CN220462309U - Self-propelled cable duct punching robot - Google Patents

Abstract

The utility model discloses a self-propelled cable duct punching robot which comprises a movable base, wherein a lifting frame is arranged on the movable base, a spacing adjusting frame is arranged on the lifting frame, impact drills are respectively arranged on the lifting frame and the spacing adjusting frame, the two impact drills are arranged in a stacked mode, the spacing adjusting frame is used for adjusting the spacing between the two impact drills, and a linkage feeding frame for driving the impact drills to punch is arranged on the lifting frame. This application removes in the cable pit through removing the base as the carrier, and the setting of crane is used for carrying out whole lift to two impact drills, then adjusts according to the demand of punching to the interval between two impact drills through the interval adjustment frame, and linkage feeding frame is used for driving impact drill towards cable pit wall removal and punches, realizes mechanized operation, and it is efficient to punch, has reduced artifical participation, has effectively solved the problem of present manual work inefficiency when punching in the cable pit.

Description

Self-propelled cable duct punching robot

Technical Field

The utility model belongs to the field of punching equipment, and particularly relates to a self-propelled cable pit punching robot.

Background

The cable pit is the below dedicated channel of cabling, often exists in the distribution substation, and cabling is supported the cable in the cable pit needs the installation cable support, then needs to punch the cable pit inside wall before the installation cable support and conveniently installs the cable support, all adopts the manual work to punch at present, but because the specification restriction of cable pit, the narrow operation face of cable pit the inside, traditional operation of punching, the constructor operation is strikeed and is not good to extend when boring, and the manual work needs to crouch down in the cable pit to punch one by one, wastes time and energy, work efficiency is low.

Disclosure of Invention

The utility model aims to solve the technical problem of providing a self-propelled cable duct punching robot which solves the problem of low efficiency when a worker punches holes in a cable duct at present.

In order to solve the problems, the utility model adopts the following technical scheme:

the utility model provides a self-propelled cable pit robot that punches, is including removing the base, is provided with the crane on removing the base, is provided with the interval adjustment frame on the crane, is provided with respectively on crane and the interval adjustment frame and strikes and bore, and two strike and bore mutually range upon range of setting, and the interval adjustment frame is used for adjusting the interval between two strike and bores, is provided with the linkage that is used for driving to strike and bores and advances the frame.

Further, the crane includes synchronous drive assembly and two lifting seats that are connected with synchronous drive assembly transmission, synchronous drive assembly includes two transfer lines that the symmetry set up and is used for driving two transfer lines synchronous pivoted first motor, two transfer lines extend respectively to two lifting seats in, all be provided with lifting assembly and two guide posts on the lifting seat, two guide posts symmetry and vertical setting are in lifting seat upper end, two guide post upper ends are provided with the fixed plate, lifting assembly is including setting up the drive wheel in the lifting seat and setting up the follow driving wheel on the fixed plate, drive wheel and follow the driving wheel and be provided with the hold-in range, the transfer line is connected with the drive wheel transmission, be provided with the lifting frame with two guide post sliding connection on the hold-in range, be provided with fixed platform between the two lifting frames.

Further, the interval adjusting frame comprises lifting pieces symmetrically arranged at the upper end of the fixed platform and interval adjusting plates arranged between the two lifting pieces, the lifting pieces are used for driving the interval adjusting plates to vertically lift above the fixed platform, and the two impact drills are respectively arranged at the bottom end of the fixed platform and the upper end of the interval adjusting plates.

Further, the linkage feeding frame comprises sliding seats respectively arranged on the fixed platform and the interval adjusting plate and linkage seats respectively arranged on the two impact drills, the two impact drills are respectively connected with the corresponding sliding seats in a sliding mode to conduct translation punching, the linkage seat on any impact drill is vertically provided with a linkage rod, the linkage seat on the other impact drill is connected with the linkage rod in a sliding mode, the length direction of the sliding seat is perpendicular to the length direction of the guide post, and the length direction of the linkage rod is parallel to the length direction of the guide post.

Further, a second motor in transmission connection with the impact drill is arranged on the fixed platform or the interval adjusting plate, and the second motor is used for driving the impact drill to horizontally move along the sliding seat.

Further, remove the base bottom and be provided with four walking wheels, remove one side bottom of keeping away from on the base and strike the drill bit and be provided with the supporting legs, the quantity of supporting legs is two and the symmetry sets up, the supporting legs include with remove base bottom fixed connection's fixing base and along fixing base horizontal direction articulated link frame and telescopic link in proper order, the one end that the fixing base was kept away from to the telescopic link is articulated mutually with the one end that the fixing base was kept away from to the link frame, the link frame is located the one end rotation that the fixing base was kept away from to the link frame below and link frame is connected with the foot rest.

Further, a gyroscope sensor and a controller are arranged on the movable base, and the travelling wheel, the first motor, the second motor, the gyroscope sensor, the telescopic rod, the lifting piece and the two impact drills are electrically connected with the controller.

The utility model has the remarkable beneficial effects that:

1. the utility model relates to a self-propelled cable duct punching robot which comprises a movable base, wherein a lifting frame is arranged on the movable base, a spacing adjusting frame is arranged on the lifting frame, impact drills are respectively arranged on the lifting frame and the spacing adjusting frame, the two impact drills are arranged in a stacked mode, the spacing adjusting frame is used for adjusting the spacing between the two impact drills, and a linkage feeding frame for driving the impact drills to punch is arranged on the lifting frame. This application removes in the cable pit through removing the base as the carrier, and the setting of crane is used for carrying out whole lift to two impact drills, then adjusts according to the demand of punching to the interval between two impact drills through the interval adjustment frame, and linkage feeding frame is used for driving impact drill towards cable pit wall removal and punches, realizes mechanized operation, and it is efficient to punch, has reduced artifical participation, has effectively solved the problem of present manual work inefficiency when punching in the cable pit.

2. The synchronous transmission assembly in the lifting frame can synchronously drive the two lifting frames to synchronously move, so that synchronous lifting of two impact drills is completed, the two lifting seats and the two lifting assemblies can improve the overall stability of the equipment, and the situation that the equipment is damaged due to the fact that the impact drills vibrate to form perforation deflection is avoided.

3. The distance between two impact drills is adjusted through the arrangement of the interval adjusting frame, and the interval between the holes is conveniently controlled according to requirements.

4. The linkage feeding frame is used for enabling the two impact drills to synchronously move to punch holes, so that simultaneous operation is realized, the two impact drills leave simultaneously, two holes are punched at one time, and the working efficiency is improved.

5. The second motor can be installed on fixed platform or interval regulating plate, and the second motor is used for driving the translation of percussion drilling line and punches, further realizes automatic operation.

6. The setting of supporting legs is used for supporting the adjustment when removing the base slope, makes the removal base wholly be in the horizontality before punching, conveniently punches the cable trench wall.

7. The controller is used for carrying out integrated control on each driving component, and the arrangement of the gyroscope sensor can monitor the inclination of the movable base, so that the controller is convenient for controlling and adjusting the supporting legs; the setting staff through the controller can be fine to whole equipment operation and use.

Drawings

Fig. 1 is a schematic diagram of a front view of a self-propelled cable duct punching robot according to embodiment 1 of the present utility model;

FIG. 2 is a left-hand structural diagram of embodiment 1 of the present utility model;

FIG. 3 is a schematic top view of a stationary platform according to embodiment 1 of the present utility model;

FIG. 4 is a schematic top view of the intermediate distance adjusting plate according to embodiment 1 of the present utility model;

FIG. 5 is a schematic view showing the structure of the lifting member in embodiment 1 of the present utility model;

FIG. 6 is a schematic diagram showing a sectional structure of a lifting seat in embodiment 1 of the present utility model;

FIG. 7 is a schematic diagram showing the front view of embodiment 2 of the present utility model;

FIG. 8 is a schematic top view of a stationary platform according to embodiment 2 of the present utility model;

FIG. 9 is a schematic diagram showing the front view of embodiment 3 of the present utility model;

FIG. 10 is a left-hand view of embodiment 3 of the present utility model;

in the attached drawings, 1, a mobile base; 2. percussion drilling; 3. a lifting seat; 4. a transmission rod; 5. a first motor; 6. a guide post; 7. a fixing plate; 8. a driving wheel; 9. driven wheel; 10. a synchronous belt; 11. a lifting frame; 12. a fixed platform; 13. a lifting member; 14. a spacing adjustment plate; 15. a sliding seat; 16. a linkage seat; 17. a linkage rod; 18. a second motor; 19. a walking wheel; 21. a fixing seat; 22. a linkage frame; 23. a telescopic rod; 24. a foot stand.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application, its application, or uses. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

Example 1

As shown in fig. 1-6, a self-propelled cable duct punching robot comprises a movable base 1, wherein the movable base 1 is used as a carrier, and a travelling wheel 19 is arranged at the bottom end of the movable base 1 and used for driving whole equipment to move;

the movable base 1 is provided with a lifting frame, the upper end of the lifting frame is provided with a spacing adjusting frame, the lifting frame and the spacing adjusting frame are respectively provided with impact drills 2 for punching, the two impact drills 2 are arranged in a stacked mode, the spacing adjusting frame vertically lifts above the lifting frame to adjust the spacing between the two impact drills 2, the lifting frame is provided with a linkage feeding frame for driving the impact drills 2 to punch, and the linkage feeding frame is used for driving the two impact drills 2 to punch simultaneously;

specifically, the lifting frame comprises a synchronous transmission assembly and two lifting seats 3 in transmission connection with the synchronous transmission assembly, the two lifting seats 3 are symmetrically and fixedly arranged at the upper end of the movable base 1, the synchronous transmission assembly comprises two transmission rods 4 which are symmetrically arranged and a first motor 5 which is used for driving the two transmission rods 4 to synchronously rotate, one ends of the two transmission rods 4, which are far away from the lifting seats 3, are in transmission connection through a gear belt, gears which are matched with the gear belt are arranged on output shafts of the first motor 5, the first motor 5 drives the two transmission rods 4 to synchronously rotate through the gear belt, the two transmission rods 4 respectively extend into the two lifting seats 3, the lifting seats 3 are respectively provided with a lifting assembly and two guide posts 6, the two guide posts 6 are symmetrically and vertically arranged at the upper ends of the lifting seats 3, the upper ends of the two guide posts 6 are fixedly connected through a fixed plate 7, the lifting assembly comprises a driving wheel 8 which is arranged in the lifting seats 3 and a driven wheel 9 which is arranged on the fixed plate 7, the driving wheel 8 and the driven wheel 9 are in transmission connection through a synchronous belt 10, the driving wheel 4 is in transmission connection with the driving wheel 8, the driving wheel 10 is provided with a driving wheel 11 which is connected with two guide posts 11, and two guide posts 11 are arranged on the synchronous belt 10 and two guide posts 11 are connected with two guide posts 11; the rotation of the first motor 5 drives the two transmission rods 4 to synchronously rotate so that the lifting frame 11 lifts along the guide post 6, and then drives the impact drill 2 positioned on the lifting frame to move;

the space adjusting frame comprises lifting pieces 13 symmetrically arranged at the upper end of the fixed platform 12 and a space adjusting plate 14 arranged between the two lifting pieces 13, the lifting pieces 13 are used for driving the space adjusting plate 14 to vertically lift above the fixed platform 12, the two impact drills 2 are respectively arranged at the bottom end of the fixed platform 12 and the upper end of the space adjusting plate 14, and the positions of the two impact drills 2 can be used for conveniently adjusting the space between the two impact drills 2;

in this embodiment, the lifting member 13 includes two guide rods vertically installed at the upper end of the fixed platform 12 and a ball screw installed between the two guide rods, a motor base is fixedly installed at the upper ends of the two guide rods, a third motor connected with the ball screw in a driving manner is installed on the motor base, a connecting hole connected with the ball screw in a driving manner and slidingly connected with the guide rods is formed on the space adjusting plate 14, the ball screw is driven to rotate by the third motor in the two lifting members 13 to drive the space adjusting plate 14 to lift, and then the space between the two drill bits is adjusted, so that punching is convenient according to the requirement;

the linkage feeding frame comprises a sliding seat 15 respectively arranged on the fixed platform 12 and the interval adjusting plate 14 and a linkage seat 16 respectively arranged on the two impact drills 2, the fixed platform 12 and the interval adjusting plate 14 can be understood as a plate body with a through hole in the middle, the sliding seat 15 comprises two supports arranged on two sides of the through hole and two sliding rods arranged between the two supports, the two sliding rods are arranged in parallel, sliding holes are formed in the impact drills 2 and are in sliding connection with the sliding rods in the sliding seat 15, the two impact drills 2 are respectively connected with the corresponding sliding seats 15 in a sliding manner to perform translation punching, and the length direction of the sliding seat 15 is perpendicular to the length direction of the guide post 6;

the linkage seat 16 on any impact drill 2 is vertically provided with a linkage rod 17 parallel to the length direction of the guide post 6, the linkage seat 16 on the other impact drill 2 is in sliding connection with the linkage rod 17, the third motor drives the interval adjusting plate 14 to adjust the interval between the impact drills 2, and the two impact drills 2 can synchronously and horizontally translate to perform punching operation by pushing any impact drill 2 to move along the sliding seat 15.

The working principle is that a worker puts the movable base 1 into a cable duct and moves to a punching position, the worker operates the first motor 5 to drive the lifting frame to lift together with the interval adjusting frame, when the lifting frame lifts, the two impact drills 2 lift synchronously, when the impact drill 2 located on the fixed platform 12 moves to the punching position located below, the lifting frame stops moving, the worker operates the third motor to drive the interval adjusting plate 14 to drive the impact drill 2 located above the fixed platform 12 to lift so as to complete the adjustment of the interval between the two impact drills 2, after the height and interval adjustment of the two impact drills 2 are completed, the two impact drills 2 are opened, the worker pushes any impact drill 2, under the action of the linkage seat 16 on the impact drill 2, the two impact drills 2 move towards the inner wall of the cable duct simultaneously, so as to punch holes, after the punching is completed, the worker moves the impact drill 2 back to the initial position, and continues to move the movable base 1 to the next punching position.

To sum up, this application is through removing the base and remove as the carrier in the cable pit, and the setting of crane is used for carrying out whole lift to two impact drills, then adjusts according to the demand of punching to the interval between two impact drills through the interval adjustment frame, and the linkage is given to the frame and is used for driving impact drill and removes to punch towards the cable pit wall, realizes mechanized operation, and it is efficient to punch, has reduced artifical participation, has effectively solved the problem of present manual work inefficiency when punching in the cable pit.

Example 2

As shown in fig. 7 and 8, the structure of this embodiment is substantially the same as that of embodiment 1, this embodiment is further optimized based on embodiment 1, in order to facilitate automatic punching of the impact drill 2, in this embodiment, a second motor 18 in driving connection with the impact drill 2 is mounted on the fixed platform 12 or the spacing adjustment plate 14, and the second motor 18 is used for driving the impact drill 2 to move along the sliding seat 15;

in the embodiment, the impact drill 2 in transmission connection with the second motor 18 is provided with a rack, the output shaft of the second motor 18 is provided with a gear meshed with the rack, the second motor 18 drives the impact drill 2 to move and punch through the gear, and manual operation of personnel is reduced.

Example 3

As shown in fig. 9 and 10, the structure of this embodiment is substantially the same as that of embodiment 2, this embodiment is further optimized on the basis of embodiment 1, in order to further realize automatic punching and increase punching verticality, in this embodiment, four travelling wheels 19 and four supporting feet are uniformly mounted at the bottom end of the moving base 1, the supporting feet include a fixed seat 21 fixedly connected with the bottom end of the moving base 1, and a linkage frame 22 and a telescopic rod 23 hinged in sequence along the horizontal direction of the fixed seat 21, the telescopic rod 23 is an electric cylinder, one end of the telescopic rod 23 far away from the fixed seat 21 is hinged with one end of the linkage frame 22 far away from the fixed seat 21, the linkage frame 22 is located below the telescopic rod 23, and one end of the linkage frame 22 far away from the fixed seat 21 is rotatably connected with a foot seat 24;

the running wheel 19 is a hub motor in this embodiment;

the support feet are used for supporting the movable base 1 in an inclined state, so that the movable base 1 is kept in a horizontal state;

in the embodiment, a gyroscope sensor and a controller are arranged at the upper end of a mobile base 1, and a travelling wheel 19, a first motor 5, a second motor 18, a third motor, the gyroscope sensor, a telescopic rod 23, a third motor in a lifting piece 13 and two impact drills 2 are electrically connected with the controller, wherein the controller is used as a processing center; the gyroscope sensor is used for monitoring whether the whole movable base 1 is kept in a horizontal state or not, a signal is sent to the controller after the gyroscope sensor monitors that the movable base 1 is inclined, and the controller controls the supporting feet to support the movable base 1 at four corners of the movable base 1 so as to keep the movable base 1 in the horizontal state, so that punching is facilitated; the controller controls the travelling wheel 19 to drive the movable base 1 to move; the controller controls the first motor 5 to drive the fixed platform 12 to lift; the controller controls a third motor in the lifting piece 13 to adjust the distance between the two impact drills 2; the controller controls the second motor 18 to cause the two impact drills 2 to drill or leave the wall of the cable trench;

the telescopic rod 23 in the supporting leg is electrically connected with the controller, the telescopic rod 23 receives a signal of the controller to stretch, the linkage frame 22 ascends or descends in the stretching process of the telescopic rod 23, and the foot seat 24 contacts or leaves the ground to finish the adjustment of the movable base 1.

The setting of the controller can facilitate the staff to carry out overall control on the equipment, and automatic movement and punching are realized through a program arranged in the controller.

In addition, as a conventional technical means for the person skilled in the art, a plurality of sensors may be mounted on the whole device to enable the device to have sensing capabilities such as "vision", "hearing" and "touch", and the functions thereof are realized by the following sensors, wherein the "vision" is realized by sensing whether the front is shielded by the obstacle or not by the robot through the laser sensor, and the sensor is applied to detecting the wall height of the cable pit, detecting the obstacle in the advancing direction of the robot and the like; "aural" refers to an ultrasonic sensor of the robot to detect the distance between the robot and the cable pit wall, ensuring travel along the commanded path; the touch sense refers to a position sensor of the robot, and is used for controlling the action limit of the robot; in addition, the robot is also integrated with an acceleration sensor, a camera, a Beidou positioning module and the like, which together form a sensor system of the robot, so as to provide signal data support for action decisions of the robot;

the sensor, the acceleration sensor, the camera and the Beidou positioning module are connected with the controller or are embedded into the controller as program modules, a control system in the controller adopts an embedded system solution, and the embedded system technology is an electronic comprehensive application technology comprising a high-performance sensor, an integrated circuit and computer software and hardware. The robot adopts STM32 of an artificial semiconductor as a core controller, and information transmission between a control system and an external environment is realized through a controller area network (CAN bus). The robot is provided with a special tablet personal computer, is key equipment for realizing a man-machine interaction function, and an operator sets working parameters of the robot by operating the tablet personal computer so as to control the movement of the robot. In addition, the working state of the robot can be displayed on the tablet personal computer in real time. The tablet personal computer sends instruction information input by an operator and state information of the robot to the core controller in real time through the wireless local area network so as to control various functions of the robot.

At present, the technical scheme of the application has been subjected to pilot-scale experiments, namely small-scale experiments of products before large-scale mass production; after the pilot test is completed, the use investigation of the user is performed in a small range, and the investigation result shows that the user satisfaction is higher; now, the preparation of the formal production of the product for industrialization (including intellectual property risk early warning investigation) is started.

Claims (7)

1. A self-propelled cable duct punching robot is characterized in that: including removing base (1), remove and be provided with the crane on base (1), be provided with the interval adjustment frame on the crane, the crane with be provided with respectively on the interval adjustment frame and strike and bore (2), two strike and bore (2) range upon range of setting mutually, the interval adjustment frame is used for adjusting two strike and bore the interval between (2), be provided with on the crane and be used for driving strike and bore (2) and carry out the linkage feeding frame that punches.

2. The self-propelled cable duct punching robot of claim 1, wherein: the lifting frame comprises a synchronous transmission assembly and two lifting seats (3) connected with the synchronous transmission assembly in a transmission mode, the synchronous transmission assembly comprises two transmission rods (4) which are symmetrically arranged and a first motor (5) which is used for driving the two transmission rods (4) to rotate synchronously, the two transmission rods (4) respectively extend to the two lifting seats (3), the lifting seats (3) are respectively provided with a lifting assembly and two guide posts (6), the two guide posts (6) are symmetrically and vertically arranged at the upper ends of the lifting seats (3), the two guide posts (6) are arranged at the upper ends of the guide posts (6) and are provided with fixing plates (7), the lifting assembly comprises a driving wheel (8) arranged in the lifting seats (3) and a driven wheel (9) which is arranged on the fixing plates (7), the driving rods (4) are respectively connected with the driving wheel (8) in a transmission mode, and the synchronous belt (10) is provided with two guide posts (6) which are connected with two lifting frames (11) in a sliding mode, and two lifting platforms (12) are fixedly arranged between the lifting frames (11).

3. A self-propelled cable duct punching robot according to claim 2, wherein: the interval adjusting frame comprises lifting pieces (13) symmetrically arranged at the upper end of the fixed platform (12) and interval adjusting plates (14) arranged between the two lifting pieces (13), the lifting pieces (13) are used for driving the interval adjusting plates (14) to vertically lift above the fixed platform (12), and the two impact drills (2) are respectively arranged at the bottom end of the fixed platform (12) and the upper end of the interval adjusting plates (14).

4. A self-propelled cable duct punching robot according to claim 3, characterized in that: the linkage feeding frame comprises sliding seats (15) respectively arranged on the fixed platform (12) and the interval adjusting plate (14) and linkage seats (16) respectively arranged on the impact drills (2), the impact drills (2) are respectively connected with the corresponding sliding seats (15) in a sliding mode to conduct translation punching, the linkage seats (16) on the impact drills (2) are vertically provided with linkage rods (17), the linkage seats (16) on the impact drills (2) are further connected with the linkage rods (17) in a sliding mode, the length direction of the sliding seats (15) is perpendicular to the length direction of the guide posts (6), and the length direction of the linkage rods (17) is parallel to the length direction of the guide posts (6).

5. The self-propelled cable duct punching robot of claim 4, wherein: the fixed platform (12) or the interval adjusting plate (14) is provided with a second motor (18) in transmission connection with the impact drill (2), and the second motor (18) is used for driving the impact drill (2) to move along the sliding seat (15).

6. The self-propelled cable duct punching robot of claim 5, wherein: the mobile base (1) bottom is provided with four walking wheels (19) and four supporting legs, the supporting legs include with remove base (1) bottom fixed connection's fixing base (21) and follow fixing base (21) horizontal direction articulated link frame (22) and telescopic link (23) in proper order, telescopic link (23) keep away from fixing base (21) one end with link frame (22) are kept away from fixing base (21) one end is articulated mutually, link frame (22) are located telescopic link (23) below just link frame (22) are kept away from fixing base (21) one end rotates and is connected with footstand (24).

7. The self-propelled cable duct punching robot of claim 6, wherein: the mobile base (1) is provided with a gyroscope sensor and a controller, and the travelling wheels (19), the first motor (5), the second motor (18), the gyroscope sensor, the telescopic rod (23), the lifting piece (13) and the two impact drills (2) are electrically connected with the controller.