the two driving chain wheels 11 positioned on the same side of the chassis mounting frame 1 are in a transmission way connected with the same chain 4, one side, which is far away from the chassis mounting frame 1, of the chain 4 is fixed with equidistant magnetic fixing pieces 23, and each magnetic fixing piece 23 is respectively inserted with a sucker 15; the suction cup 15 is opened at one side far away from the central connecting line of the two driving chain wheels 11; a longitudinally distributed track beam 32 is fixed in the middle of the chassis mounting frame 1 far away from the advancing end, a sliding clamping seat 33 is connected to the track beam 32 in a sliding manner, a carrier plate 21 is fixed on the upper surface of the sliding clamping seat 33, a U-shaped supporting plate 5 is connected to the vertical side surface of one end of the carrier plate 21 far away from the sliding clamping seat 33 in a rotating manner, the rotating axis of the U-shaped supporting plate 5 is parallel to the horizontal plane, and a drilling device is connected to the U-shaped supporting plate 5 in a sliding manner; through the combination of the chain 4 and the sucking disc 15 which are arranged and synchronously move up and down, the device can walk along the plate surface with the gradient on the surface and drill at any time in the drilling process, and can advance along the X axis and the Y axis; simultaneously, cooperation whole gliding carrier plate 21 and around horizontal axis pivoted U-shaped layer board 5 make drilling equipment can just face the domatic when punching, prevent to produce when punching and skid.
Referring to fig. 1-3, two vertical guide sliding rods 10 are reserved on one side, far away from the chassis mounting frame 1, of each corner mounting block 18, guide inserting blocks 16 at two ends of each arched supporting rod I2 are sleeved on the corresponding guide sliding rods 10 in a sliding mode, fixed lug plates 28 are fixed in the middle of the outer walls of the four sides of the chassis mounting frame 1, electric pushing rods I3 are fixed at the top ends of the four fixed lug plates 28, and the top ends of extension rods of the electric pushing rods I3 are fixed in the middle of the arched supporting rods I2 or the middle of arched supporting rods II 17; by arranging the first electric push rod 3 and the fixed position thereof, the two opposite groups of chains 4 can be synchronously operated, so that the robot is judged to walk forwards or transversely change positions.
Referring to fig. 1-3, two corrugated pipe pressing plates 12 are fixed on one side of two opposite arched supporting rods 2, corrugated expansion supporting pipes 13 are fixed on the lower surfaces of the two corrugated pipe pressing plates 12, the corrugated expansion supporting pipes 13 and the corrugated pipe pressing plates 12 are positioned in the chain 4, a supporting pressing block 22 is fixed on one end of the corrugated expansion supporting pipes 13 away from the corrugated pipe pressing plates 12, a roller groove is formed in one surface, close to the inner side of the chain 4, of the supporting pressing block 22, and rollers are embedded in the roller groove; through the ripple inflation that sets up supports pipe 13, can creep when carrying out the trompil on the slope of concave surface at this device, for inside air feed for the centre of chain 4 produces and supports tight power, then lets the sucking disc 15 at middle part more inseparable absorption at the surface of concave surface.
Referring to fig. 1-5 and fig. 7-9, the stepping motor 20 and the shaft rod fixing seat 34 are respectively fixed on the upper surfaces near two ends of the track beam 32, an elongated shaft rod is rotatably connected in the middle of the shaft rod fixing seat 34, belt pulleys which are in transmission connection with each other are fixed at the end of the elongated shaft rod and the end of the stepping motor 20, the same conveyor belt 26 is in transmission connection between the two belt pulleys, two congruent belt through holes 219 are formed in the side surface of the carrier plate 21, a rectangular through hole 218 which is vertical and penetrates through the carrier plate 21 is formed in the top end of the carrier plate 21, the rectangular through hole 218 is mutually communicated with the two belt through holes 219 at the same time, and an electromagnet 213 is embedded and clamped at the top end opening of the rectangular through hole 218; the front surface of the carrier plate 21 is provided with a strip-shaped hole which is communicated with the rectangular through hole 218, the strip-shaped hole and the rectangular through hole 218 are simultaneously connected with the same iron core pressing block 215 in a sliding manner, the upper end and the lower end of the iron core pressing block 215 are both fixedly provided with anti-slip brake pieces, one side of the iron core pressing block 215 penetrates through the strip-shaped hole to be fixedly provided with two mutually symmetrical reset springs 214, and one end, far away from the two reset springs 214, is fixedly provided with a stop block which is fixed on the surface of the carrier plate 21 and is positioned at the upper end and the lower end of the strip-shaped hole; the conveyor belt 26 normally does not contact the inner wall of the belt aperture two 219; through the iron core pressing block 215 and the electromagnet 213, when the drilling position needs to be controlled to longitudinally move, the electromagnet 213 is only controlled to be electrified forward and backward, and at the moment, different running directions can be switched.
Referring to fig. 7 and 9, a cylindrical groove is formed in one side, close to the U-shaped supporting plate 5, of the carrier plate 21, a sliding column 216 is rotatably connected in the cylindrical groove, a compression spring and a toggle rod are fixed at one end, far away from the U-shaped supporting plate 5, of the sliding column 216, a spring baffle 217 is fixed at the position, close to a notch, of one side, far away from the U-shaped supporting plate 5, of the carrier plate 21, and the toggle rod penetrates through the spring baffle 217 to be fixed with a toggle wheel 211; the drilling device comprises a sliding seat 6 which is slidably connected in a groove of the U-shaped supporting plate 5, one side, far away from the groove bottom, of the sliding seat 6 is clamped with a main drilling motor 7, and the top end of an output shaft of the main drilling motor 7 is provided with a drill bit; a servo motor 24 is fixed at the bottom of the groove of the U-shaped supporting plate 5 far away from the working end, an adjusting screw is fixed at the top end of an output shaft of the servo motor 24 through a coupler, the adjusting screw penetrates through the sliding seat 6, and guide round sliding rods are arranged at two sides of the sliding seat 6; the angle of the adjusted corner U-shaped pallet 5 can be locked during use by the sliding column 216 provided with a compression spring tension lock.
Referring to fig. 7, a shaft rod frame 212 is fixed on the upper surface of the carrier 21 near the poking wheel 211, a short shaft rod is rotatably connected to the shaft rod frame 212, a first gear and a second gear are respectively arranged at two ends of the short shaft rod, the second gear is meshed with the poking wheel 211, an electric push rod is fixed on the upper surface of the carrier 21, a toothed bar meshed with the first gear is fixed at the end part of the second extending rod of the electric push rod, and the other side of the toothed bar is attached to the surface of the carrier 21; the angle of the toggle wheel 211, i.e. the angle of the U-shaped pallet 5, can be adjusted and locked.
Referring to fig. 6, a half gear 30 is fixed at one end of the lengthened shaft rod far away from the belt pulley, a T-shaped guide bar 29 is fixed on the upper surface of the chassis mounting frame 1 below the half gear 30, impact racks meshed with the half gear 30 are connected to the T-shaped guide bar 29 in a sliding manner, tension springs 31 are arranged on two sides of the impact racks, one end of each tension spring 31 far away from the impact rack is fixed on the chassis mounting frame 1, a cantilever block 25 is fixed at the inner side of the chassis mounting frame 1, a piston air cylinder 9 is fixed on the cantilever block 25, an air outlet end of the piston air cylinder 9 is inserted with an air injection pipe 8, and one end of the air injection pipe 8 far away from the piston air cylinder 9 is connected with an L-shaped adjustable air nozzle 35; the L-shaped adjustable air nozzle 35 is fixed at a position of the drilling device close to the drilling position; through the provided L-shaped adjustable air nozzle 35, the discharged waste scraps can be cleaned at the same time when drilling.
In the invention, the piston plate is connected in a sliding way in the piston inflator 9, and the one-way air valve is arranged on the piston plate, so that air intake can be smoother through the arranged one-way air valve.
Referring to fig. 8, one side of the two arched support rods 2, which is close to the advancing end, is rotationally connected with an arched compression rod 19, a tight spring 36 is arranged between the concave surface of the arched compression rod 19 and the outer wall of the chain drive box 27, the bottom ends of the arched compression rods 19 are rotationally connected with a dust removing brush 14 with a transverse triangular structure, water is filled in the dust removing brush 14, the bottom of the dust removing brush 14 is provided with a scraping strip 141, and the bottom of the dust removing brush 14 is provided with water leakage holes and bristles; through setting up dust removal brush 14, can remove dust and humidification processing to the covering before sucking disc 15 and chain 4 arrive the position to improve later stage adsorption capacity, avoid the thrust of producing when drilling to influence the stability of device.
A crawling method of a multi-degree-of-freedom automatic drilling crawling robot comprises the following steps:
s1: firstly, the device is placed on a skin with a gradient on the surface, and then two dust removing brushes 14 are filled with water; and the end with the dust brush 14 is directed toward the advancing end; the extension rods of the first electric push rods 3 on the front side and the rear side are controlled to shrink, the other two first electric push rods 3 are extended, the rising state of the two arched support rods 17 is ensured, namely the suckers on the front side and the rear side are landed, and then the suction mechanism is controlled to work, so that the robot is sucked on the surface of the skin;
s2: when the drilling position needs to be controlled to longitudinally move, only the electromagnet 213 needs to be controlled to be electrified in the forward and reverse directions, and at the moment, the electromagnet 213 adsorbs the internal iron core pressing block 215 to press the conveyor belt 26 and the carrier plate 21 to be relatively static, so that the carrier plate 21 is driven to integrally move along the track cross beam 32; then punching holes at different positions; when the robot needs to integrally advance, the chain driving box 27 in the robot is controlled to send out instructions;
s3: through the corrugated expansion propping pipe 13, when the device crawls on the slope of the concave surface to open holes, air is supplied to the inside, so that the middle of the chain 4 generates propping force, and then the sucker 15 in the middle is more tightly adsorbed on the concave surface; the dust removing brush 14 is arranged to remove dust and wet the skin surface before the suction cups 15 and chains 4 are in place.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (9)
1. The utility model provides a robot is crawled in automatic drilling of multi freedom, its characterized in that includes chassis installation frame (1), the four corners department of chassis installation frame (1) is fixed with angle installation piece (18) of mutual symmetry through the bolt respectively, the front and back both sides of chassis installation frame (1) are provided with bow-shaped riding rod one (2) of mutual symmetry and synchronous up-and-down slip respectively, the left and right sides of chassis installation frame (1) are provided with bow-shaped riding rod two (17) of mutual symmetry and synchronous up-and-down movement respectively, bow-shaped riding rod one (2) and bow-shaped riding rod two (17) both ends all are fixed with guide insert block (16), and one side that guide insert block (16) kept away from chassis installation frame (1) all is provided with chain drive case (27), and the centre of chain drive case (27) all rotates the connection extension axle, and the tip of extension axle all is fixed with drive sprocket (11), is located between the outer wall of two drive sprocket (11) of chassis installation frame (1) same root chain (4), one side that keeps away from chassis installation frame (1) is fixed with equidistant fixed with each magnet chuck (23) on each magnet chuck (23); the opening of the sucker (15) is far away from one side of the central connecting line of the two driving chain wheels (11); a track cross beam (32) which is longitudinally distributed is fixed in the middle of the chassis mounting frame (1) far away from the advancing end, a sliding clamping seat (33) is connected to the track cross beam (32) in a sliding manner, a carrier plate (21) is fixed on the upper surface of the sliding clamping seat (33), a U-shaped supporting plate (5) is rotatably connected to the vertical side surface of one end, far away from the sliding clamping seat (33), of the carrier plate (21), the rotation axis of the U-shaped supporting plate (5) is parallel to the horizontal plane, and a drilling device is connected to the U-shaped supporting plate (5) in a sliding manner;
two vertical guide sliding rods (10) are reserved on one side, far away from the chassis mounting frame (1), of each corner mounting block (18), guide inserting blocks (16) at two ends of each arched supporting rod (2) are sleeved on the corresponding guide sliding rods (10) in a sliding mode, fixing lug plates (28) are fixed in the middle of the outer walls of the four sides of the chassis mounting frame (1), electric first pushing rods (3) are fixed at the top ends of the four fixing lug plates (28), and the top ends of the electric first pushing rods (3) are fixed in the middle of each arched supporting rod (2) or each arched supporting rod (17).
2. The multi-degree-of-freedom automatic drilling crawling robot according to claim 1, wherein two corrugated pipe pressing plates (12) are fixed on one sides of the two arched supporting rods (2) which are opposite to each other, corrugated expansion supporting pipes (13) are fixed on the lower surfaces of the two corrugated pipe pressing plates (12), the corrugated expansion supporting pipes (13) and the corrugated pipe pressing plates (12) are located in the chain (4), a supporting pressing block (22) is fixed on one end, away from the corrugated pipe pressing plates (12), of each corrugated expansion supporting pipe (13), a roller groove is formed in one side, close to the inner side of the chain (4), of each supporting pressing block (22), and rollers are embedded in the roller grooves.
3. The multi-degree-of-freedom automatic drilling crawling robot according to claim 2, wherein a stepping motor (20) and a shaft rod fixing seat (34) are respectively fixed on the upper surface near two ends of the track beam (32), a lengthened shaft rod is rotatably connected in the middle of the shaft rod fixing seat (34), belt pulleys which are in transmission connection with each other are fixed at the end parts of the lengthened shaft rod and the end parts of the stepping motor (20), the same conveyor belt (26) is in transmission connection between the two belt pulleys, two congruent belt perforation two (219) are arranged on the side surface of the carrier plate (21), a rectangular perforation one (218) which is vertical and penetrates the carrier plate (21) is arranged at the top end of the carrier plate (21), the rectangular perforation one (218) is mutually communicated with the two belt perforation two (219) at the same time, and an electromagnet (213) is embedded and clamped at the top end opening of the rectangular perforation one (218); the front surface of the carrier plate (21) is provided with a strip-shaped hole which is communicated with the rectangular through hole (218), the strip-shaped hole and the rectangular through hole (218) are simultaneously connected with the same iron core pressing block (215) in a sliding manner, the upper end and the lower end of the iron core pressing block (215) are both fixed with anti-skid brake pieces, one side of the iron core pressing block (215) penetrates through the strip-shaped hole to be fixed with two mutually symmetrical reset springs (214), one end, far away from the two reset springs (214), of each of the two reset springs is fixed with a stop block, and the stop blocks are fixed on the surface of the carrier plate (21) and are positioned at the upper end and the lower end of the strip-shaped hole; the conveyor belt (26) is normally not in contact with the inner wall of the second belt aperture (219).
4. The multi-degree-of-freedom automatic drilling crawling robot according to claim 3, wherein a cylindrical groove is formed in one side, close to the U-shaped supporting plate (5), of the carrier plate (21), a sliding column (216) is rotatably connected in the cylindrical groove, a compression spring and a poking rod are fixed at one end, far away from the U-shaped supporting plate (5), of the sliding column (216), a spring baffle (217) is fixed at the position, close to a notch, of one side, far away from the U-shaped supporting plate (5), of the carrier plate (21), and the poking rod penetrates through the spring baffle (217) to be fixed with a poking wheel (211); the drilling device comprises a sliding seat (6) which is slidably connected in a groove of the U-shaped supporting plate (5), one side, far away from the groove bottom, of the sliding seat (6) is clamped with a main drilling motor (7), and the top end of an output shaft of the main drilling motor (7) is provided with a drill bit; the bottom of the U-shaped supporting plate (5) is far away from the working end and is fixedly provided with a servo motor (24), the top end of an output shaft of the servo motor (24) is fixedly provided with an adjusting screw through a coupler, the adjusting screw penetrates through the sliding seat (6), and the two sides of the sliding seat (6) are also provided with guide round sliding rods.
5. The multi-degree-of-freedom automatic drilling crawling robot of claim 4, wherein a shaft rod frame (212) is fixed on the upper surface of the carrier plate (21) close to the poking wheel (211), a short shaft rod is rotationally connected to the shaft rod frame (212), a first gear and a second gear are respectively arranged at two ends of the short shaft rod, the second gear is meshed with the poking wheel (211), an electric push rod II is fixed on the upper surface of the carrier plate (21), a toothed rod meshed with the first gear is fixed at the end part of the second electric push rod, and the other side of the toothed rod is attached to the surface of the carrier plate (21).
6. The multi-degree-of-freedom automatic drilling crawling robot according to claim 3, wherein one end of the lengthened shaft rod far away from the belt pulley is fixedly provided with a half gear (30), the lower side of the half gear (30) is fixedly provided with a T-shaped guide bar (29) on the upper surface of the chassis mounting frame (1), the T-shaped guide bar (29) is connected with an impact rack meshed with the half gear (30) in a sliding manner, two sides of the impact rack are respectively provided with a tension spring (31), one end of the tension spring (31) far away from the impact rack is fixed on the chassis mounting frame (1), the inner side of the chassis mounting frame (1) is fixedly provided with a cantilever block (25), the cantilever block (25) is fixedly provided with a piston (9), the air outlet end of the piston air cylinder (9) is spliced with an air nozzle (8), and one end of the air nozzle (8) far away from the piston air cylinder (9) is connected with an L-shaped adjustable air nozzle (35); an L-shaped adjustable air nozzle (35) is fixed at a position of the drilling device close to the drilling position.
7. The multi-degree-of-freedom automatic drilling crawling robot according to claim 6, wherein a piston plate is slidably connected to the interior of the piston air cylinder (9), and a one-way air valve is arranged on the piston plate.
8. The multi-degree-of-freedom automatic drilling crawling robot according to claim 3, wherein two arc-shaped supporting rods (2) are rotatably connected with an arc-shaped pressing rod (19) on one side, close to the advancing end, of each arc-shaped supporting rod (2), a tight supporting spring (36) is arranged between the concave surface of each arc-shaped pressing rod (19) and the outer wall of a chain driving box (27), the bottom ends of the arc-shaped pressing rods (19) are rotatably connected with dust removing brushes (14) of a transverse triangular structure, water is filled in the dust removing brushes (14), scraping strips (141) are arranged at the bottoms of the dust removing brushes (14), and water leakage holes and bristles are formed at the bottoms of the dust removing brushes (14).
9. A crawling method of a multi-degree-of-freedom automatic drilling crawling robot, which adopts the multi-degree-of-freedom automatic drilling crawling robot as claimed in claim 8, and is characterized by comprising the following steps:
s1: firstly, placing the device on a skin with a gradient on the surface, and then filling water into two dust removing brushes (14); and the end with the dust removing brush (14) is directed to the advancing end; the extension rods of the first electric push rods (3) on the front side and the rear side are controlled to be contracted, the other two first electric push rods (3) are extended, the rising state of the two arched supporting rods (17) is ensured, namely, the suckers on the front side and the rear side are landed, and then the suction mechanism is controlled to work, so that the robot is sucked on the surface of the skin;
s2: when the drilling position is required to be controlled to longitudinally move, the electromagnet (213) is only required to be controlled to be electrified in the forward and reverse directions, and at the moment, the electromagnet (213) adsorbs an internal iron core pressing block (215) to press the conveyor belt (26) and the carrier plate (21) to be relatively static, so that the carrier plate (21) is driven to integrally move along the track cross beam (32); then punching holes at different positions; when the robot needs to integrally advance, a chain driving box (27) in the robot is controlled to send out an instruction;
s3: when the device crawls on a concave slope to open holes, air is supplied to the inside through the arranged corrugated expansion propping pipe (13), so that the middle of the chain (4) generates propping force, and then the sucker (15) at the middle part is more tightly adsorbed on the concave surface; the dust removing brush (14) is arranged to remove dust and humidify the surface of the skin before the suction disc (15) and the chain (4) are positioned.
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| CN202311470584.4A CN117206568B (en) | 2023-11-07 | 2023-11-07 | Multi-degree-of-freedom automatic drilling crawling robot and crawling method |
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| CN103373405A (en) * | 2012-04-23 | 2013-10-30 | 朱志强 | Passive vacuum absorption and walking device for wall-climbing robot |
| WO2014111673A1 (en) * | 2013-01-18 | 2014-07-24 | Dennis Allen | A continuous crawler |
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| US8905174B2 (en) * | 2009-07-29 | 2014-12-09 | Edward T. Saylor, Jr. | Traction robot |
| JP2023554257A (en) * | 2020-12-17 | 2023-12-27 | アテイン ロボティクス リミテッド | Caterpillar device moving along the surface |
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| CN103373405A (en) * | 2012-04-23 | 2013-10-30 | 朱志强 | Passive vacuum absorption and walking device for wall-climbing robot |
| WO2014111673A1 (en) * | 2013-01-18 | 2014-07-24 | Dennis Allen | A continuous crawler |
| CN205034205U (en) * | 2015-09-10 | 2016-02-17 | 于东方 | Clean robot with running gear |
| CN207389349U (en) * | 2017-11-07 | 2018-05-22 | 甘肃智呈网络科技有限公司 | A kind of absorption and mobile system for climbing robot |
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