CN210087254U

CN210087254U - Actuator of drilling robot

Info

Publication number: CN210087254U
Application number: CN201920839946.5U
Authority: CN
Inventors: 丁瑞敏; 田军委; 苏宇; 张立新; 张�成
Original assignee: Xian Technological University
Current assignee: Xian Technological University
Priority date: 2019-06-05
Filing date: 2019-06-05
Publication date: 2020-02-18
Anticipated expiration: 2029-06-05

Abstract

The utility model discloses an actuator of a drilling robot, which comprises a robot body shell, wherein a punching mechanism is arranged in the robot body shell, a barrel structure with an open lower end is integrally arranged in the robot body shell, the upper end of the barrel structure is an integral top wall body, and the punching mechanism is positioned in a barrel inner cavity of the barrel structure; the utility model discloses a robot can replace artifical in the steep local drilling of massif, and relaxation force spring can be corresponding by the elastic compression certain distance when this mechanism makes the in-process that the drill bit fed downwards under the effect of lead screw can receive the rigid resistance, plays the cushioning effect, and then avoids because the rigid feed resistance makes lead screw and screw-nut take place the phenomenon that the card died the burning out motor.

Description

Actuator of drilling robot

Technical Field

The utility model belongs to the robot field.

Background

The drill bit is rigidly prevented from going downwards when the drill bit is subjected to relatively hard rocks in the downward feeding process, so that the screw rod conveying mechanism is suddenly stopped, and the risk of burning out the motor is further caused.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects existing in the prior art, the utility model provides a rock drilling mechanism for treating buffer action.

The technical scheme is as follows: in order to achieve the purpose, the actuator of the drilling robot comprises a robot body shell, wherein a punching mechanism is installed in the robot body shell, a cylindrical structure with an open lower end is integrally arranged in the robot body shell, the upper end of the cylindrical structure is an integral top wall body, and the punching mechanism is positioned in a cylinder inner cavity of the cylindrical structure;

the punching mechanism comprises a vertical main motor, and guide grooves are symmetrically formed in two sides of a shell of the main motor; the upper ends of the two guide rails are fixedly connected with the top wall body respectively, the two guide grooves are in sliding fit with the two guide rails respectively, and the main motor can slide up and down along the extending direction of the guide rails; the drill bit clamp is synchronously arranged on the output shaft of the main motor, and a drill bit is synchronously clamped on the drill bit clamp.

Further, a screw nut is fixedly mounted on one side of the shell of the main motor; the screw rod is in transmission fit with a threaded hole in the screw rod nut; a vertical screw rod motor is further arranged in the cylinder inner cavity, the output end of the screw rod motor is connected with the screw rod in a driving mode, four guide posts are fixedly distributed on the top end of a casing of the screw rod motor in a rectangular array mode, four guide holes which are vertically communicated are formed in the top wall body, and the upper ends of the four guide posts respectively penetrate through the four guide holes in an upward sliding mode; the top end of each guide pillar is fixedly provided with a disc body, and the diameter of each disc body is larger than the inner diameter of each guide hole; a lower spring limiting column is arranged in the middle of the top end of the shell of the lead screw motor, an upper spring limiting column is fixedly arranged on the lower side surface of the top wall body, the lower spring limiting column and the upper spring limiting column are coaxially arranged, and a gap is kept between the upper end of the lower spring limiting column and the lower end of the upper spring limiting column; a relaxation force spring is arranged between the screw rod motor and the top wall body, the upper end of the relaxation force spring is sleeved on the upper spring limiting column, and the lower end of the relaxation force spring is sleeved on the lower spring limiting column; the relaxation spring elastically supports and presses the screw rod motor downwards.

Furthermore, a mechanical leg support is arranged at the lower end of the robot shell, and six mechanical leg mounting positions extending outwards are fixedly arranged on the periphery of the mechanical leg support in a circumferential array manner; six mechanical legs are respectively arranged on the six mechanical leg mounting positions.

Has the advantages that: the mechanism enables the relaxation spring to be correspondingly elastically compressed for a certain distance when the drill bit is subjected to rigid resistance in the process of feeding downwards under the action of the screw rod, so that the buffer effect is achieved, and the phenomenon that the screw rod and a screw rod nut are blocked to burn out a motor due to the rigid feeding resistance is further avoided; at the moment, the relaxation spring is compressed for a certain distance, so that the feeding pressure of the drill bit is increased, the drill bit is promoted to drill rocks with larger resistance, and the relaxation spring can gradually recover the initial relative relaxation state after the rocks with larger resistance are drilled until the drilling process is finished.

Drawings

FIG. 1 is a schematic view of an overall first attitude of the robot;

fig. 2 is an overall front view of the robot;

FIG. 3 is an overall top view of the robot;

FIG. 4 is a schematic diagram of the robot with all the mechanical legs hidden;

FIG. 5 is a front view of the robot with all the robot legs hidden;

FIG. 6 is a cut-away schematic view of the robot with all the mechanical legs hidden;

FIG. 7 is a schematic structural view of a punching mechanism;

fig. 8 is a partial schematic view of four guide posts.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

The actuator of the drilling robot shown in fig. 1 to 8 comprises a robot body shell 2, a punching mechanism is installed in the robot body shell 2, a mechanical leg support 80 is arranged at the lower end of the robot body shell 2, and six mechanical leg installation positions 38 extending outwards are fixedly arranged around the mechanical leg support in a circumferential array; six mechanical legs 28 are respectively arranged on the six mechanical leg mounting positions 38; the mechanical leg support comprises a first mounting disc 20 and a second mounting disc 21 which are arranged up and down, and the first mounting disc 20 and the second mounting disc 21 are fixedly connected through a plurality of connecting pieces 60; the first mounting plate 20 is integrally connected to the lower end contour of the robot housing 2.

A front guide wheel assembly 26 and a rear guide wheel assembly 27 are respectively arranged at the front side and the rear side of the robot body shell 2; the front guide wheel assembly 26/rear guide wheel assembly 27 comprises a sheave bracket 23 and a guide V-shaped sheave 22; a bottom plate 45 at the lower end of the sheave bracket 23 is fixedly locked on the robot housing 2 through a locking bolt 45; the guide V-shaped grooved pulley 22 is rotatably arranged at the upper end of the grooved pulley bracket 23 through a rotating shaft 07; the device also comprises an upper guide rope 24 and a lower guide rope 25 which are distributed up and down; the upper sides of the grooves 09 of the two guide V-shaped groove wheels 22 are in rolling connection with the upper guide rope 24, and the lower sides of the grooves 09 of the two guide V-shaped groove wheels 22 are in rolling connection with the lower guide rope 25.

A cylindrical structure 19 with an open lower end is integrally arranged in the robot shell 2, the upper end of the cylindrical structure 19 is an integral top wall body 11, and the punching mechanism is positioned in a cylinder inner cavity 3 of the cylindrical structure 19;

the punching mechanism comprises a vertical main motor 4, and guide grooves 39 are symmetrically arranged on two sides of a shell of the main motor 4; the motor is characterized by further comprising two vertical guide rails 1, the upper ends of the two guide rails 1 are fixedly connected with the top wall body 11 respectively, the two guide grooves 39 are in sliding fit with the two guide rails 1 respectively, and the main motor 4 can slide up and down along the extending direction of the guide rails 1; the output shaft 5 of the main motor 4 is synchronously provided with a drill clamp 6, the drill clamp 6 is synchronously clamped with a drill 7 on the drill clamp 6.

A screw nut 9 is fixedly arranged on one side of the shell of the main motor 4; the screw rod 8 is in transmission fit with a threaded hole in the screw rod nut 9; a vertical screw rod motor 10 is further arranged in the cylinder inner cavity 3, the output end of the screw rod motor 10 is in driving connection with the screw rod 8, four guide posts 12 are fixedly distributed on the top end of a machine shell of the screw rod motor 10 in a rectangular array, four guide holes 14 which are vertically communicated are formed in the top wall body 11, and the upper ends of the four guide posts 12 respectively slide upwards to penetrate through the four guide holes 14; the top end of each guide post 12 is fixedly provided with a disc body 13, and the diameter of each disc body 13 is larger than the inner diameter of the guide hole 14; a lower spring limiting column 17 is arranged in the middle of the top end of the shell of the lead screw motor 10, an upper spring limiting column 15 is fixedly arranged on the lower side surface of the top wall body 11, the lower spring limiting column 17 and the upper spring limiting column 15 are coaxially arranged, and a gap is kept between the upper end of the lower spring limiting column 17 and the lower end of the upper spring limiting column 15; a relaxation force spring 16 is arranged between the screw rod motor 10 and the top wall body 11, the upper end of the relaxation force spring 16 is sleeved on the upper spring limiting column 15, and the lower end of the relaxation force spring 16 is sleeved on the lower spring limiting column 17; the relaxation spring 16 elastically presses the screw motor 10 downwards.

The operation process, the method and the technical progress of the scheme are summarized as follows:

under the guiding and constraining of the upper guide rope 24 and the upper guide rope 24, the robot body shell 2 walks along the mountain slope under the cooperative coordination of the six mechanical legs 28, and because the robot body shell 2 is driven by the mechanical legs 28, the robot body shell 2 is always in a state of fluctuating up and down in the process of walking along the mountain slope, and further drives the front guide wheel assembly 26 and the rear guide wheel assembly 27 to fluctuate up and down continuously in the process of rolling along the upper guide rope 24/the lower guide rope 25; when the robot body shell 2 fluctuates upwards, the upper side of the groove 09 of each guide V-shaped grooved wheel 22 upwards presses the upper guide rope 24, so that the upper guide rope 24 deforms upwards under the action of the upward pressing, at the moment, the lower side of the groove 09 of each guide V-shaped grooved wheel 22 is separated from the lower guide rope 25 because the guide V-shaped grooved wheels 22 fluctuate upwards along with the robot body shell 2, at the moment, each guide V-shaped grooved wheel 22 rolls along the upper guide rope 24, and the downward reaction force of the upper guide rope 24 on the guide V-shaped grooved wheels 22 effectively prevents the robot body shell 2 from turning over during the upward fluctuation process; when the robot body shell 2 fluctuates downwards, the lower sides of the grooves 09 of the guide V-shaped grooved wheels 22 push down the guide ropes 25 downwards, and further the lower guide ropes 25 deform downwards under the action of downward pushing, at the moment, the upper sides of the grooves 09 of the guide V-shaped grooved wheels 22 are separated from the upper guide ropes 24 because the guide V-shaped grooved wheels 22 fluctuate downwards along the robot body shell 2, at the moment, the guide V-shaped grooved wheels 22 roll along the lower guide ropes 25, and the upward reaction force of the lower guide ropes 25 on the guide V-shaped grooved wheels 22 effectively buffers the strong impact of the robot body shell 2 on the slope surface in the downward fluctuation process, so that the phenomenon of falling of the mountain rock is reduced;

when the robot body shell 2 is suspended from walking to a punching position, a punching program is started, and under the action of gravity and the relaxation force of the relaxation force spring 16, the lower side surfaces of the disc bodies 13 contact the top wall body 11 in an initial state; starting the screw rod motor 10, further rotating the screw rod 8, further driving the screw rod nut 9 to move downwards, further enabling the main motor 4 to slide downwards along the extending direction of the guide rail 1 until the lower end of the drill bit 7 contacts downwards and presses the mountain wall surface to be punched; at the moment, the main motor 4 is started, so that the drill bit 7 starts to rotate at a high speed, the lead screw motor 10 is continuously driven to start, the lead screw 8 rotates, the drill bit 7 drills towards the mountain wall surface where the drill bit is located, and at the moment, when the drill bit 7 is subjected to rigid resistance in the downward feeding process under the action of the lead screw 8, the relaxation force spring 16 is correspondingly elastically compressed for a certain distance to play a role in buffering, so that the phenomenon that the lead screw 8 and a lead screw nut are clamped to burn out the motor due to the rigid feeding resistance is avoided; at the moment, the relaxation spring 16 is compressed for a certain distance, so that the feeding pressure of the drill bit 7 is increased, the drill bit 7 is promoted to drill rocks with larger resistance, the relaxation spring 16 can gradually recover to an initial relative relaxation state after the rocks with larger resistance drill, until the drilling process is completed, the screw rod 8 is reversely operated after the drilling process is completed, the screw rod nut 9 is driven to move upwards, and the main motor 4 is enabled to slide upwards along the extension direction of the guide rail 1 until the lower end of the drill bit 7 is upwards separated from the wall surface of a mountain body; and finishing a drilling process.

The above description is only a preferred embodiment of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.

Claims

1. Executor of drilling robot, its characterized in that: the robot comprises a robot body shell (2), wherein a punching mechanism is installed in the robot body shell (2), a cylindrical structure (19) with an open lower end is integrally arranged in the robot body shell (2), the upper end of the cylindrical structure (19) is an integral top wall body (11), and the punching mechanism is positioned in a cylinder inner cavity (3) of the cylindrical structure (19);

the punching mechanism comprises a vertical main motor (4), and guide grooves (39) are symmetrically arranged on two sides of a shell of the main motor (4); the motor is characterized by further comprising two vertical guide rails (1), the upper ends of the two guide rails (1) are fixedly connected with the top wall body (11) respectively, the two guide grooves (39) are in sliding fit with the two guide rails (1) respectively, and the main motor (4) can slide up and down along the extending direction of the guide rails (1); the drill bit clamp is characterized in that a drill bit clamp (6) is synchronously installed on an output shaft (5) of the main motor (4), the drill bit clamp (6) synchronously clamps a drill bit (7) on the drill bit clamp (6).

2. The actuator of a drilling robot of claim 1, wherein: a screw nut (9) is fixedly arranged on one side of the shell of the main motor (4); the screw rod (8) is in transmission fit with a threaded hole in the screw rod nut (9); a vertical screw rod motor (10) is further arranged in the cylinder inner cavity (3), the output end of the screw rod motor (10) is in driving connection with the screw rod (8), four guide pillars (12) are fixedly distributed on the top end of a machine shell of the screw rod motor (10) in a rectangular array, four guide holes (14) which are vertically communicated are formed in the top wall body (11), and the upper ends of the four guide pillars (12) respectively slide upwards to penetrate through the four guide holes (14); disc bodies (13) are fixedly arranged at the top ends of the guide columns (12), and the diameter of each disc body (13) is larger than the inner diameter of the guide hole (14); a lower spring limiting column (17) is arranged in the middle of the top end of the shell of the lead screw motor (10), an upper spring limiting column (15) is fixedly arranged on the lower side surface of the top wall body (11), the lower spring limiting column (17) and the upper spring limiting column (15) are coaxially arranged, and a gap is kept between the upper end of the lower spring limiting column (17) and the lower end of the upper spring limiting column (15); a relaxation force spring (16) is arranged between the screw rod motor (10) and the top wall body (11), the upper end of the relaxation force spring (16) is sleeved on the upper spring limiting column (15), and the lower end of the relaxation force spring (16) is sleeved on the lower spring limiting column (17); the relaxation force spring (16) elastically supports and presses the screw rod motor (10) downwards.

3. The actuator of a drilling robot of claim 2, wherein: the lower end of the robot shell (2) is provided with a mechanical leg support (80), and six mechanical leg mounting positions (38) extending outwards are fixedly arranged on the periphery of the mechanical leg support in a circumferential array manner; six mechanical legs (28) are respectively arranged on the six mechanical leg mounting positions (38).