CN217976102U - Bionic drilling and digging device - Google Patents

Abstract

The utility model provides a bionical brill device of digging, including supporting seat, central axis body, central support, main part rotary drive mechanism, outer support body, a plurality of drill bit unit, first expand the end cam that contracts, the second expands the end cam that contracts, expand the actuating mechanism that contracts and reset the piece. The bionic drilling and excavating device can simulate the head of a worm to drive forwards in soil, the first expansion and contraction end face cam and the second expansion and contraction end face cam are driven by designing the expansion and contraction driving mechanism, and all drill bit units can intermittently perform expansion or contraction actions while drilling around the central support and rotate to improve the drilling and excavating efficiency and meet the ground excavating requirement.

Description

Bionic drilling and digging device

Technical Field

The utility model relates to a bionical mechanical technical field, concretely relates to bionical brill digs device.

Background

With the continuous improvement of the bionic technology, the bionic robot is widely applied to various fields in the world, and researchers assist the robot by using a sensor, a microcomputer and a wireless control technology in order to improve the performance of the robot. Bionics is a technical science for researching the special structure and the movement texture of organisms, providing a new design concept and a new working mode for scientific technology, and providing a new idea for the development and direction of robots in the future.

By performing bionic analysis on the appearance structure and the movement texture of the living beings, the designed robot can replace human beings to complete work tasks which cannot be completed in severe environments. The robot designed based on the motion mechanism has important significance for exploring deep ground bottom, searching search and rescue dangerous areas, underwater exploration, soil detection and collection and the like in digging holes. Particularly, for some robots with drilling functions, how to realize efficient drilling work is a problem to be solved urgently by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

To the defect among the prior art, the utility model aims at providing a bionical brill device of digging to improve and bore and dig efficiency, satisfy and dig the ground requirement.

In order to achieve the purpose, the utility model provides a bionic drilling and digging device, which comprises a supporting seat, a driving device and a driving device, wherein the supporting seat is provided with a central shaft body which is coaxially arranged, and the central shaft body is a hollow mechanism;

the central bracket is sleeved outside the central shaft in a rotating way;

a main body rotation driving mechanism for driving the center support to rotate;

the outer frame body is sleeved outside the central support in a sliding manner, and the outer frame body and the central support do not rotate relatively;

the plurality of drill bit units are arranged in an annular array along the axis of the central support and are respectively hinged with the central support and the outer frame body;

a drill driving mechanism for synchronously driving all the drill units to rotate;

the first expansion end face cam is rotatably sleeved outside the central support, and two first expansion bulges are arranged on the end face of the first expansion end face cam, which is deviated from the support seat;

the second expansion end face cam is sleeved outside the central support in a sliding mode and located on one side, away from the support seat, of the first expansion end face cam, the second expansion end face cam is installed on the outer support body, the second expansion end face cam and the central support do not rotate relatively, and two second expansion bulges are arranged on the end face, facing the support seat, of the second expansion end face cam;

the expansion and contraction driving mechanism is used for driving the first expansion and contraction end face cam to rotate so as to enable the two first expansion and contraction bulges to periodically push the two second expansion and contraction bulges and enable the outer frame body to drive all the drill bit units to intermittently perform expansion or contraction actions; and

a reset member for resetting the outer frame body.

Preferably, the first expansion and contraction protrusions extend along the circumferential direction of the end face of the first expansion and contraction end face cam, the two first expansion and contraction protrusions are symmetrically arranged along the axis of the first expansion and contraction end face cam, each first expansion and contraction protrusion comprises a first precession section, a first plane section and a first precession section which are sequentially connected and smoothly transited, and the end face of the first plane section is parallel to the end face of the first expansion and contraction end face cam;

the second expands and contracts protruding edge the circumference of the terminal surface of second expansion and contraction end cam extends, two the second expands and contracts protruding edge the axis symmetrical arrangement of second expansion and contraction end cam, the second expands and contracts protruding including the second precession section, second plane section and the second section of screwing out that connect gradually and smooth transition, the terminal surface of second plane section with the axis of second expansion and contraction end cam is perpendicular.

Preferably, the first planar segment and the second planar segment are equal in length; the plane of the first plane section is marked as a plane A, the intersection point of the axis of the first expansion end face cam and the plane A is marked as a central point A, and the included angle between the initial position of the first plane section and the central point A is 40-50 degrees.

Preferably, the expansion and contraction driving mechanism includes: the expansion driven gear is fixedly sleeved outside the first expansion end face cam; and the expansion and contraction driving motor is arranged on the supporting seat, an expansion and contraction driving gear is arranged on an output shaft of the expansion and contraction driving motor, and the expansion and contraction driving gear is meshed with the expansion and contraction driven gear.

Preferably, a plurality of first guide parts are arranged on the circumferential outer wall of the central support, an annular boss is arranged at one end of the central support far away from the supporting seat, and a plurality of first hinged seats are arranged on the annular boss;

the inner wall of the outer frame body is provided with a plurality of second guide parts, the second guide parts are in sliding fit with the first guide parts, the outer wall of the outer frame body is provided with an annular supporting table, and one end of the outer frame body, far away from the supporting seat, is provided with a plurality of second hinged supports;

the reset piece is sleeved outside the central support, and two ends of the reset piece are respectively abutted to the end face of the second guide part and the end face of the annular boss.

Preferably, the drill unit includes: the first rotating shaft is sleeved with a shaft sleeve, the shaft sleeve is hinged with the first hinged support and the second hinged support respectively, and one end, far away from the supporting seat, of the first rotating shaft inclines towards the axis of the central support; the drill bit body is fixed at one end of the first rotating shaft; the second rotating shaft is rotationally matched on the annular supporting table, and the axis of the second rotating shaft is parallel to the axis of the central bracket; and the universal joint is in transmission connection with the first rotating shaft and the second rotating shaft respectively.

Preferably, the drill drive mechanism comprises:

the drill bit rotating transmission gear is rotatably sleeved outside the outer frame body, and the drill bit rotating transmission gear and the second hinged support are respectively arranged on two sides of the annular supporting table;

the drill bit rotary driven gears correspond to the second rotating shaft, are fixed at one end, close to the drill bit rotary transmission gear, of the second rotating shaft and are meshed with the drill bit rotary transmission gear; and

the drill bit rotary driving motor is installed on the supporting seat, a drill bit rotary driving gear is arranged on an output shaft of the drill bit rotary driving motor, and the drill bit rotary driving gear is meshed with the drill bit rotary transmission gear.

Preferably, the device also comprises a protective shell and a shell rotation driving mechanism, wherein the protective shell is rotatably sleeved outside the supporting seat and the outer frame body, the protective shell is drum-shaped, and a plurality of spiral blades are uniformly distributed on the outer wall of the protective shell around the axis of the protective shell;

the housing rotation drive mechanism includes:

the shell gear ring is fixed on the inner wall of the protective shell; and

the shell rotating motor is fixed on the supporting seat, a shell driving gear is arranged on an output shaft of the shell rotating motor, and the shell driving gear is meshed with the shell gear ring.

The utility model has the advantages that:

the utility model discloses a bionical brill device of digging can simulate the worm head and equally advance in soil and dig, expand through the design and contract actuating mechanism and drive first expansion and contract end cam and the second expand and contract end cam, at all drill bit units both around the revolution of central support axis, and self when the rotation drills again, can realize that all drill bit units do the expansion or contract action intermittently to improve and bored efficiency, more can realize the efficient requirement of digging.

In addition, various sensors and various detection and storage devices can be additionally designed in the hollow design of the central shaft body, so that the bionic drilling device has the capability of completing various task functions.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

Fig. 1 is a schematic structural view of a bionic drilling device according to an embodiment of the present invention;

FIG. 2 is a schematic view of the structure of the outer frame body matching with the central support;

FIG. 3 is a schematic structural view of the bionic drilling device (with the protective casing removed);

FIG. 4 is a schematic view of the first expandable/contractible end cam cooperating with the second expandable/contractible end cam;

FIG. 5 is a schematic structural view of a first expanding and contracting end cam;

FIG. 6 is a schematic view of a second expanding and contracting end cam;

fig. 7 is a plan view of the first expanding and contracting end cam.

Reference numerals are as follows:

10-support base, 11-central shaft body;

20-a central support, 21-a first guide part, 22-an annular boss, 23-a first hinged support;

30-main body rotation driving mechanism, 31-main body rotation driven gear, 32-main body rotation driving motor, 33-main body rotation driving gear;

40-an outer frame body, 41-a second guide part, 42-an annular support table and 43-a second hinged support;

50-drill unit, 51-first shaft, 52-shaft sleeve, 53-drill body, 54-second shaft, 55-universal joint;

60-a bit driving mechanism, 61-a bit rotation transmission gear, 62-a bit rotation driven gear, 63-a bit rotation driving motor, 64-a bit rotation driving gear;

70-a first expansion end face cam, 71-a first expansion protrusion, 711-a first precession section, 712-a first plane section, 713-a first screw-out section;

80-a second expansion end face cam, 81-a second expansion bulge, 811-a second screwing-in section, 812-a second plane section, 813-a second screwing-out section;

90-expansion and contraction driving mechanism, 91-expansion and contraction driven gear, 92-expansion and contraction driving motor and 93-expansion and contraction driving gear;

100-a reset member;

110-protective shell, 111-helical blade;

121-housing rotating motor, 122-housing driving gear.

Detailed Description

Embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.

It is to be noted that unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the present invention belongs.

In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, are used in the orientations and positional relationships indicated in the drawings, which are based on the orientation or positional relationship shown in the drawings, and are intended only for the convenience of description of the present invention and for simplicity of description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.

Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

As shown in fig. 1 to 7, in an embodiment of the present invention, a bionic drilling device is provided, which includes a supporting base 10, a central shaft 11, a central support 20, a main body rotation driving mechanism 30, an outer support 40, a plurality of drill units 50, a drill driving mechanism 60, a first expansion and contraction end cam 70, a second expansion and contraction end cam 80, an expansion and contraction driving mechanism 90, and a restoring member 100.

8-the supporting seat 10 is in a circular truncated cone shape, a center shaft body 11 is arranged at the center of the supporting seat 10, the center shaft body 11 is in a hollow structure, and the center support 20 is rotatably sleeved outside the center shaft body 11 through a bearing. The main body rotation driving mechanism 30 is used for driving the central support 20 to rotate, the main body rotation driving mechanism 30 comprises a main body rotation driven gear 31, a main body rotation driving motor 32 and a main body rotation driving gear 33, the main body rotation driving motor 32 is installed on the supporting seat 10, the main body rotation driving gear 33 is installed on an output shaft of the main body rotation driving motor 32, and the main body rotation driven gear 31 is fixedly sleeved outside the central support 20 and meshed with the main body rotation driving gear 33.

The outer frame 40 is slidably sleeved outside the central support 20, and the outer frame 40 and the central support 20 do not rotate relatively. The plurality of drill units 50 are arranged in an annular array along the axis of the central bracket 20, the drill units 50 are respectively hinged with the central bracket 20 and the outer frame body 40, and the drill driving mechanism 60 is used for synchronously driving all the drill units 50 to rotate.

The first end face cam 70 is rotatably sleeved outside the central bracket 20, and two first expansion and contraction protrusions 71 are arranged on the end face of the first end face cam 70 departing from the supporting seat 10. The second expansion end face cam 80 is slidably sleeved outside the central support 20 and is located on one side, away from the support seat 10, of the first expansion end face cam 70, the second expansion end face cam 80 is mounted on the outer support body 40, the second expansion end face cam 80 and the central support 20 do not rotate relatively, and two second expansion protrusions 81 are arranged on the end face, facing the support seat 10, of the second expansion end face cam 80.

The expansion and contraction driving mechanism 90 is used for driving the first expansion and contraction end face cam 70 to rotate, so that the two first expansion and contraction protrusions 71 periodically push the two second expansion and contraction protrusions 81, the outer frame body 40 drives all the drill bit units 50 to intermittently perform expansion or contraction, and the resetting piece 100 is used for resetting the outer frame body 40.

This theory of operation based on bionic drilling device:

the main body rotation driving mechanism 30 drives the central support 20 to rotate, and at the same time, the outer frame body 40 and all the drill units 50 synchronously rotate along with the central support 20, and at the same time, the drill driving mechanism 60 synchronously drives all the drill units 50 to rotate, and each drill unit 50 rotates while being driven by the drill driving mechanism 60 while all the drill units 50 revolve around the axis of the central support 20. When the expansion and contraction driving mechanism 90 drives the first expansion and contraction end face cam 70 to rotate, the two first expansion and contraction protrusions 71 periodically push the two second expansion and contraction protrusions 81, so that the outer frame 40 drives all the drill units 50 to intermittently perform expansion or contraction.

The bionic drilling device of the embodiment can simulate the head of a worm to drive forwards in soil, and drives the first expansion end face cam 70 and the second expansion end face cam 80 by designing the expansion driving mechanism 90, so that all the drill bit units 50 can intermittently perform expansion or contraction actions while all the drill bit units 50 revolve around the axis of the central support 20 and rotate to drill, thereby improving the drilling efficiency and further realizing the ground digging requirement.

In addition, the hollow design of the central shaft body 11 can additionally design various sensors and various detection storage devices in the hollow design, so that the bionic drilling device has the capability of completing various task functions.

In the present embodiment, the first expansion and contraction protrusion 71 extends along the circumferential direction of the end face of the first expansion and contraction end face cam 70, two first expansion and contraction protrusions 71 are symmetrically arranged along the axis of the first expansion and contraction end face cam 70, the first expansion and contraction protrusion 71 includes a first precession section 711, a first plane section 712 and a first precession section 713, which are sequentially connected and smoothly transited, and the end face of the first plane section 712 is parallel to the end face of the first expansion and contraction end face cam 70.

The second expansion and contraction protrusion 81 extends along the circumferential direction of the end face of the second expansion and contraction end face cam 80, the two second expansion and contraction protrusions 81 are symmetrically arranged along the axis of the second expansion and contraction end face cam 80, the second expansion and contraction protrusion 81 comprises a second screwing-in section 811, a second plane section 812 and a second screwing-out section 813 which are sequentially connected and smoothly transited, and the end face of the second plane section 812 is perpendicular to the axis of the second expansion and contraction end face cam 80.

The first expansion and contraction protrusion 71 is formed with a circumferential trapezoidal-like undulation structure on the end face of the first expansion and contraction end face cam 70, and similarly, the second expansion and contraction protrusion 81 is formed with a circumferential trapezoidal-like undulation structure on the end face of the second expansion and contraction end face cam 80. When the expansion and contraction driving mechanism 90 drives the first expansion and contraction end face cam 70 to rotate, the first precession section 711 of the first expansion and contraction protrusion 71 firstly abuts against the second precession section 811, and since there is no relative rotation between the second expansion and contraction end face cam 80 and the central bracket 20, the first precession section 711 gradually pushes the second precession section 811 during the rotation process, and the second expansion and contraction end face cam 80 moves along the central bracket 20 towards the side away from the support seat 10, and pushes the outer frame body 40 to move until the first plane section 712 abuts against the second plane section 812, at this time, the second expansion and contraction end face cam 80 and the outer frame body 40 both move to the limit position, and the outer frame body 40 drives all the drill bit units 50 to intermittently perform expansion or contraction actions during the movement process. When the first planar section 712 rotates and is offset from the second planar section 812, the first planar section and the second planar section drive the outer frame 40 and the second expandable and contractible end cam 80 to return to their original positions under the driving of the returning element 100. By designing the expansion and contraction driving mechanism 90 to drive the first expansion and contraction end face cam 70 and the second expansion and contraction end face cam 80, all the drill units 50 can intermittently perform expansion or contraction actions while revolving around the axis of the central support 20 and rotating to perform drilling, so that the drilling efficiency is improved, and the ground digging requirement can be further met.

In the present embodiment, in order to ensure the continuity of the interaction between the first expanding-contracting protrusion 71 and the second expanding-contracting protrusion 81 and maintain the pushing state within a certain time range, the lengths of the first plane section 712 and the second plane section 812 are equal, the plane on which the first plane section 712 is located is denoted as a plane a, the intersection point of the axis of the first expanding-contracting end face cam 70 and the plane a is denoted as a central point a, and the included angle (α shown in fig. 7) between the initial position of the first plane section 712 and the central point a is 40 to 50 °.

In the present embodiment, the expansion and contraction driving mechanism 90 includes an expansion and contraction driven gear 91, an expansion and contraction driving motor 92, and an expansion and contraction driving gear 93. The expansion driven gear 91 is fixedly sleeved outside the first expansion end face cam 70, the expansion driving motor 92 is installed on the supporting seat 10, an output shaft of the expansion driving motor 92 is provided with an expansion driving gear 93, and the expansion driving gear 93 is meshed with the expansion driven gear 91.

When the expansion and contraction driving motor 92 drives the expansion and contraction driving gear 93 to rotate, the expansion and contraction driven gear 91 and the first expansion and contraction end face cam 70 are driven to rotate, when the first expansion and contraction end face cam 70 rotates, the first expansion and contraction protrusion 71 can be matched with the second expansion and contraction protrusion 81 of the second expansion and contraction end face cam 80, so that the second expansion and contraction end face cam 80 and the outer frame body 40 can be pushed forwards in an intermittent mode, the resetting piece 100 is pushed intermittently, the outer frame body 40 can reciprocate along the axial direction of the outer frame body through compression of the resetting piece 100 and the elastic force of the resetting piece 100, and the drill bit unit 50 can be driven to intermittently expand or contract. The structural design can realize the drilling of the drill bit unit 50 and add the expansion and contraction actions under the condition of not influencing the integral rotation, thereby improving the drilling efficiency and further realizing the propelling requirement.

In this embodiment, a plurality of first guiding portions 21 are disposed on the circumferential outer wall of the central support 20, an annular boss 22 is disposed at one end of the central support 20 far from the support base 10, and a plurality of first hinge bases 23 are disposed on the annular boss 22. The inner wall of the outer frame body 40 is provided with a plurality of second guide parts 41, the second guide parts 41 are in sliding fit with the first guide parts 21, the outer wall of the outer frame body 40 is provided with an annular support platform 42, and one end of the outer frame body 40 far away from the support base 10 is provided with a plurality of second hinge bases 43. The reset piece 100 is a reset spring, the reset piece 100 is sleeved outside the central bracket 20, and two ends of the reset piece 100 are respectively abutted to the end surface of the second guide part 41 and the end surface of the annular boss 22.

The second expanding and contracting end cam 80 slides along the central bracket 20 and drives the outer frame body 40 to intermittently push the reset piece 100 under the pushing of the first expanding and contracting end cam 70, and the outer frame body 40 is reset by compressing the reset piece 100 and the reset piece 100 under the mutual matching of the end surface of the second guide part 41 and the end surface of the annular boss 22, so that the outer frame body 40 reciprocates along the axial direction of the outer frame body.

In the present embodiment, the bit unit 50 includes a first rotating shaft 51, a bit body 53, a second rotating shaft 54, and a universal joint 55. The first rotating shaft 51 is sleeved with a shaft sleeve 52, the shaft sleeve 52 is respectively hinged with the first hinge seat 23 and the second hinge seat 43, one end of the first rotating shaft 51 far away from the support seat 10 inclines towards the axis of the central support 20, and the drill bit body 53 is fixed at one end of the first rotating shaft 51. The second rotating shaft 54 is rotatably fitted on the annular supporting table 42, the axis of the second rotating shaft 54 is parallel to the axis of the central support 20, and the universal joint 55 is in transmission connection with the first rotating shaft 51 and the second rotating shaft 54 respectively.

The bit drive mechanism 60 includes a bit rotation transmission gear 61, a plurality of bit rotation driven gears 62, and a bit rotation drive motor 63. The drill bit rotation transmission gear 61 is rotatably sleeved outside the outer frame body 40, and the drill bit rotation transmission gear 61 and the second hinge base 43 are respectively arranged at two sides of the annular support platform 42. The number of the bit rotation driven gears 62 corresponds to the number of the second rotary shafts 54, and the bit rotation driven gears 62 are fixed to one end of the second rotary shaft 54 near the bit rotation transmission gear 61 and are engaged with the bit rotation transmission gear 61. A drill bit rotation driving motor 63 is mounted on the support base 10, and a drill bit rotation driving gear 64 is provided on an output shaft of the drill bit rotation driving motor 63, and the drill bit rotation driving gear 64 is engaged with the drill bit rotation transmission gear 61.

The structure and position of the drill units 50 are designed to simulate the tooth structure of a worm, and the main body rotation driving mechanism 30 drives the central support 20 to rotate, and simultaneously, the outer frame body 40 and all the drill units 50 synchronously rotate along with the central support 20. Meanwhile, the bit rotation driving motor 63 also drives the bit rotation driving gear 64 to rotate the bit rotation transmission gears 61, so that the rotating bit rotation transmission gears 61 simultaneously drive all the bit rotation driven gears 62 to rotate, the rotating bit rotation driven gears 62 can transmit power to the bit body 53 through the second rotating shaft 54, the universal joint 55 and the first rotating shaft 51, and each bit unit 50 rotates by being driven by the bit driving mechanism 60 while all the bit units 50 revolve around the axis of the central support 20, thereby realizing a drilling action.

In this embodiment, the bionic drilling device further includes a protection housing 110 and a housing rotation driving mechanism, the protection housing 110 is rotatably sleeved outside the supporting base 10 and the outer frame 40, the protection housing 110 is drum-shaped, and a plurality of spiral blades 111 are uniformly distributed on the outer wall of the protection housing 110 around the axis thereof.

The housing rotation drive mechanism includes a housing ring gear (not shown in the figure), a housing rotation motor 121, and a housing drive gear 122. The shell gear ring is fixed on the inner wall of the protective shell 110, the shell rotating motor 121 is fixed on the supporting seat 10, the output shaft of the shell rotating motor 121 is provided with a shell driving gear 122, and the shell driving gear 122 is meshed with the shell gear ring.

The protective casing 110 is designed to push the soil generated during drilling and digging to the surrounding and to provide support for the whole device. The shell rotating motor 121 drives the shell driving gear 122 to rotate, so that the shell gear ring and the protective shell 110 rotate, and the whole bionic drilling and digging device can be perfectly matched with the wall of the hole, therefore, the stability of the surrounding soil structure is not easily damaged in the drilling and digging mode, potential safety hazards such as collapse in the tunneling process are avoided, and the safety is improved. Of course, the rotation direction of the shield case 110 is opposite to the rotation direction of the center support 20, so that the overall moment of the entire drilling apparatus can be balanced.

In the specification of the present invention, a large number of specific details are explained. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the scope of the embodiments of the present invention, and are intended to be covered by the claims and the specification.

Claims (8)

1. A bionic drilling device is characterized in that: the method comprises the following steps:

the supporting seat is provided with a central shaft body which is coaxially arranged, and the central shaft body is a hollow mechanism;

the central bracket is sleeved outside the central shaft in a rotating way;

the main body rotation driving mechanism is used for driving the central support to rotate and comprises a main body rotation driven gear, a main body rotation driving motor and a main body rotation driving gear, the main body rotation driving motor is installed on the supporting seat, the main body rotation driving gear is installed on an output shaft of the main body rotation driving motor, and the main body rotation driven gear is fixedly sleeved outside the central support and meshed with the main body rotation driving gear;

the outer frame body is sleeved outside the central support in a sliding manner, and the outer frame body and the central support do not rotate relatively;

the plurality of drill bit units are arranged in an annular array along the axis of the central support and are respectively hinged with the central support and the outer frame body;

a drill driving mechanism for synchronously driving all the drill units to rotate;

the first expansion end face cam is rotatably sleeved outside the central support, and two first expansion bulges are arranged on the end face of the first expansion end face cam, which is deviated from the support seat;

the second expansion end face cam is sleeved outside the central support in a sliding mode and located on one side, away from the support seat, of the first expansion end face cam, the second expansion end face cam is installed on the outer support body, the second expansion end face cam and the central support do not rotate relatively, and two second expansion bulges are arranged on the end face, facing the support seat, of the second expansion end face cam;

the expansion and contraction driving mechanism is used for driving the first expansion and contraction end face cam to rotate so as to enable the two first expansion and contraction bulges to periodically push the two second expansion and contraction bulges and enable the outer frame body to drive all the drill bit units to intermittently perform expansion or contraction actions; and

a reset member for resetting the outer frame body.

2. The biomimetic drilling apparatus of claim 1, wherein: the first expansion and contraction bulges extend along the circumferential direction of the end face of the first expansion and contraction end face cam, the two first expansion and contraction bulges are symmetrically arranged along the axis of the first expansion and contraction end face cam, each first expansion and contraction bulge comprises a first precession section, a first plane section and a first precession section which are sequentially connected and smoothly transited, and the end face of the first plane section is parallel to the end face of the first expansion and contraction end face cam;

the second expands and contracts protruding edge the circumference of the terminal surface of second expansion and contraction end cam extends, two the second expands and contracts protruding edge the axis symmetrical arrangement of second expansion and contraction end cam, the second expands and contracts protruding including connect gradually and smooth transition's second precession section, second plane section and second precession section, the terminal surface of second plane section with the axis of second expansion and contraction end cam is perpendicular.

3. The biomimetic drilling apparatus of claim 2, wherein: the first planar section and the second planar section are equal in length;

the plane of the first plane section is marked as a plane A, the intersection point of the axis of the first expansion end face cam and the plane A is marked as a central point A, and the included angle between the initial position of the first plane section and the central point A is 40-50 degrees.

4. The biomimetic drilling apparatus of claim 1, wherein: the driving mechanism for expansion and contraction comprises:

the expansion driven gear is fixedly sleeved outside the first expansion end face cam; and

the expansion and contraction driving motor is installed on the supporting seat, an output shaft of the expansion and contraction driving motor is provided with an expansion and contraction driving gear, and the expansion and contraction driving gear is meshed with the expansion and contraction driven gear.

5. The biomimetic drilling apparatus of claim 1, wherein: a plurality of first guide parts are arranged on the circumferential outer wall of the central support, an annular boss is arranged at one end of the central support far away from the supporting seat, and a plurality of first hinged supports are arranged on the annular boss;

the inner wall of the outer frame body is provided with a plurality of second guide parts, the second guide parts are in sliding fit with the first guide parts, the outer wall of the outer frame body is provided with an annular supporting table, and one end of the outer frame body, far away from the supporting seat, is provided with a plurality of second hinged supports;

the reset piece is sleeved outside the central support, and two ends of the reset piece are respectively abutted to the end face of the second guide part and the end face of the annular boss.

6. The biomimetic drilling apparatus of claim 5, wherein: the drill unit includes:

the first rotating shaft is sleeved with a shaft sleeve, the shaft sleeve is hinged with the first hinged support and the second hinged support respectively, and one end, far away from the supporting seat, of the first rotating shaft inclines towards the axis of the central support;

the drill bit body is fixed at one end of the first rotating shaft;

the second rotating shaft is rotationally matched on the annular supporting table, and the axis of the second rotating shaft is parallel to the axis of the central bracket; and

and the universal joint is in transmission connection with the first rotating shaft and the second rotating shaft respectively.

7. The biomimetic drilling apparatus of claim 6, wherein: the drill drive mechanism includes:

the drill bit rotating transmission gear is rotatably sleeved outside the outer frame body, and the drill bit rotating transmission gear and the second hinged support are respectively arranged on two sides of the annular supporting table;

the drill bit rotary driven gears correspond to the second rotating shaft, are fixed at one end, close to the drill bit rotary transmission gear, of the second rotating shaft and are meshed with the drill bit rotary transmission gear; and

the drill bit rotary driving motor is installed on the supporting seat, a drill bit rotary driving gear is arranged on an output shaft of the drill bit rotary driving motor, and the drill bit rotary driving gear is meshed with the drill bit rotary transmission gear.

8. The biomimetic drilling apparatus of claim 1, wherein: the protective shell is rotatably sleeved outside the supporting seat and the outer frame body, the protective shell is drum-shaped, and a plurality of spiral blades are uniformly distributed on the outer wall of the protective shell around the axis of the protective shell;

the housing rotation drive mechanism includes:

the shell gear ring is fixed on the inner wall of the protective shell; and

the shell rotating motor is fixed on the supporting seat, a shell driving gear is arranged on an output shaft of the shell rotating motor, and the shell driving gear is meshed with the shell gear ring.

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