CN212423377U

CN212423377U - Intelligent anchoring robot

Info

Publication number: CN212423377U
Application number: CN202020914177.3U
Authority: CN
Inventors: 徐林森; 刘磊; 刘进福; 陈寿起; 徐鸿; 程高新; 石佳; 韩松; 徐嘉骏
Original assignee: Institute of Advanced Manufacturing Technology
Current assignee: Institute of Advanced Manufacturing Technology
Priority date: 2020-05-26
Filing date: 2020-05-26
Publication date: 2021-01-29
Anticipated expiration: 2030-05-26

Abstract

The utility model provides an intelligent anchoring robot, which comprises a shaft connecting frame, a connecting block can slide back and forth along the vertical direction of the shaft connecting frame under the driving of a driving mechanism, the bottom of the connecting block is connected with a drill bit through a soft part, and the drill bit is driven by the soft part to realize deflection of each angle; the rear side of the connecting shaft frame is provided with two gear shafts which are arranged side by side left and right, gears on the two gear shafts are meshed with each other, a left shell and a right shell are fixedly mounted on the left gear shaft and the right gear shaft respectively, the front ends of the left shell and the right shell are connected through a tension spring, an inclined support rod is arranged on the inner side of one shell, a stop block is arranged on the connecting block, the stop block is in contact with the inclined support rod in the upward movement process of the connecting block, and the left shell and the right shell are synchronously opened; in the process that the connecting block moves downwards, the stop block is gradually separated from the support rod, and the left shell and the right shell are driven to be automatically closed under the action of the tension spring. The utility model has the advantages that: the automatic cave sinking, anchoring and desorption functions of the robot are realized.

Description

Intelligent anchoring robot

Technical Field

The utility model relates to the technical field of robots, the more specifically intelligence anchor robot that says so.

Background

At present, most anchoring robots do not have the self-anchoring and self-detaching functions of positioning of common mobile robots, and the anchoring technology generally mainly adopts dynamic positioning or vacuum adsorption, so that the anchoring technology cannot meet the functions of sinking, anchoring and detaching of the robots underwater under water, has great limitation, and cannot have good performance under water.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art not enough, provide an intelligence anchor robot to realize functions such as the automatic cave in-hole of robot, anchoring and desorption in phase.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

an intelligent anchoring robot comprises a shaft connecting frame, wherein a connecting block is arranged in the front side of the shaft connecting frame in a sliding manner, the connecting block can slide back and forth along the vertical direction of the shaft connecting frame under the driving of a driving mechanism, the bottom of the connecting block is connected with a drill bit through a soft part, and the drill bit is driven by the soft part to realize deflection of each angle;

the connecting device is characterized in that two gear shafts which are arranged side by side left and right are arranged on the rear side of the connecting shaft frame, each gear shaft extends vertically, the upper end and the lower end of each gear shaft are respectively rotatably arranged on the connecting shaft frame, gears on the two gear shafts are mutually meshed, a left shell and a right shell are respectively fixedly arranged on the left gear shaft and the right gear shaft, the connecting shaft frame, a connecting block, the two gear shafts and the gears on the two gear shafts are all wrapped by the left shell and the right shell, the rear ends of the left shell and the right shell are respectively fixed on the left gear shaft and the right gear shaft, the front ends of the left shell and the right shell are connected through tension springs, an inclined support rod is arranged on the inner side of one shell, the support rod inclines from bottom to top in the direction close to the connecting shaft frame, a stop block is arranged on one side of the connecting block facing the support rod, the stop block moves synchronously, under the action of the two meshed gears, the left shell and the right shell are synchronously propped open; in the process that the connecting block moves downwards, the stop block is gradually separated from the support rod, and the left shell and the right shell are driven to be automatically closed under the action of the tension spring.

Furthermore, the driving mechanism comprises a torque motor, a driving bevel gear, a driven bevel gear and a transmission rod, a horizontal connecting shaft plate is arranged at the top end of the connecting shaft frame, the torque motor is fixedly installed on the connecting shaft plate, the output end of the torque motor is fixedly connected with the driving bevel gear, the top end of the transmission rod is rotatably installed on the connecting shaft plate and upwards extends out of the connecting shaft plate to be fixedly connected with the driven bevel gear, the driving bevel gear is meshed with the driven bevel gear to form a bevel gear pair, trapezoidal threads are arranged on the outer side wall of the transmission rod, trapezoidal threaded holes are formed in the connecting block, the trapezoidal threads on the transmission rod are in threaded fit connection with the trapezoidal threaded holes in the connecting block, the bevel gear pair is driven to move by the torque motor, so that the transmission rod is driven to rotate, and the rotating transmission rod.

Furthermore, be equipped with vertical guide rail on the shaft connecting frame, the slip is provided with the slider on the vertical guide rail, connecting block and slider fixed connection.

Further, the drill bit includes the drill bit body, fixed mounting has the rotating electrical machines in the inside cavity of drill bit body, rotate between the output shaft of rotating electrical machines and the drill bit body and be connected and upwards stretch out and be fixed with the switching axle from drill bit body top, the output shaft of rotating electrical machines passes through the bottom fixed connection of switching axle and software part.

Furthermore, the soft part comprises at least one soft robot unit, the soft robot unit comprises a pressure spring and two end covers fixed at two ends of the pressure spring, one side of the two end covers opposite to each other is an inner side, the other side of the two end covers opposite to each other is an outer side, a plurality of mounting holes are uniformly distributed in the end covers along the circumferential direction, a plurality of shape memory alloy wires are correspondingly arranged in the mounting holes of the end covers one by one, the pressure spring is positioned at the peripheries of the shape memory alloy wires, two ends of the shape memory alloy wires are respectively fixed at the outer sides of the two end covers, and the shape memory alloy wires are compressed by electrifying different shape memory alloy wires, so that the two end covers at the two ends generate position deviation, and various deformations of the soft robot unit are realized; the resetting of the two end covers is realized through a pressure spring;

when the soft body part is a soft robot unit, two end covers of the soft robot unit are respectively and fixedly connected with the bottom of the connecting block and the top of the drill bit;

when the soft body part is divided into two or more soft robot units, each soft robot unit is sequentially overlapped from top to bottom, two adjacent soft robot units are connected together through a switching assembly, the end cover at the top of the soft robot unit at the top is fixedly connected with the bottom of the connecting block, and the end cover at the bottom of the soft robot unit at the bottom is fixedly connected with the top of the drill bit.

Further, the end cover includes the end cover body and sets up the cylindrical boss at the inboard middle part of end cover body, and a plurality of mounting holes all run through end cover body and boss, the boss sky cover has a fixed cover outward, fixed cover and end cover body fixed connection, form an annular installation clearance between fixed cover and the boss, insert respectively at the both ends of pressure spring in the annular installation clearance to insert from fixed cover side direction through the side direction jackscrew and withstand the pressure spring, realize the fixed of pressure spring tip and end cover.

Furthermore, the outer side of the end cover is fixedly connected with a gland, and the end part of the shape memory alloy wire is tightly pressed between the end cover and the gland through the gland, so that the end part of the shape memory alloy wire is fixed with the end cover.

Further, the gear shaft is connected with the corresponding shell through an upper clamp and a lower clamp, the two clamps are fixed on the inner side of the shell, and the two clamps are respectively sleeved on the gear shaft and are locked and fixed between the clamps and the gear shaft through locking screws.

Compared with the prior art, the utility model discloses beneficial effect embodies:

1. the utility model provides an intelligent anchoring robot, through the reciprocating sliding of actuating mechanism drive connecting block along vertical direction to through the dog on the connecting block and the cooperation of the vaulting pole of the inboard slope of shell, realized that the shell opens automatically in the process of the shell descending and being close to the drill bit, realized automatic anchoring function; the shell is automatically closed in the process of moving upwards and away from the drill bit, and the automatic desorption function is realized. And the structure is a mechanical structure, and can realize self-anchoring and self-detaching functions even under water.

2. The utility model provides a pair of intelligence anchor robot, the drill bit is connected through the software part to its connecting block bottom, drives the deflection that the drill bit realized each angle through the software part, can make the robot walk around some obstacles like this in silt, has strengthened the ability of handling various complex situations in silt.

3. The utility model provides a pair of intelligence anchor robot has and turns to nimble, the rapid characteristics of decline that rise, can be quick arrive appointed place under the silt.

Drawings

Fig. 1 is a perspective view of the present invention with the housing closed.

Fig. 2 is a perspective view of the housing of fig. 1 after it has been expanded.

Fig. 3 is a perspective view of the present invention with the housing open.

Fig. 4 is a perspective view of one of the viewing angles of the coupling frame portion of the present invention.

Fig. 5 is a perspective view of the coupling frame portion of the present invention from another perspective.

Fig. 6 is a perspective view of the connection part between the two gear shafts and the left and right housings of the present invention.

Fig. 7 is a front view of the drill of the present invention.

Fig. 8 is a sectional view taken along line a-a of fig. 7.

Fig. 9 is a perspective view of a single soft robotic unit.

Fig. 10 is an exploded view of a single soft robotic unit.

Fig. 11 is a perspective view of the shape memory alloy wire of the present invention.

Fig. 12 is a perspective view of two soft robot units combined.

Fig. 13 is a perspective view of the adapter assembly.

Fig. 14 is a perspective view of the lower link.

In the figure, 1 is a shaft bracket; 2, connecting blocks; 3 a torque motor; 4 driving a bevel gear; 5, driven bevel gear; 6, a transmission rod; 7, a connecting shaft plate; 8, a vertical guide rail; 9, a sliding block; 10 a soft body part; 11 a drill bit; 12 a bit body; 13 a rotating electrical machine; 14 a first bearing; 15 transfer shaft; 16 gear shafts; 17 a second bearing; 18 gears; 19 a left shell; 20 right housing; 21 a tension spring; 22, clamping a hoop; 23 stay bars; 24, a stop block; 25 a soft robotic unit; 26, a pressure spring; 27 end caps; 28 mounting holes; 29 shape memory alloy wire; 30 a protective sleeve; 31 an end cap body; 32 bosses; 33 fixing the sleeve; 34 lateral jackscrew holes; 35, pressing a cover; 36 a central aperture; 37 a switching component; 38 an upper connecting piece; 39 lower connecting piece.

Detailed Description

To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the embodiments of the present invention are combined to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Referring to fig. 1 to 14, the intelligent anchoring robot provided in this embodiment includes a shaft bracket 1, a connecting block 2 is slidably disposed in front of the shaft bracket 1, the connecting block 2 can slide back and forth along a vertical direction of the shaft bracket 1 under the driving of a driving mechanism, the driving mechanism includes a torque motor 3, a driving bevel gear 4, a driven bevel gear 5, and a transmission rod 6, a horizontal shaft plate 7 is disposed on the top end of the shaft bracket 1, the torque motor 3 is fixedly mounted on the shaft plate 7, an output end of the torque motor 3 is fixedly connected with the driving bevel gear 4, a top end of the transmission rod 6 is rotatably mounted on the shaft plate 7 through a bearing and extends upwards out of the shaft plate 7 to be fixedly connected with the driven bevel gear 5, and a top end of the transmission rod 6 is fixedly connected with the driven bevel gear 5 through a screw. The driving bevel gear 4 is meshed with the driven bevel gear 5 to form a bevel gear pair, trapezoidal threads are arranged on the outer side wall of the transmission rod 6, trapezoidal threaded holes are formed in the connecting blocks 2, the trapezoidal threads on the transmission rod 6 are in threaded fit connection with the trapezoidal threaded holes in the connecting blocks 2, the bevel gear pair is driven to move through the torque motor 3, the transmission rod 6 is driven to rotate, and the rotating transmission rod 6 drives the connecting blocks 2 to slide back and forth along the vertical direction. Be equipped with vertical guide rail 8 on the pedestal 1, the slip is provided with slider 9 on vertical guide rail 8, and connecting block 2 and slider 9 fixed connection carry out vertical direction through vertical guide rail 8 to connecting block 2.

The bottom of the connecting block 2 is connected with a drill bit 11 through a soft part 10, and the drill bit 11 is driven by the soft part 10 to realize deflection of each angle, so that the effect of avoiding obstacles can be achieved. The drill bit 11 comprises a drill bit body 12, a rotating motor 13 is fixedly mounted in a cavity in the drill bit body 12 through screws, an output shaft of the rotating motor 13 is rotatably connected with the drill bit body 12 through a first bearing 14, extends upwards from the top of the drill bit body 12 and is fixed with a transfer shaft 15, and the output shaft of the rotating motor 13 is fixedly connected with the bottom of the soft body part 10 through the transfer shaft 15. In the embodiment, the rotating motor 13 is fixedly installed in the cavity of the drill bit body 12, and the output shaft of the rotating motor 13 is connected with the bottom of the soft body part 10 through the transfer shaft 15, so that the overall size of the whole robot is small, and the drill bit 11 and the soft body part 10 are convenient to connect and install.

Two gear shafts 16 side by side about even pedestal 1 rear side is equipped with, every gear shaft 16 is along vertical extension, and both ends rotate through second bearing 17 respectively about every gear shaft 16 and install on even pedestal 1, gear 18 intermeshing on two gear shafts 16, a left side, respectively fixed mounting has left shell 19 on the two gear shafts 16 of right side, right shell 20, left shell 19 and right shell 20 will be even pedestal 1, connecting block 2, including two gear shafts 16 and the gear 18 on them all wrap up, left shell 19, right shell 20 rear end is fixed respectively on a left side, two gear shafts 16 of right side, left shell 19, right shell 20 front end is connected through four extension springs 21. The gear shaft 16 and the corresponding shell are connected through an upper clamp 22 and a lower clamp 22, the two clamps 22 are fixed on the inner side of the shell, and the two clamps 22 are respectively sleeved on the gear shaft 16 and are locked and fixed with the gear shaft 16 through locking screws.

An inclined support rod 23 is arranged on the inner side of one of the shells, the support rod 23 inclines from bottom to top towards the direction close to the shaft connecting frame 1, a stop block 24 is arranged on one side of the connecting block 2 facing the support rod 23, the stop block 24 moves synchronously along with the up-and-down movement of the connecting block 2, the stop block 24 is in contact with the inclined support rod 23 in the upward movement process of the connecting block 2 so as to gradually open one of the shells, and the left shell 19 and the right shell 20 are synchronously opened under the action of the two meshed gears 18; in the process that the connecting block 2 moves downwards, the stop block 24 is gradually separated from the support rod 23, and the left shell 19 and the right shell 20 are driven to be automatically closed under the action of the tension spring 21.

The soft part 10 comprises at least one soft robot unit 25, the soft robot unit 25 comprises a pressure spring 26 and two end covers 27 fixed at two ends of the pressure spring 26, one side of the two end covers 27 is an inner side, the other side is an outer side, a plurality of mounting holes 28 are uniformly distributed on the end covers 27 along the circumferential direction, a plurality of shape memory alloy wires 29 are correspondingly arranged in the mounting holes 28 of the end covers 27 one by one, the pressure spring 26 is positioned at the periphery of the shape memory alloy wires 29, two ends of the shape memory alloy wires 29 are respectively fixed at the outer sides of the two end covers 27, and the shape memory alloy wires 29 are compressed by electrifying different shape memory alloy wires 29, so that the two end covers 27 at the two ends generate position deviation, and various deformations of the soft robot unit 25 are realized; and the resetting of the two end caps 27 is realized by the compression spring 26.

When the soft body part 10 is a soft body robot unit 25, two end covers 27 of the soft body robot unit 25 are fixedly connected with the bottom of the connecting block 2 and the top of the drill 11 respectively.

When the soft body part 10 is two or more soft body robot units 25, each soft body robot unit 25 is overlapped from top to bottom, and two adjacent soft body robot units 25 are connected together through a switching component 37, the end cover 27 on the top of the soft body robot unit 25 on the top is fixedly connected with the bottom of the connecting block 2, and the end cover 27 on the bottom of the soft body robot unit 25 on the bottom is fixedly connected with the top of the drill 11.

Specifically, end cover 27 includes end cover body 31 and sets up the cylindrical boss 32 at the inboard middle part of end cover body 31, a plurality of mounting holes 28 all run through end cover body 31 and boss 32, boss 32 sky cover has a fixed cover 33 outward, fixed cover 33 and end cover body 31 fixed connection, form an annular installation clearance between fixed cover 33 and the boss 32, insert respectively in the annular installation clearance at the both ends of pressure spring 26, and insert from the side direction jackscrew hole 34 of fixed cover 33 through the side direction jackscrew and withstand pressure spring 26, realize the fixed of pressure spring 26 tip and end cover 27.

Specifically, a gland 35 is fixedly connected to the outer side of the end cover 27, and the end of the shape memory alloy wire 29 is pressed between the end cover 27 and the gland 35 through the gland 35, so that the end of the shape memory alloy wire 29 is fixed to the end cover 27. A protective sheath 30 is provided outside the shape memory alloy wire 29. The center of the end cap 27 and the gland 35 are both provided with a central hole 36 for routing the power line of the shape memory alloy wire 294.

Specifically, the switching assembly 37 is composed of an upper switching piece 38 and a lower switching piece 39, the upper switching piece 38 and the lower switching piece 39 are locked together through lateral jackscrews to form the switching assembly 37, the upper switching piece 38 is connected with a gland at the bottom of the upper soft robot unit 25 through screws, the lower switching piece 39 is connected with a gland at the top of the lower soft robot unit 25 through screws, and then the two soft robot units 12 can be combined together.

The intelligent anchoring robot that this embodiment provided can be according to the motion demand in silt, through the action of 11 internal rotation motors 13 of drill bit, drive drill bit 11 clockwise and anticlockwise rotations and realize the function of cave in, and software portion 10 can make drill bit 11 deflect certain direction at the advancing in-process, can make the robot walk around some obstacles like this in silt, strengthens the ability of handling various complex conditions in silt.

When the drill bit 11 reaches the designated depth, the drill bit stops rotating, the connecting block 2 is driven to move upwards through the rotation of the torque motor 3, and at the moment, under the matching action of the stop dog 24 and the support rod 23, the left shell 19 and the right shell 20 move downwards relative to the drill bit 11 and are opened automatically at the same time, so that the effect that the shells are downward and expanded in silt is achieved, the shells can be fixed in the silt, and the effect of automatic anchoring is achieved.

When needing the desorption, torque motor 3 reversal drives connecting block 2 and moves down, and dog 24 breaks away from vaulting pole 23 gradually in this process, and under extension spring 21's effect, left shell 19, right shell 20 are automatic closed, and then have realized moving up the in-process shell automatic closure who keeps away from drill bit 11 at the shell to cooperation drill bit 11's reversal has realized automatic desorption function.

The intelligent anchoring robot provided by the embodiment drives the connecting block 2 to slide back and forth along the vertical direction through the driving mechanism, in the process that the connecting block 2 moves upwards, the stop block 24 is contacted with the inclined support rod 23 to gradually open one of the shells, and under the action of the two meshed gears 18, the left shell 19 and the right shell 20 are synchronously opened, so that the shells are automatically opened in the process that the shells move downwards to be close to the drill bit 11, and the automatic anchoring function is realized; in the process of connecting block 2 removal downwards, dog 24 breaks away from vaulting pole 23 gradually, under extension spring 21's effect, drives left shell 19, right shell 20 automatic closure, and then has realized shifting up the in-process shell automatic closure who keeps away from drill bit 11 at the shell to cooperation drill bit 11's reversal has realized automatic desorption function. The structure is a mechanical structure, and can realize self-anchoring and self-detaching functions even under water.

When the robot is used underwater, the telescopic waterproof sleeve is arranged on the periphery of the whole robot except the drill bit 11. The waterproof sleeve can be designed into two sections, one section of the waterproof sleeve is wrapped on the periphery of the whole shell, the other end of the waterproof sleeve is wrapped on the position between the bottom of the shell and the top of the drill bit 11, and the joint of the two sections is subjected to waterproof treatment.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. An intelligent anchoring robot, characterized in that: the drilling machine comprises a shaft connecting frame, wherein a connecting block is arranged in the front side of the shaft connecting frame in a sliding manner, the connecting block can slide back and forth along the vertical direction of the shaft connecting frame under the driving of a driving mechanism, the bottom of the connecting block is connected with a drill bit through a soft part, and the drill bit is driven by the soft part to realize deflection of each angle;

2. The intelligent anchoring robot of claim 1, wherein: the driving mechanism comprises a torque motor, a driving bevel gear, a driven bevel gear and a transmission rod, wherein a horizontal connecting shaft plate is arranged at the top end of the connecting shaft frame, the torque motor is fixedly installed on the connecting shaft plate, the output end of the torque motor is fixedly connected with the driving bevel gear, the top end of the transmission rod is rotatably installed on the connecting shaft plate and upwards extends out of the connecting shaft plate to be fixedly connected with the driven bevel gear, the driving bevel gear is meshed with the driven bevel gear to form a bevel gear pair, trapezoidal threads are arranged on the outer side wall of the transmission rod, trapezoidal threaded holes are formed in the connecting block, the trapezoidal threads on the transmission rod are in threaded fit connection with the trapezoidal threaded holes in the connecting block, the bevel gear pair is driven to move by the torque motor, so that the transmission rod is driven to rotate, and the.

3. The intelligent anchoring robot of claim 2, wherein: the connecting device is characterized in that a vertical guide rail is arranged on the connecting shaft frame, a sliding block is arranged on the vertical guide rail in a sliding mode, and the connecting block is fixedly connected with the sliding block.

4. The intelligent anchoring robot of claim 1, wherein: the drill bit comprises a drill bit body, a rotating motor is fixedly mounted in a cavity inside the drill bit body, an output shaft of the rotating motor is rotatably connected with the drill bit body, upwards extends from the top of the drill bit body and is fixed with a rotating shaft, and the output shaft of the rotating motor is fixedly connected with the bottom of the soft body part through the rotating shaft.

5. The intelligent anchoring robot of claim 1, wherein: the soft part comprises at least one soft robot unit, the soft robot unit comprises a pressure spring and two end covers fixed at two ends of the pressure spring, one side of the two end covers opposite to each other is an inner side, the other side of the two end covers opposite to each other is an outer side, a plurality of mounting holes are uniformly distributed in the end covers along the circumferential direction, a plurality of shape memory alloy wires are correspondingly arranged in the mounting holes of the end covers one by one, the pressure spring is positioned at the periphery of the shape memory alloy wires, two ends of each shape memory alloy wire are respectively fixed at the outer sides of the two end covers, and the two end covers are reset through the pressure spring;

6. The intelligent anchoring robot of claim 5, wherein: the end cover comprises an end cover body and a cylindrical boss arranged at the middle part of the inner side of the end cover body, a plurality of mounting holes run through the end cover body and the boss, a fixing sleeve is sleeved outside the boss, the fixing sleeve is fixedly connected with the end cover body, an annular mounting gap is formed between the fixing sleeve and the boss, two ends of the pressure spring are respectively inserted into the annular mounting gap, and the pressure spring is laterally inserted from the fixing sleeve through a lateral jackscrew to jack the pressure spring, so that the end part of the pressure spring is fixed with the end cover.

7. The intelligent anchoring robot of claim 5, wherein: the outer side of the end cover is fixedly connected with a gland, and the end part of the shape memory alloy wire is tightly pressed between the end cover and the gland through the gland, so that the end part of the shape memory alloy wire is fixed with the end cover.

8. The intelligent anchoring robot of claim 1, wherein: the gear shaft is connected with the corresponding shell through an upper clamp and a lower clamp, the two clamps are fixed on the inner side of the shell, and the two clamps are respectively sleeved on the gear shaft and are locked and fixed between the clamps and the gear shaft through locking screws.