JP2021079525A - Robot for automatic drilling - Google Patents

Robot for automatic drilling Download PDF

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JP2021079525A
JP2021079525A JP2019225029A JP2019225029A JP2021079525A JP 2021079525 A JP2021079525 A JP 2021079525A JP 2019225029 A JP2019225029 A JP 2019225029A JP 2019225029 A JP2019225029 A JP 2019225029A JP 2021079525 A JP2021079525 A JP 2021079525A
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space
gear
moving
shaft
transmission
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朱寛
Kuan Zhu
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LEI WANG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
    • B28D1/14—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by boring or drilling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
    • B28D7/005—Devices for the automatic drive or the program control of the machines

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  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Earth Drilling (AREA)
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Abstract

To provide a robot for automatic drilling.SOLUTION: The robot for automatic drilling includes an outer shell. A transmission space is installed at a lower end inside the outer shell, a rotation space is installed at a right end inside the outer shell, and a turning space is installed at a left side in the rotation space. A transmission mechanism that can provide power to the robot is installed in the transmission space, a rotary drilling mechanism that can perform drilling is installed in the rotation space, and a lifting mechanism having a localization function is installed at a left end inside the transmission space. The robot can automatically sense preset drilling altitude, automatically perform drilling, after the drilling take out a drill from a wall surface, obviously perform drilling at different altitude positions on the wall surface, and perform dangerous work in stead of artificial control.SELECTED DRAWING: Figure 1

Description

本願発明はロボット分野を取り上げ、特に自動穿孔用ロボットに関わる。 The present invention takes up the field of robots, and particularly relates to robots for automatic drilling.

工業又は建築業において、穿孔設備はよく使用されている。穿孔設備を利用することで、マシンや壁面に対して、需要に応じて異なる高度位置に穿孔を行える。
現段階において、穿孔設備の使用は基本的に操作員が手持で操作し、異なる高度位置に穿孔を行うとき、安全問題を引き起こしやすく、また、人工操作は精確さが足りない。 Drilling equipment is commonly used in the industry or construction industry. By using the drilling equipment, it is possible to drill at different altitude positions on the machine and the wall surface according to the demand.
At this stage, the use of drilling equipment is basically hand-held by the operator and is prone to safety problems when drilling at different altitudes, and artificial operations are inaccurate.

中国特許出願公開第１００５６７６９４号明細書Chinese Patent Application Publication No. 100567694

自動穿孔用ロボットを提供し、人工操作による安全問題や精確さ問題を解決し、作業の安全性と穿孔の精確さとを向上させることを目的とする。 The purpose is to provide a robot for automatic drilling, solve safety problems and accuracy problems caused by artificial operations, and improve work safety and drilling accuracy.

本願発明は以下の技術的解決策で実現される。 The present invention is realized by the following technical solutions.

本願に記載の自動穿孔用ロボットは、外殻を含み、前記外殻の内部下端には伝動空間が設置され、前記外殻の内部右端には回転空間が設置され、前記回転空間の左側には回し空間が設置され、前記伝動空間の中には本願発明に動力を提供できる伝動機構が設置され、前記回転空間の中には穿孔を行える回転穿孔機構が設置され、前記伝動空間の内部左端には定位機能を有する昇降機構が設置され、前記回し空間の中にはドリルの前進を制御できる送り機構が設置され、
前記送り機構は前記回転空間の中に位置しかつ前記回転空間の中で上下に摺動できる固定ブロックを含み、前記固定ブロックの中には従動空間が設置され、前記従動空間の左右壁には左端が本願発明の外に延在する移動軸が回転可能に連結され、前記移動軸の右端には前記従動空間の中に位置する第一傘歯車がキーで連結され、前記第一傘歯車の中には右方に開口する環状空間が設置され、前記環状空間の中には前記環状空間の中で摺動できる摺動ブロックが設置され、前記摺動ブロックの右面には固定棒が固定的に設置され、前記固定棒の右面は前記従動空間の右壁と固定的に連結され、前記回し空間の上壁には下方に開口する移動空間が設置され、前記移動空間の中には前記移動空間の中で左右に摺動できる移動ブロックが設置され、前記移動ブロックの左面には前記移動空間の左壁と連結された弾力ばねが固定的に設置され、前記回し空間の下壁には上方に開口する位置移動空間が設置され、前記位置移動空間の中には前記位置移動空間の中で左右に摺動できる位置移動ブロックが設置され、前記位置移動ブロックの左面には前記位置移動空間の左壁と連結された復位ばねが固定的に設置され、前記位置移動ブロックの左面には引縄が固定的に連結され、前記位置移動ブロックの上面と前記移動ブロックの下面とには回し棒が固定的に連結され、前記移動軸には前記回し棒の左側に位置する妨害リングが設置され、前記伝動空間の上下壁には回転軸が回転可能に連結され、前記回転軸の下端には噛合歯車が設置され、前記回転軸の上端にはリールが設置され、前記リールには前記引縄が連結され、前記伝動空間の前後壁には旋転棒が回転可能に連結され、前記旋転棒には定滑車が設置され、前記引縄は前記定滑車によって案内され、前記移動軸の右端には右方に開口する円柱空間が設置され、前記円柱空間の中には前記円柱空間の中で摺動できる連結ブロックが設置され、前記連結ブロックの右面には前記従動空間の右壁と連結された牽引力ばねが固定的に設置され、
本願発明は前記伝動機構によって動力が提供され、そして前記昇降機構によって穿孔高度を定位し、最後に前記回転穿孔機構でドリルを回し、かつ前記送り機構で穿孔方向へドリルを送ることで、穿孔作業を行う。 The robot for automatic drilling described in the present application includes an outer shell, a transmission space is installed at the inner lower end of the outer shell, a rotating space is installed at the inner right end of the outer shell, and a rotating space is installed on the left side of the rotating space. A turning space is installed, a transmission mechanism capable of providing power to the present invention is installed in the transmission space, a rotary drilling mechanism capable of drilling is installed in the rotation space, and a rotary drilling mechanism capable of drilling is installed at the inner left end of the transmission space. Is equipped with an elevating mechanism with a localization function, and a feed mechanism that can control the advance of the drill is installed in the turning space.
The feed mechanism includes a fixed block that is located in the rotating space and can slide up and down in the rotating space, a driven space is installed in the fixed block, and the left and right walls of the driven space A moving shaft whose left end extends outside the present invention is rotatably connected, and a first bevel gear located in the driven space is connected to the right end of the moving shaft with a key. An annular space that opens to the right is installed inside, a sliding block that can slide in the annular space is installed in the annular space, and a fixing rod is fixed on the right surface of the sliding block. The right surface of the fixed rod is fixedly connected to the right wall of the driven space, a moving space that opens downward is installed on the upper wall of the turning space, and the moving space is contained in the moving space. A moving block that can slide left and right in the space is installed, an elastic spring connected to the left wall of the moving space is fixedly installed on the left surface of the moving block, and above the lower wall of the turning space. A position movement space that opens in is installed, a position movement block that can slide left and right in the position movement space is installed in the position movement space, and a position movement block that can slide left and right in the position movement space is installed on the left surface of the position movement space. A repositioning spring connected to the left wall is fixedly installed, a tow rope is fixedly connected to the left surface of the position moving block, and a rotating rod is fixedly connected to the upper surface of the position moving block and the lower surface of the moving block. It is fixedly connected, an obstruction ring located on the left side of the turning rod is installed on the moving shaft, a rotating shaft is rotatably connected to the upper and lower walls of the transmission space, and meshes with the lower end of the rotating shaft. A gear is installed, a reel is installed at the upper end of the rotating shaft, the tow rope is connected to the reel, a rotating rod is rotatably connected to the front and rear walls of the transmission space, and the rotating rod is connected to the rotating rod. A fixed slide is installed, the tow rope is guided by the fixed slide, a columnar space opening to the right is installed at the right end of the moving shaft, and the columnar space slides in the columnar space. A connecting block that can be connected is installed, and a traction force spring connected to the right wall of the driven space is fixedly installed on the right surface of the connecting block.
In the present invention, power is provided by the transmission mechanism, the drilling altitude is localized by the elevating mechanism, and finally the drill is rotated by the rotary drilling mechanism and the drill is fed in the drilling direction by the feeding mechanism. I do.

前記伝動機構は前記伝動空間の下壁に固定されたモータを含み、前記モータの上端には伝動軸が伝動可能に連結され、前記伝動軸の上端には摺動歯車がキーで連結され、前記摺動歯車の中には上方に開口する摺動空間が設置され、前記摺動空間の中には前記摺動空間の中で摺動できるスライダが設置され、前記スライダの上面には細縄が固定的に連結され、前記伝動軸の下端には駆動プーリが設置され、前記駆動プーリにはベルトが連結されている。 The transmission mechanism includes a motor fixed to the lower wall of the transmission space, a transmission shaft is movably connected to the upper end of the motor, and a sliding gear is connected to the upper end of the transmission shaft with a key. A sliding space that opens upward is installed in the sliding gear, a slider that can slide in the sliding space is installed in the sliding space, and a narrow rope is placed on the upper surface of the slider. It is fixedly connected, a drive pulley is installed at the lower end of the transmission shaft, and a belt is connected to the drive pulley.

前記昇降機構は、前記伝動空間の下壁に回転可能に連結されかつ前記伝動軸の左側に位置する旋転軸を含み、前記旋転軸の下端には前記摺動歯車と?み合うように連結された従動歯車が設置され、前記旋転軸の上端には第二傘歯車が設置され、前記伝動空間の右壁には回転棒が回転可能に連結され、前記回転棒の右端には前記第二傘歯車と?み合うように連結された第三傘歯車が設置され、前記回転棒の左端には旋転歯車が設置され、前記回し空間の左側には左右に開口する昇降空間が設置され、前記伝動空間の左端下壁にはラックが貫通になるように連結され、前記ラックの上端は前記昇降空間の中に延在し、かつ前記ラックの前面は前記旋転歯車と?み合うように連結され、前記ラックの上面には前記昇降空間の中で摺動できる昇降ブロックが固定的に設置され、前記移動軸の左端にはセンサが固定的に設置され、前記移動軸の左面にはドリルが固定的に設置され、前記伝動空間の上壁の中には磁性空間が設置され、前記磁性空間の上端には固定磁性ブロックが固定的に設置され、前記磁性空間の下端には前記磁性空間の中で上下に摺動できる移動磁性ブロックが設置され、前記移動磁性ブロックの下面は前記細縄の一端と固定的に連結されている。 The elevating mechanism includes a rotating shaft rotatably connected to the lower wall of the transmission space and located on the left side of the transmission shaft, and is connected to the lower end of the rotation shaft so as to mesh with the sliding gear. A driven gear is installed, a second umbrella gear is installed at the upper end of the rotating shaft, a rotating rod is rotatably connected to the right wall of the transmission space, and the second umbrella is rotatably connected to the right end of the rotating rod. A third umbrella gear connected so as to mesh with the gear is installed, a rotating gear is installed at the left end of the rotating rod, and an elevating space that opens to the left and right is installed on the left side of the rotating space. The lower wall at the left end of the space is connected so that the rack penetrates, the upper end of the rack extends into the elevating space, and the front surface of the rack is connected so as to mesh with the rotating gear. An elevating block that can slide in the elevating space is fixedly installed on the upper surface of the rack, a sensor is fixedly installed on the left end of the moving shaft, and a drill is fixed on the left surface of the moving shaft. A magnetic space is installed in the upper wall of the transmission space, a fixed magnetic block is fixedly installed at the upper end of the magnetic space, and a fixed magnetic block is fixedly installed at the lower end of the magnetic space in the magnetic space. A moving magnetic block that can slide up and down is installed, and the lower surface of the moving magnetic block is fixedly connected to one end of the narrow rope.

前記回転穿孔機構は、前記伝動空間の右端下壁に回転可能に連結されかつ上端が前記回転空間の上壁と回転可能に連結された回動軸を含み、前記回動軸の下端には前記伝動空間の中に位置する従動プーリが設置され、前記従動プーリは前記ベルトを通じて前記駆動プーリと連結され、前記回動軸の上端には一端が前記回転空間の中に位置する歯車軸が設置され、前記従動空間の上壁には回動棒が回転可能に連結され、前記回動棒の上端には回転歯車が設置され、前記回転歯車は前記歯車軸を通じて前記回動軸と?み合うように連結され、前記回動棒の下端には前記第一傘歯車と?み合うように連結された第四傘歯車が設置されている。 The rotary drilling mechanism includes a rotary shaft rotatably connected to the lower right end wall of the transmission space and rotatably connected to the upper wall of the rotary space at the upper end, and the lower end of the rotary shaft includes the rotary shaft. A driven pulley located in the transmission space is installed, the driven pulley is connected to the drive pulley through the belt, and a gear shaft having one end located in the rotating space is installed at the upper end of the rotating shaft. A rotary rod is rotatably connected to the upper wall of the driven space, a rotary gear is installed at the upper end of the rotary rod, and the rotary gear meshes with the rotary shaft through the gear shaft. A fourth bevel gear is installed at the lower end of the rotating rod, which is connected to the first bevel gear so as to mesh with the first bevel gear.

はじめに、前記固定磁性ブロックと前記移動磁性ブロックとの間には磁性による吸引力がなく、前記摺動歯車と前記従動歯車とは噛み合い、前記摺動歯車と前記噛合歯車とは噛み合っていない。 First, there is no magnetic attraction between the fixed magnetic block and the moving magnetic block, the sliding gear and the driven gear mesh with each other, and the sliding gear and the meshing gear do not mesh with each other.

はじめに、前記回し棒は前記移動空間と前記復位ばねとによって前記回し空間の右側に位置し、前記回し棒は前記妨害リングに対して推力がない。 First, the turning rod is located on the right side of the turning space by the moving space and the repositioning spring, and the turning rod has no thrust against the disturbing ring.

本発明は以下のプラス効果を有する：本願発明はシンプルな構成と簡単な操作方法を有し、作業時に、自動的に予めに設定された穿孔高度を感知し、そして自動的に穿孔を行い、穿孔が終わったあと、本願発明は自動的にドリルを壁面から取り出し、明らかに、本願発明は壁面の異なる高度位置に穿孔を行うことができ、人工操作に代わって危険作業を行える。 The present invention has the following positive effects: The present invention has a simple configuration and a simple operation method, automatically senses a preset drilling altitude during work, and automatically drills. After the perforation is finished, the present invention automatically removes the drill from the wall surface, and obviously the present invention can perform perforation at different altitude positions on the wall surface, and can perform dangerous work instead of artificial operation.

下記に図１〜４を合わせて本発明について詳しく説明し、便利に説明するために、下記の方向を以下のように規定する：図１は本発明装置の正面図であり、以下に述べる上下左右前後の方向と図１の自身投影関係の上下左右前後の方向とが一致である。 In order to explain the present invention in detail with reference to FIGS. 1 to 4 below and to explain the present invention in a convenient manner, the following directions are defined as follows: FIG. 1 is a front view of the apparatus of the present invention, and is described above and below. The left-right front-back direction and the up-down, left-right front-back direction of the self-projection relationship in FIG. 1 are the same.

図１は本願発明の実施例の構成略図FIG. 1 is a schematic configuration diagram of an embodiment of the present invention. 図２は図１におけるＡ―Ａ部の構成略図FIG. 2 is a schematic configuration diagram of parts AA in FIG. 図３は図１におけるＢ―Ｂ部の構成略図FIG. 3 is a schematic configuration diagram of a portion BB in FIG. 図４は図１におけるＣ部の構成略図FIG. 4 is a schematic configuration diagram of part C in FIG.

図１〜図４を合わせ、本願に記載の自動穿孔用ロボットは、外殻１０を含み、前記外殻１０の内部下端には伝動空間５３が設置され、前記外殻１０の内部右端には回転空間４６が設置され、前記回転空間４６の左側には回し空間４４が設置され、前記伝動空間５３の中には本願発明に動力を提供できる伝動機構２０が設置され、前記回転空間４６の中には穿孔を行える回転穿孔機構６６が設置され、前記伝動空間５３の内部左端には定位機能を有する昇降機構６８が設置され、前記回し空間４４の中にはドリルの前進を制御できる送り機構６７が設置され、
前記送り機構６７は前記回転空間４６の中に位置しかつ前記回転空間４６の中で上下に摺動できる固定ブロック７３を含み、前記固定ブロック７３の中には従動空間４５が設置され、前記従動空間４５の左右壁には左端が本願発明の外に延在する移動軸５１が回転可能に連結され、前記移動軸５１の右端には前記従動空間４５の中に位置する第一傘歯車５２がキーで連結され、前記第一傘歯車５２の中には右方に開口する環状空間７０が設置され、前記環状空間７０の中には前記環状空間７０の中で摺動できる摺動ブロック７１が設置され、前記摺動ブロック７１の右面には固定棒７２が固定的に設置され、前記固定棒７２の右面は前記従動空間４５の右壁と固定的に連結され、前記回し空間４４の上壁には下方に開口する移動空間４０が設置され、前記移動空間４０の中には前記移動空間４０の中で左右に摺動できる移動ブロック４１が設置され、前記移動ブロック４１の左面には前記移動空間４０の左壁と連結された弾力ばね３９が固定的に設置され、前記回し空間４４の下壁には上方に開口する位置移動空間６４が設置され、前記位置移動空間６４の中には前記位置移動空間６４の中で左右に摺動できる位置移動ブロック６５が設置され、前記位置移動ブロック６５の左面には前記位置移動空間６４の左壁と連結された復位ばね６３が固定的に設置され、前記位置移動ブロック６５の左面には引縄６２が固定的に連結され、前記位置移動ブロック６５の上面と前記移動ブロック４１の下面とには回し棒４２が固定的に連結され、前記移動軸５１には前記回し棒４２の左側に位置する妨害リング４３が設置され、前記伝動空間５３の上下壁には回転軸７９が回転可能に連結され、前記回転軸７９の下端には噛合歯車１５が設置され、前記回転軸７９の上端にはリール１１が設置され、前記リール１１には前記引縄６２が連結され、前記伝動空間５３の前後壁には旋転棒１４が回転可能に連結され、前記旋転棒１４には定滑車１２が設置され、前記引縄６２は前記定滑車１２によって案内され、前記移動軸５１の右端には右方に開口する円柱空間７６が設置され、前記円柱空間７６の中には前記円柱空間７６の中で摺動できる連結ブロック７８が設置され、前記連結ブロック７８の右面には前記従動空間４５の右壁と連結された牽引力ばね７７が固定的に設置され、
本願発明は前記伝動機構２０によって動力が提供され、そして前記昇降機構６８によって穿孔高度を定位し、最後に前記回転穿孔機構６６でドリルを回し、かつ前記送り機構６７で穿孔方向へドリルを送ることで、穿孔作業を行う。 The automatic drilling robot described in the present application includes the outer shell 10, a transmission space 53 is installed at the inner lower end of the outer shell 10, and the robot rotates at the inner right end of the outer shell 10. A space 46 is installed, a rotating space 44 is installed on the left side of the rotating space 46, a transmission mechanism 20 capable of providing power to the present invention is installed in the transmission space 53, and a transmission mechanism 20 capable of providing power to the present invention is installed in the transmission space 46. A rotary drilling mechanism 66 capable of drilling is installed, an elevating mechanism 68 having a localization function is installed at the inner left end of the transmission space 53, and a feed mechanism 67 capable of controlling the advance of the drill is installed in the rotating space 44. Installed,
The feed mechanism 67 includes a fixed block 73 that is located in the rotating space 46 and can slide up and down in the rotating space 46, and a driven space 45 is installed in the fixed block 73, and the driven space 45 is installed. A moving shaft 51 whose left end extends outside the present invention is rotatably connected to the left and right walls of the space 45, and a first umbrella gear 52 located in the driven space 45 is connected to the right end of the moving shaft 51. An annular space 70 that is connected by a key and opens to the right is installed in the first umbrella gear 52, and a sliding block 71 that can slide in the annular space 70 is installed in the annular space 70. The fixed rod 72 is fixedly installed on the right surface of the sliding block 71, and the right surface of the fixed rod 72 is fixedly connected to the right wall of the driven space 45, and the upper wall of the turning space 44 is fixedly connected. A moving space 40 that opens downward is installed in the moving space 40, a moving block 41 that can slide left and right in the moving space 40 is installed in the moving space 40, and the movement is on the left surface of the moving block 41. An elastic spring 39 connected to the left wall of the space 40 is fixedly installed, a position moving space 64 that opens upward is installed on the lower wall of the turning space 44, and the above-mentioned position moving space 64 is included. A position moving block 65 that can slide left and right in the position moving space 64 is installed, and a repositioning spring 63 connected to the left wall of the position moving space 64 is fixedly installed on the left surface of the position moving block 65. A tow rope 62 is fixedly connected to the left surface of the position moving block 65, and a turning rod 42 is fixedly connected to the upper surface of the position moving block 65 and the lower surface of the moving block 41, and the moving shaft. An obstruction ring 43 located on the left side of the turning rod 42 is installed in 51, a rotating shaft 79 is rotatably connected to the upper and lower walls of the transmission space 53, and a meshing gear 15 is connected to the lower end of the rotating shaft 79. A reel 11 is installed at the upper end of the rotating shaft 79, the tow rope 62 is connected to the reel 11, and a rotating rod 14 is rotatably connected to the front and rear walls of the transmission space 53. A constant slide 12 is installed on the turning rod 14, the tow rope 62 is guided by the constant slide 12, and a columnar space 76 that opens to the right is installed at the right end of the moving shaft 51. A connecting block 78 slidable in the columnar space 76 is installed inside, and a traction force spring 77 connected to the right wall of the driven space 45 is fixedly installed on the right surface of the connecting block 78.
In the present invention, power is provided by the transmission mechanism 20, the drilling altitude is localized by the elevating mechanism 68, and finally the drill is rotated by the rotary drilling mechanism 66 and the drill is fed in the drilling direction by the feeding mechanism 67. Then, perform drilling work.

好ましくは、前記伝動機構２０は前記伝動空間５３の下壁に固定されたモータ１９を含み、前記モータ１９の上端には伝動軸１８が伝動可能に連結され、前記伝動軸１８の上端には摺動歯車２２がキーで連結され、前記摺動歯車２２の中には上方に開口する摺動空間１６が設置され、前記摺動空間１６の中には前記摺動空間１６の中で摺動できるスライダ２１が設置され、前記スライダ２１の上面には細縄２３が固定的に連結され、前記伝動軸１８の下端には駆動プーリ１７が設置され、前記駆動プーリ１７にはベルト１３が連結されている。 Preferably, the transmission mechanism 20 includes a motor 19 fixed to the lower wall of the transmission space 53, a transmission shaft 18 is movably connected to the upper end of the motor 19, and a slide is attached to the upper end of the transmission shaft 18. The moving gear 22 is connected by a key, a sliding space 16 that opens upward is installed in the sliding gear 22, and the sliding space 16 can slide in the sliding space 16. A slider 21 is installed, a narrow rope 23 is fixedly connected to the upper surface of the slider 21, a drive pulley 17 is installed at the lower end of the transmission shaft 18, and a belt 13 is connected to the drive pulley 17. There is.

好ましくは、前記昇降機構６８は、前記伝動空間５３の下壁に回転可能に連結されかつ前記伝動軸１８の左側に位置する旋転軸２５を含み、前記旋転軸２５の下端には前記摺動歯車２２と?み合うように連結された従動歯車２６が設置され、前記旋転軸２５の上端には第二傘歯車３０が設置され、前記伝動空間５３の右壁には回転棒２８が回転可能に連結され、前記回転棒２８の右端には前記第二傘歯車３０と?み合うように連結された第三傘歯車２７が設置され、前記回転棒２８の左端には旋転歯車２９が設置され、前記回し空間４４の左側には左右に開口する昇降空間３５が設置され、前記伝動空間５３の左端下壁にはラック３１が貫通になるように連結され、前記ラック３１の上端は前記昇降空間３５の中に延在し、かつ前記ラック３１の前面は前記旋転歯車２９と?み合うように連結され、前記ラック３１の上面には前記昇降空間３５の中で摺動できる昇降ブロック３４が固定的に設置され、前記移動軸５１の左端にはセンサ３３が固定的に設置され、前記移動軸５１の左面にはドリル３２が固定的に設置され、前記伝動空間５３の上壁の中には磁性空間３７が設置され、前記磁性空間３７の上端には固定磁性ブロック３６が固定的に設置され、前記磁性空間３７の下端には前記磁性空間３７の中で上下に摺動できる移動磁性ブロック３８が設置され、前記移動磁性ブロック３８の下面は前記細縄２３の一端と固定的に連結されている。 Preferably, the elevating mechanism 68 includes a rotating shaft 25 rotatably connected to the lower wall of the transmission space 53 and located on the left side of the transmission shaft 18, and the sliding gear is located at the lower end of the rotating shaft 25. A driven gear 26 connected so as to mesh with 22 is installed, a second bevel gear 30 is installed at the upper end of the rotating shaft 25, and a rotating rod 28 is rotatable on the right wall of the transmission space 53. A third bevel gear 27 that is connected and connected so as to mesh with the second bevel gear 30 is installed at the right end of the rotary rod 28, and a rotary gear 29 is installed at the left end of the rotary rod 28. An elevating space 35 that opens to the left and right is installed on the left side of the turning space 44, and is connected to the lower wall at the left end of the transmission space 53 so that the rack 31 penetrates, and the upper end of the rack 31 is the elevating space 35. The front surface of the rack 31 is connected to the rotating gear 29 so as to be in mesh with the rotating gear 29, and an elevating block 34 slidable in the elevating space 35 is fixed to the upper surface of the rack 31. A sensor 33 is fixedly installed at the left end of the moving shaft 51, a drill 32 is fixedly installed on the left surface of the moving shaft 51, and magnetic inside the upper wall of the transmission space 53. A space 37 is installed, a fixed magnetic block 36 is fixedly installed at the upper end of the magnetic space 37, and a moving magnetic block 38 that can slide up and down in the magnetic space 37 is installed at the lower end of the magnetic space 37. The lower surface of the moving magnetic block 38 is fixedly connected to one end of the narrow rope 23.

好ましくは、前記回転穿孔機構６６は、前記伝動空間５３の右端下壁に回転可能に連結されかつ上端が前記回転空間４６の上壁と回転可能に連結された回動軸４７を含み、前記回動軸４７の下端には前記伝動空間５３の中に位置する従動プーリ６１が設置され、前記従動プーリ６１は前記ベルト１３を通じて前記駆動プーリ１７と連結され、前記回動軸４７の上端には一端が前記回転空間４６の中に位置する歯車軸８０が設置され、前記従動空間４５の上壁には回動棒４９が回転可能に連結され、前記回動棒４９の上端には回転歯車４８が設置され、前記回転歯車４８は前記歯車軸８０を通じて前記回動軸４７と?み合うように連結され、前記回動棒４９の下端には前記第一傘歯車５２と?み合うように連結された第四傘歯車５０が設置されている。 Preferably, the rotary drilling mechanism 66 includes a rotary shaft 47 rotatably connected to the lower right end wall of the transmission space 53 and rotatably connected to the upper wall of the rotary space 46 at the upper end. A driven pulley 61 located in the transmission space 53 is installed at the lower end of the driving shaft 47, the driven pulley 61 is connected to the drive pulley 17 through the belt 13, and one end is at the upper end of the rotating shaft 47. A gear shaft 80 is installed in the rotating space 46, a rotating rod 49 is rotatably connected to the upper wall of the driven space 45, and a rotating gear 48 is rotatably connected to the upper end of the rotating rod 49. The rotary gear 48 is installed and is connected to the rotary shaft 47 through the gear shaft 80 so as to mesh with the rotary shaft 47, and is connected to the lower end of the rotary rod 49 so as to mesh with the first bevel gear 52. The fourth umbrella gear 50 is installed.

好ましくは、はじめに、前記固定磁性ブロック３６と前記移動磁性ブロック３８との間には磁性による吸引力がなく、前記摺動歯車２２と前記従動歯車２６とは噛み合い、前記摺動歯車２２と前記噛合歯車１５とは噛み合っていない。 Preferably, first, there is no magnetic attraction between the fixed magnetic block 36 and the moving magnetic block 38, the sliding gear 22 and the driven gear 26 mesh with each other, and the sliding gear 22 and the meshing with the sliding gear 22. It does not mesh with the gear 15.

好ましくは、はじめに、前記回し棒４２は前記移動空間４０と前記復位ばね６３とによって前記回し空間４４の右側に位置し、前記回し棒４２は前記妨害リング４３に対して推力がない。 Preferably, first, the turning rod 42 is located on the right side of the turning space 44 by the moving space 40 and the repositioning spring 63, and the turning rod 42 has no thrust against the disturbing ring 43.

本願発明の作動手順は以下の通りである。 The operating procedure of the present invention is as follows.

１、モータ１９を作動させて伝動軸１８を回転させ、そして駆動プーリ１７と摺動歯車２２とは駆動されて回転し、駆動プーリ１７は回転してベルト１３によって従動プーリ６１を駆動して回転させ、そして回動軸４７は駆動されて回転し、さらに歯車軸８０を通じて回転歯車４８を駆動して回転させ、回転歯車４８は回転して回動棒４９と第四傘歯車５０とを駆動して回転させ、第四傘歯車５０は回転して第一傘歯車５２を駆動して回転させ、そして移動軸５１は駆動されて回転し、ドリル３２を駆動して回転させる。 1. The motor 19 is operated to rotate the transmission shaft 18, and the drive pulley 17 and the sliding gear 22 are driven to rotate, and the drive pulley 17 is rotated to drive the driven pulley 61 by the belt 13 to rotate. Then, the rotating shaft 47 is driven to rotate, and further drives and rotates the rotating gear 48 through the gear shaft 80, and the rotating gear 48 rotates to drive the rotating rod 49 and the fourth umbrella gear 50. The fourth umbrella gear 50 rotates to drive and rotate the first umbrella gear 52, and the moving shaft 51 is driven to rotate and drives the drill 32 to rotate.

２、摺動歯車２２は回転して従動歯車２６を駆動して回転させ、そして旋転軸２５と旋転軸２５の上端にある第二傘歯車３０とは駆動されて回転し、第二傘歯車３０は回転して第三傘歯車２７を駆動して回転させ、そして回転棒２８と回転棒２８にある旋転歯車２９とは駆動されて回転し、旋転歯車２９は回転してラック３１を駆動して上昇させ、そして昇降ブロック３４は押されて昇降空間３５の中で上昇し、移動軸５１と固定ブロック７３とを駆動して上昇させる。 2. The sliding gear 22 rotates to drive and rotate the driven gear 26, and the rotating shaft 25 and the second cap gear 30 at the upper end of the rotating shaft 25 are driven to rotate, and the second cap gear 30 Rotates to drive and rotate the third bevel gear 27, and the rotary rod 28 and the rotary gear 29 on the rotary rod 28 are driven to rotate, and the rotary gear 29 rotates to drive the rack 31. The elevating block 34 is pushed to elevate in the elevating space 35, driving the moving shaft 51 and the fixed block 73 to elevate.

３、移動軸５１が所要高度位置まで上昇したとき、センサ３３が始動し、この時、固定磁性ブロック３６と移動磁性ブロック３８とは互いに吸収し、移動磁性ブロック３８は吸引力によって磁性空間３７の中で上昇し、細縄２３を引き締め、摺動歯車２２は細縄２３に引かれて上昇し、そして従動歯車２６と噛み合わなくなり、従動歯車２６は回転を止め、移動軸５１は上昇を止め、そして摺動歯車２２は噛合歯車１５と噛み合い、噛合歯車１５を駆動して回転させ、噛合歯車１５は回転して回転軸７９と回転軸７９の上端にあるリール１１とを駆動して回転させ、そして引縄６２を引き締め、回し棒４２と移動ブロック４１とはさらに引かれて左方へ運動し、回し棒４２は左方へ運動して妨害リング４３を押し、そして移動軸５１と移動軸５１の左端にあるドリル３２とは押されて左方へ運動し、穿孔をはじめる。 3. When the moving shaft 51 rises to the required altitude position, the sensor 33 starts. At this time, the fixed magnetic block 36 and the moving magnetic block 38 absorb each other, and the moving magnetic block 38 absorbs the moving magnetic block 38 from the magnetic space 37 by the attractive force. Ascending inside, tightening the narrow rope 23, the sliding gear 22 being pulled by the narrow rope 23 and ascending, and disengaging with the driven gear 26, the driven gear 26 stopped rotating, the moving shaft 51 stopped ascending, and so on. Then, the sliding gear 22 meshes with the meshing gear 15 to drive and rotate the meshing gear 15, and the meshing gear 15 rotates to drive and rotate the rotary shaft 79 and the reel 11 at the upper end of the rotary shaft 79. Then, the tow rope 62 is tightened, the turning rod 42 and the moving block 41 are further pulled and move to the left, the turning rod 42 moves to the left to push the obstruction ring 43, and the moving shaft 51 and the moving shaft 51 The drill 32 at the left end of the gear is pushed and moves to the left to start drilling.

４、穿孔が終わったあと、モータ１９を作動させて逆回転させ、伝動により、リール１１は逆回転して引縄６２を緩め、位置移動ブロック６５は引縄６２による牽引力をなくし、復位ばね６３によって右方へ運動し復位し、移動軸５１は回し棒４２による推力をなくし、牽引力ばね７７によって右方へ運動し復位し、ドリル３２が復位したあとに、センサ３３を止め、固定磁性ブロック３６と移動磁性ブロック３８とは互いに吸引しなくなり、移動磁性ブロック３８は重力によって降下し復位し、細縄２３は緩み、摺動歯車２２は細縄２３による牽引力をなくし、重力によって降下し復位し、そして改めて従動歯車２６と噛み合い、さらに従動歯車２６を駆動して逆回転させ、伝動により、移動軸５１と固定ブロック７３とは駆動されて降下し復位し、そしてモータ１９を止め、操作を完了とする。 4. After the drilling is completed, the motor 19 is operated to rotate in the reverse direction, the reel 11 rotates in the reverse direction to loosen the tow rope 62, the position moving block 65 eliminates the traction force by the tow rope 62, and the return spring 63. The moving shaft 51 loses the thrust force of the rotating rod 42, moves to the right by the traction force spring 77 and returns to the right position, and after the drill 32 returns to the right position, the sensor 33 is stopped and the fixed magnetic block 36 is stopped. And the moving magnetic block 38 do not attract each other, the moving magnetic block 38 descends and returns due to gravity, the narrow rope 23 loosens, the sliding gear 22 loses the traction force by the thin rope 23, and descends and returns due to gravity. Then, it meshes with the driven gear 26 again, further drives the driven gear 26 to rotate in the reverse direction, and by transmission, the moving shaft 51 and the fixed block 73 are driven to descend and reposition, and the motor 19 is stopped to complete the operation. To do.

以上の実施例はあくまで本発明の技術的思想と特徴を説明するためのものであり、本分野の技術者に本発明を理解できることと実施できることを目的とし、本発明を限定するためのものではなく、本発明の意義と原則のもとで行われたいかなる修正と、等価置換と改善などは本発明の保護範囲に含まれるべきである。 The above examples are merely for explaining the technical idea and features of the present invention, and are intended to allow engineers in the field to understand and implement the present invention, and are not intended to limit the present invention. However, any modifications, equivalent substitutions and improvements made under the significance and principles of the invention should be included in the scope of protection of the invention.

本願発明はロボット分野を取り上げ、特に自動穿孔用ロボットに関わる。 The present invention takes up the field of robots, and particularly relates to robots for automatic drilling.

工業又は建築業において、穿孔設備はよく使用されている。穿孔設備を利用することで、マシンや壁面に対して、需要に応じて異なる高度位置に穿孔を行える。現段階において、穿孔設備の使用は基本的に操作員が手持で操作し、異なる高度位置に穿孔を行うとき、安全問題を引き起こしやすく、また、人工操作は精確さが足りない。 Drilling equipment is commonly used in the industry or construction industry. By using the drilling equipment, it is possible to drill at different altitude positions on the machine or wall surface according to demand. At this stage, the use of drilling equipment is basically hand-held by the operator and is prone to safety problems when drilling at different altitudes, and artificial operations are inaccurate.

中国特許出願公開第１００５６７６９４号明細書Chinese Patent Application Publication No. 100567694

自動穿孔用ロボットを提供し、人工操作による安全問題や精確さ問題を解決し、作業の安全性と穿孔の精確さとを向上させることを目的とする。 The purpose is to provide a robot for automatic drilling, solve safety problems and accuracy problems caused by artificial operations, and improve work safety and drilling accuracy.

本願発明は以下の技術的解決策で実現される。 The present invention is realized by the following technical solutions.

本願に記載の自動穿孔用ロボットは、外殻を含み、前記外殻の内部下端には伝動空間が設置され、前記外殻の内部右端には回転空間が設置され、前記回転空間の左側には回し空間が設置され、前記伝動空間の中には動力を提供できる伝動機構が設置され、前記回転空間の中には穿孔を行える回転穿孔機構が設置され、前記伝動空間の内部左端には定位機能を有する昇降機構が設置され、前記回し空間の中にはドリルの前進を制御できる送り機構が設置され、前記送り機構は前記回転空間の中に位置しかつ前記回転空間の中で上下に摺動できる固定ブロックを含み、前記固定ブロックの中には従動空間が設置され、前記従動空間の左右壁には左端が前記外殻の外に延在する移動軸が回転可能に連結され、前記移動軸の右端には前記従動空間の中に位置する第一傘歯車がキーで連結され、前記第一傘歯車の中には右方に開口する環状空間が設置され、前記環状空間の中には前記環状空間の中で摺動できる摺動ブロックが設置され、前記摺動ブロックの右面には固定棒が固定的に設置され、前記固定棒の右面は前記従動空間の右壁と固定的に連結され、前記回し空間の上壁には下方に開口する移動空間が設置され、前記移動空間の中には前記移動空間の中で左右に摺動できる移動ブロックが設置され、前記移動ブロックの左面には前記移動空間の左壁と連結された弾力ばねが固定的に設置され、前記回し空間の下壁には上方に開口する位置移動空間が設置され、前記位置移動空間の中には前記位置移動空間の中で左右に摺動できる位置移動ブロックが設置され、前記位置移動ブロックの左面には前記位置移動空間の左壁と連結された復位ばねが固定的に設置され、前記位置移動ブロックの左面には引縄が固定的に連結され、前記位置移動ブロックの上面と前記移動ブロックの下面とには回し棒が固定的に連結され、前記移動軸には前記回し棒の左側に位置する妨害リングが設置され、前記伝動空間の上下壁には回転軸が回転可能に連結され、前記回転軸の下端には噛合歯車が設置され、前記回転軸の上端にはリールが設置され、前記リールには前記引縄が連結され、前記伝動空間の前後壁には旋転棒が回転可能に連結され、前記旋転棒には定滑車が設置され、前記引縄は前記定滑車によって案内され、前記移動軸の右端には右方に開口する円柱空間が設置され、前記円柱空間の中には前記円柱空間の中で摺動できる連結ブロックが設置され、
前記連結ブロックの右面には前記従動空間の右壁と連結された牽引力ばねが固定的に設置され、前記伝動機構によって動力が提供され、そして前記昇降機構によって穿孔高度を定位し、最後に前記回転穿孔機構でドリルを回し、かつ前記送り機構で穿孔方向へドリルを送ることで、穿孔作業を行う。 The automatic drilling robot described in the present application includes an outer shell, a transmission space is installed at the inner lower end of the outer shell, a rotating space is installed at the inner right end of the outer shell, and a rotating space is installed on the left side of the rotating space. A turning space is installed, a transmission mechanism capable of providing power is installed in the transmission space, a rotation drilling mechanism capable of drilling is installed in the rotation space, and a localization function is installed at the inner left end of the transmission space. An elevating mechanism is installed, and a feed mechanism capable of controlling the advance of the drill is installed in the rotation space, and the feed mechanism is located in the rotation space and slides up and down in the rotation space. A driven space is installed in the fixed block, and a moving shaft whose left end extends outside the outer shell is rotatably connected to the left and right walls of the driven space. The first umbrella gear located in the driven space is connected by a key to the right end of the above, an annular space opening to the right is installed in the first umbrella gear, and the annular space is inside the annular space. A sliding block that can slide in the annular space is installed, a fixed rod is fixedly installed on the right surface of the sliding block, and the right surface of the fixed rod is fixedly connected to the right wall of the driven space. A moving space that opens downward is installed on the upper wall of the turning space, a moving block that can slide left and right in the moving space is installed in the moving space, and a moving block that can slide left and right in the moving space is installed on the left surface of the moving block. An elastic spring connected to the left wall of the moving space is fixedly installed, a position moving space that opens upward is installed on the lower wall of the turning space, and the position moving space is contained in the position moving space. A position moving block that can slide left and right is installed in the space, and a repositioning spring connected to the left wall of the position moving space is fixedly installed on the left side of the position moving block, and is fixedly installed on the left side of the position moving block. The tow rope is fixedly connected, the turning rod is fixedly connected to the upper surface of the position moving block and the lower surface of the moving block, and the moving shaft has an obstruction ring located on the left side of the turning rod. A rotating shaft is rotatably connected to the upper and lower walls of the transmission space, a meshing gear is installed at the lower end of the rotating shaft, a reel is installed at the upper end of the rotating shaft, and the reel is equipped with the above. A tow rope is connected, a rotating rod is rotatably connected to the front and rear walls of the transmission space, a constant slide is installed on the rotating rod, the tow rope is guided by the constant slide, and the right end of the moving shaft. A columnar space that opens to the right is installed in the columnar space, and a connecting block that can slide in the columnar space is installed in the columnar space. Installed,
A traction spring connected to the right wall of the driven space is fixedly installed on the right surface of the connecting block, power is provided by the transmission mechanism , and the drilling altitude is localized by the elevating mechanism, and finally the rotation. The drilling operation is performed by turning the drill with the drilling mechanism and feeding the drill in the drilling direction with the feeding mechanism.

前記伝動機構は前記伝動空間の下壁に固定されたモータを含み、前記モータの上端には伝動軸が伝動可能に連結され、前記伝動軸の上端には摺動歯車がキーで連結され、前記摺動歯車の中には上方に開口する摺動空間が設置され、前記摺動空間の中には前記摺動空間の中で摺動できるスライダが設置され、前記スライダの上面には細縄が固定的に連結され、前記伝動軸の下端には駆動プーリが設置され、前記駆動プーリにはベルトが連結されている。 The transmission mechanism includes a motor fixed to the lower wall of the transmission space, a transmission shaft is movably connected to the upper end of the motor, and a sliding gear is connected to the upper end of the transmission shaft with a key. A sliding space that opens upward is installed in the sliding gear, a slider that can slide in the sliding space is installed in the sliding space, and a narrow rope is placed on the upper surface of the slider. It is fixedly connected, a drive pulley is installed at the lower end of the transmission shaft, and a belt is connected to the drive pulley.

前記昇降機構は、前記伝動空間の下壁に回転可能に連結されかつ前記伝動軸の左側に位置する旋転軸を含み、前記旋転軸の下端には前記摺動歯車と噛み合うように連結された従動歯車が設置され、前記旋転軸の上端には第二傘歯車が設置され、前記伝動空間の右壁には回転棒が回転可能に連結され、前記回転棒の右端には前記第二傘歯車と噛み合うように連結された第三傘歯車が設置され、前記回転棒の左端には旋転歯車が設置され、前記回し空間の左側には左右に開口する昇降空間が設置され、前記伝動空間の左端下壁にはラックが貫通になるように連結され、前記ラックの上端は前記昇降空間の中に延在し、かつ前記ラックの前面は前記旋転歯車と噛み合うように連結され、前記ラックの上面には前記昇降空間の中で摺動できる昇降ブロックが固定的に設置され、前記移動軸の左端にはセンサが固定的に設置され、前記移動軸の左面にはドリルが固定的に設置され、前記伝動空間の上壁の中には磁性空間が設置され、前記磁性空間の上端には固定磁性ブロックが固定的に設置され、前記磁性空間の下端には前記磁性空間の中で上下に摺動できる移動磁性ブロックが設置され、前記移動磁性ブロックの下面は前記細縄の一端と固定的に連結されている。 The elevating mechanism includes a rotating shaft rotatably connected to the lower wall of the transmission space and located on the left side of the transmission shaft, and a driven drive connected to the lower end of the rotation shaft so as to mesh with the sliding gear. A gear is installed, a second umbrella gear is installed at the upper end of the rotating shaft, a rotating rod is rotatably connected to the right wall of the transmission space, and the second umbrella gear is connected to the right end of the rotating rod. A third bevel gear connected so as to mesh is installed, a rotating gear is installed at the left end of the rotating rod, an elevating space that opens to the left and right is installed on the left side of the turning space, and below the left end of the transmission space. The rack is connected to the wall so as to penetrate, the upper end of the rack extends into the elevating space, and the front surface of the rack is connected so as to mesh with the rotating gear, and is connected to the upper surface of the rack. An elevating block that can slide in the elevating space is fixedly installed, a sensor is fixedly installed at the left end of the moving shaft, and a drill is fixedly installed on the left surface of the moving shaft. A magnetic space is installed in the upper wall of the space, a fixed magnetic block is fixedly installed at the upper end of the magnetic space, and a movement that can slide up and down in the magnetic space is performed at the lower end of the magnetic space. A magnetic block is installed, and the lower surface of the moving magnetic block is fixedly connected to one end of the narrow rope.

前記回転穿孔機構は、前記伝動空間の右端下壁に回転可能に連結されかつ上端が前記回転空間の上壁と回転可能に連結された回動軸を含み、前記回動軸の下端には前記伝動空間の中に位置する従動プーリが設置され、前記従動プーリは前記ベルトを通じて前記駆動プーリと連結され、前記回動軸の上端には一端が前記回転空間の中に位置する歯車軸が設置され、前記従動空間の上壁には回動棒が回転可能に連結され、前記回動棒の上端には回転歯車が設置され、前記回転歯車は前記歯車軸を通じて前記回動軸と噛み合うように連結され、前記回動棒の下端には前記第一傘歯車と噛み合うように連結された第四傘歯車が設置されている。 The rotary drilling mechanism includes a rotary shaft rotatably connected to the lower right end wall of the transmission space and rotatably connected to the upper wall of the rotary space at the upper end, and the lower end of the rotary shaft includes the rotary shaft. A driven pulley located in the transmission space is installed, the driven pulley is connected to the drive pulley through the belt, and a gear shaft having one end located in the rotating space is installed at the upper end of the rotating shaft. A rotary rod is rotatably connected to the upper wall of the driven space, a rotary gear is installed at the upper end of the rotary rod, and the rotary gear is connected through the gear shaft so as to mesh with the rotary shaft. A fourth bevel gear is installed at the lower end of the rotating rod so as to mesh with the first bevel gear.

はじめに、前記固定磁性ブロックと前記移動磁性ブロックとの間には磁性による吸引力がなく、前記摺動歯車と前記従動歯車とは噛み合い、前記摺動歯車と前記噛合歯車とは噛み合っていない。 First, there is no magnetic attraction between the fixed magnetic block and the moving magnetic block, the sliding gear and the driven gear mesh with each other, and the sliding gear and the meshing gear do not mesh with each other.

はじめに、前記回し棒は前記移動空間と前記復位ばねとによって前記回し空間の右側に位置し、前記回し棒は前記妨害リングに対して推力がない。 First, the turning rod is located on the right side of the turning space by the moving space and the repositioning spring, and the turning rod has no thrust against the disturbing ring.

本発明は以下のプラス効果を有する：本願発明はシンプルな構成と簡単な操作方法を有し、作業時に、自動的に予めに設定された穿孔高度を感知し、そして自動的に穿孔を行い、穿孔が終わったあと、本願発明は自動的にドリルを壁面から取り出し、明らかに、本願発明は壁面の異なる高度位置に穿孔を行うことができ、人工操作に代わって危険作業を行える。 The present invention has the following positive effects: The present invention has a simple configuration and a simple operation method, automatically senses a preset drilling altitude during work, and automatically drills. After the perforation is finished, the present invention automatically removes the drill from the wall surface, and obviously the present invention can perform perforation at different altitude positions on the wall surface, and can perform dangerous work instead of artificial operation.

下記に図１〜４を合わせて本発明について詳しく説明し、便利に説明するために、下記の方向を以下のように規定する：図１は本発明装置の正面図であり、以下に述べる上下左右前後の方向と図１の自身投影関係の上下左右前後の方向とが一致である。 In order to explain the present invention in detail with reference to FIGS. 1 to 4 below and to explain the present invention in a convenient manner, the following directions are defined as follows: FIG. 1 is a front view of the apparatus of the present invention, and is described above and below. The left-right front-back direction and the up-down, left-right front-back direction of the self-projection relationship in FIG. 1 are the same.

図１は本願発明の実施例の構成略図FIG. 1 is a schematic configuration diagram of an embodiment of the present invention. 図２は図１におけるＡ―Ａ部の構成略図FIG. 2 is a schematic configuration diagram of parts AA in FIG. 図３は図１におけるＢ―Ｂ部の構成略図FIG. 3 is a schematic configuration diagram of a portion BB in FIG. 図４は図１におけるＣ部の構成略図FIG. 4 is a schematic configuration diagram of part C in FIG.

図１〜図４を合わせ、本願に記載の自動穿孔用ロボットは、外殻１０を含み、前記外殻１０の内部下端には伝動空間５３が設置され、前記外殻１０の内部右端には回転空間４６が設置され、前記回転空間４６の左側には回し空間４４が設置され、前記伝動空間５３の中には動力を提供できる伝動機構２０が設置され、前記回転空間４６の中には穿孔を行える回転穿孔機構６６が設置され、前記伝動空間５３の内部左端には定位機能を有する昇降機構６８が設置され、前記回し空間４４の中にはドリルの前進を制御できる送り機構６７が設置され、前記送り機構６７は前記回転空間４６の中に位置しかつ前記回転空間４６の中で上下に摺動できる固定ブロック７３を含み、前記固定ブロック７３の中には従動空間４５が設置され、前記従動空間４５の左右壁には左端が前記外殻１０の外に延在する移動軸５１が回転可能に連結され、前記移動軸５１の右端には前記従動空間４５の中に位置する第一傘歯車５２がキーで連結され、前記第一傘歯車５２の中には右方に開口する環状空間７０が設置され、前記環状空間７０の中には前記環状空間７０の中で摺動できる摺動ブロック７１が設置され、前記摺動ブロック７１の右面には固定棒７２が固定的に設置され、前記固定棒７２の右面は前記従動空間４５の右壁と固定的に連結され、前記回し空間４４の上壁には下方に開口する移動空間４０が設置され、前記移動空間４０の中には前記移動空間４０の中で左右に摺動できる移動ブロック４１が設置され、前記移動ブロック４１の左面には前記移動空間４０の左壁と連結された弾力ばね３９が固定的に設置され、前記回し空間４４の下壁には上方に開口する位置移動空間６４が設置され、前記位置移動空間６４の中には前記位置移動空間６４の中で左右に摺動できる位置移動ブロック６５が設置され、前記位置移動ブロック６５の左面には前記位置移動空間６４の左壁と連結された復位ばね６３が固定的に設置され、前記位置移動ブロック６５の左面には引縄６２が固定的に連結され、前記位置移動ブロック６５の上面と前記移動ブロック４１の下面とには回し棒４２が固定的に連結され、前記移動軸５１には前記回し棒４２の左側に位置する妨害リング４３が設置され、前記伝動空間５３の上下壁には回転軸７９が回転可能に連結され、前記回転軸７９の下端には噛合歯車１５が設置され、前記回転軸７９の上端にはリール１１が設置され、前記リール１１には前記引縄６２が連結され、前記伝動空間５３の前後壁には旋転棒１４が回転可能に連結され、前記旋転棒１４には定滑車１２が設置され、前記引縄６２は前記定滑車１２によって案内され、前記移動軸５１の右端には右方に開口する円柱空間７６が設置され、前記円柱空間７６の中には前記円柱空間７６の中で摺動できる連結ブロック７８が設置され、前記連結ブロック７８の右面には前記従動空間４５の右壁と連結された牽引力ばね７７が固定的に設置され、前記伝動機構２０によって動力が提供され、そして前記昇降機構６８によって穿孔高度を定位し、最後に前記回転穿孔機構６６でドリルを回し、かつ前記送り機構６７で穿孔方向へドリルを送ることで、穿孔作業を行う。 Together with FIGS. 1 to 4, the automatic drilling robot described in the present application includes an outer shell 10, a transmission space 53 is installed at the inner lower end of the outer shell 10, and rotates at the inner right end of the outer shell 10. A space 46 is installed, a rotating space 44 is installed on the left side of the rotating space 46, a transmission mechanism 20 capable of providing power is installed in the transmission space 53, and a perforation is made in the rotating space 46. A rotary drilling mechanism 66 that can be performed is installed, an elevating mechanism 68 having a localization function is installed at the inner left end of the transmission space 53, and a feed mechanism 67 that can control the advance of the drill is installed in the rotation space 44. The feed mechanism 67 includes a fixed block 73 that is located in the rotating space 46 and can slide up and down in the rotating space 46, and a driven space 45 is installed in the fixed block 73, and the driven space 45 is installed. A moving shaft 51 whose left end extends outside the outer shell 10 is rotatably connected to the left and right walls of the space 45, and a first umbrella gear located in the driven space 45 is connected to the right end of the moving shaft 51. 52 are connected by a key, an annular space 70 opening to the right is installed in the first umbrella gear 52, and a sliding block that can slide in the annular space 70 is installed in the annular space 70. 71 is installed, a fixed rod 72 is fixedly installed on the right surface of the sliding block 71, and the right surface of the fixed rod 72 is fixedly connected to the right wall of the driven space 45, and the turning space 44 A moving space 40 that opens downward is installed on the upper wall, a moving block 41 that can slide left and right in the moving space 40 is installed in the moving space 40, and a moving block 41 that can slide left and right in the moving space 40 is installed on the left surface of the moving block 41. An elastic spring 39 connected to the left wall of the moving space 40 is fixedly installed, and a position moving space 64 that opens upward is installed on the lower wall of the turning space 44, and is contained in the position moving space 64. Is installed with a position moving block 65 that can slide left and right in the position moving space 64, and a repositioning spring 63 connected to the left wall of the position moving space 64 is fixedly mounted on the left surface of the position moving block 65. A tow rope 62 is fixedly connected to the left surface of the position moving block 65, and a turning rod 42 is fixedly connected to the upper surface of the position moving block 65 and the lower surface of the moving block 41. An obstruction ring 43 located on the left side of the turning rod 42 is installed on the moving shaft 51, a rotating shaft 79 is rotatably connected to the upper and lower walls of the transmission space 53, and a meshing gear is connected to the lower end of the rotating shaft 79. 15 is installed, and a reel 11 is installed at the upper end of the rotating shaft 79. Is installed, the tow rope 62 is connected to the reel 11, a rotating rod 14 is rotatably connected to the front and rear walls of the transmission space 53, and a fixed pulley 12 is installed to the rotating rod 14. The tow rope 62 is guided by the fixed pulley 12, and a cylindrical space 76 that opens to the right is installed at the right end of the moving shaft 51, and the cylindrical space 76 can slide in the cylindrical space 76. A connecting block 78 is installed, and a traction force spring 77 connected to the right wall of the driven space 45 is fixedly installed on the right surface of the connecting block 78, power is provided by the transmission mechanism 20 , and the elevating mechanism is provided. The drilling height is localized by 68, and finally the drill is rotated by the rotary drilling mechanism 66 and the drill is fed in the drilling direction by the feeding mechanism 67 to perform the drilling work.

好ましくは、前記伝動機構２０は前記伝動空間５３の下壁に固定されたモータ１９を含み、前記モータ１９の上端には伝動軸１８が伝動可能に連結され、前記伝動軸１８の上端には摺動歯車２２がキーで連結され、前記摺動歯車２２の中には上方に開口する摺動空間１６が設置され、前記摺動空間１６の中には前記摺動空間１６の中で摺動できるスライダ２１が設置され、前記スライダ２１の上面には細縄２３が固定的に連結され、前記伝動軸１８の下端には駆動プーリ１７が設置され、前記駆動プーリ１７にはベルト１３が連結されている。 Preferably, the transmission mechanism 20 includes a motor 19 fixed to the lower wall of the transmission space 53, a transmission shaft 18 is movably connected to the upper end of the motor 19, and a slide is attached to the upper end of the transmission shaft 18. The moving gear 22 is connected by a key, a sliding space 16 that opens upward is installed in the sliding gear 22, and the sliding space 16 can slide in the sliding space 16. A slider 21 is installed, a narrow rope 23 is fixedly connected to the upper surface of the slider 21, a drive pulley 17 is installed at the lower end of the transmission shaft 18, and a belt 13 is connected to the drive pulley 17. There is.

好ましくは、前記昇降機構６８は、前記伝動空間５３の下壁に回転可能に連結されかつ前記伝動軸１８の左側に位置する旋転軸２５を含み、前記旋転軸２５の下端には前記摺動歯車２２と噛み合うように連結された従動歯車２６が設置され、前記旋転軸２５の上端には第二傘歯車３０が設置され、前記伝動空間５３の右壁には回転棒２８が回転可能に連結され、前記回転棒２８の右端には前記第二傘歯車３０と噛み合うように連結された第三傘歯車２７が設置され、前記回転棒２８の左端には旋転歯車２９が設置され、前記回し空間４４の左側には左右に開口する昇降空間３５が設置され、前記伝動空間５３の左端下壁にはラック３１が貫通になるように連結され、前記ラック３１の上端は前記昇降空間３５の中に延在し、かつ前記ラック３１の前面は前記旋転歯車２９と噛み合うように連結され、前記ラック３１の上面には前記昇降空間３５の中で摺動できる昇降ブロック３４が固定的に設置され、前記移動軸５１の左端にはセンサ３３が固定的に設置され、前記移動軸５１の左面にはドリル３２が固定的に設置され、前記伝動空間５３の上壁の中には磁性空間３７が設置され、前記磁性空間３７の上端には固定磁性ブロック３６が固定的に設置され、前記磁性空間３７の下端には前記磁性空間３７の中で上下に摺動できる移動磁性ブロック３８が設置され、前記移動磁性ブロック３８の下面は前記細縄２３の一端と固定的に連結されている。 Preferably, the elevating mechanism 68 includes a rotating shaft 25 rotatably connected to the lower wall of the transmission space 53 and located on the left side of the transmission shaft 18, and the sliding gear is located at the lower end of the rotating shaft 25. A driven gear 26 connected so as to mesh with 22 is installed, a second bevel gear 30 is installed at the upper end of the rotating shaft 25, and a rotating rod 28 is rotatably connected to the right wall of the transmission space 53. A third bevel gear 27 connected so as to mesh with the second bevel gear 30 is installed at the right end of the rotating rod 28, and a rotating gear 29 is installed at the left end of the rotating rod 28. An elevating space 35 that opens to the left and right is installed on the left side of the above, a rack 31 is connected to the lower wall at the left end of the transmission space 53 so as to penetrate, and the upper end of the rack 31 extends into the elevating space 35. The front surface of the rack 31 is connected so as to mesh with the rotary gear 29, and an elevating block 34 slidable in the elevating space 35 is fixedly installed on the upper surface of the rack 31 to move the rack 31. A sensor 33 is fixedly installed at the left end of the shaft 51, a drill 32 is fixedly installed on the left surface of the moving shaft 51, and a magnetic space 37 is installed in the upper wall of the transmission space 53. A fixed magnetic block 36 is fixedly installed at the upper end of the magnetic space 37, and a moving magnetic block 38 that can slide up and down in the magnetic space 37 is installed at the lower end of the magnetic space 37. The lower surface of the block 38 is fixedly connected to one end of the narrow rope 23.

好ましくは、前記回転穿孔機構６６は、前記伝動空間５３の右端下壁に回転可能に連結されかつ上端が前記回転空間４６の上壁と回転可能に連結された回動軸４７を含み、前記回動軸４７の下端には前記伝動空間５３の中に位置する従動プーリ６１が設置され、前記従動プーリ６１は前記ベルト１３を通じて前記駆動プーリ１７と連結され、前記回動軸４７の上端には一端が前記回転空間４６の中に位置する歯車軸８０が設置され、前記従動空間４５の上壁には回動棒４９が回転可能に連結され、前記回動棒４９の上端には回転歯車４８が設置され、前記回転歯車４８は前記歯車軸８０を通じて前記回動軸４７と噛み合うように連結され、前記回動棒４９の下端には前記第一傘歯車５２と噛み合うように連結された第四傘歯車５０が設置されている。 Preferably, the rotary drilling mechanism 66 includes a rotary shaft 47 rotatably connected to the lower right end wall of the transmission space 53 and rotatably connected to the upper wall of the rotary space 46 at the upper end. A driven pulley 61 located in the transmission space 53 is installed at the lower end of the driving shaft 47, the driven pulley 61 is connected to the drive pulley 17 through the belt 13, and one end is at the upper end of the rotating shaft 47. A gear shaft 80 is installed in the rotating space 46, a rotating rod 49 is rotatably connected to the upper wall of the driven space 45, and a rotating gear 48 is rotatably connected to the upper end of the rotating rod 49. The fourth umbrella is installed, and the rotary gear 48 is connected through the gear shaft 80 so as to mesh with the rotary shaft 47, and is connected to the lower end of the rotary rod 49 so as to mesh with the first umbrella gear 52. The gear 50 is installed.

好ましくは、はじめに、前記固定磁性ブロック３６と前記移動磁性ブロック３８との間には磁性による吸引力がなく、前記摺動歯車２２と前記従動歯車２６とは噛み合い、前記摺動歯車２２と前記噛合歯車１５とは噛み合っていない。 Preferably, first, there is no magnetic attraction between the fixed magnetic block 36 and the moving magnetic block 38, the sliding gear 22 and the driven gear 26 mesh with each other, and the sliding gear 22 and the meshing with the sliding gear 22. It does not mesh with the gear 15.

好ましくは、はじめに、前記回し棒４２は前記移動空間４０と前記復位ばね６３とによって前記回し空間４４の右側に位置し、前記回し棒４２は前記妨害リング４３に対して推力がない。 Preferably, first, the turning rod 42 is located on the right side of the turning space 44 by the moving space 40 and the repositioning spring 63, and the turning rod 42 has no thrust against the disturbing ring 43.

本願発明の作動手順は以下の通りである。 The operating procedure of the present invention is as follows.

１、モータ１９を作動させて伝動軸１８を回転させ、そして駆動プーリ１７と摺動歯車２２とは駆動されて回転し、駆動プーリ１７は回転してベルト１３によって従動プーリ６１を駆動して回転させ、そして回動軸４７は駆動されて回転し、さらに歯車軸８０を通じて回転歯車４８を駆動して回転させ、回転歯車４８は回転して回動棒４９と第四傘歯車５０とを駆動して回転させ、第四傘歯車５０は回転して第一傘歯車５２を駆動して回転させ、そして移動軸５１は駆動されて回転し、ドリル３２を駆動して回転させる。 1. The motor 19 is operated to rotate the transmission shaft 18, and the drive pulley 17 and the sliding gear 22 are driven to rotate, and the drive pulley 17 is rotated to drive the driven pulley 61 by the belt 13 to rotate. Then, the rotating shaft 47 is driven to rotate, and further drives and rotates the rotating gear 48 through the gear shaft 80, and the rotating gear 48 rotates to drive the rotating rod 49 and the fourth umbrella gear 50. The fourth umbrella gear 50 rotates to drive and rotate the first umbrella gear 52, and the moving shaft 51 is driven to rotate and drives the drill 32 to rotate.

２、摺動歯車２２は回転して従動歯車２６を駆動して回転させ、そして旋転軸２５と旋転軸２５の上端にある第二傘歯車３０とは駆動されて回転し、第二傘歯車３０は回転して第三傘歯車２７を駆動して回転させ、そして回転棒２８と回転棒２８にある旋転歯車２９とは駆動されて回転し、旋転歯車２９は回転してラック３１を駆動して上昇させ、そして昇降ブロック３４は押されて昇降空間３５の中で上昇し、移動軸５１と固定ブロック７３とを駆動して上昇させる。 2. The sliding gear 22 rotates to drive and rotate the driven gear 26, and the rotating shaft 25 and the second cap gear 30 at the upper end of the rotating shaft 25 are driven to rotate, and the second cap gear 30 Rotates to drive and rotate the third bevel gear 27, and the rotary rod 28 and the rotary gear 29 on the rotary rod 28 are driven to rotate, and the rotary gear 29 rotates to drive the rack 31. The elevating block 34 is pushed to elevate in the elevating space 35, driving the moving shaft 51 and the fixed block 73 to elevate.

３、移動軸５１が所要高度位置まで上昇したとき、センサ３３が始動し、この時、固定磁性ブロック３６と移動磁性ブロック３８とは互いに吸収し、移動磁性ブロック３８は吸引力によって磁性空間３７の中で上昇し、細縄２３を引き締め、摺動歯車２２は細縄２３に引かれて上昇し、そして従動歯車２６と噛み合わなくなり、従動歯車２６は回転を止め、移動軸５１は上昇を止め、そして摺動歯車２２は噛合歯車１５と噛み合い、噛合歯車１５を駆動して回転させ、噛合歯車１５は回転して回転軸７９と回転軸７９の上端にあるリール１１とを駆動して回転させ、そして引縄６２を引き締め、回し棒４２と移動ブロック４１とはさらに引かれて左方へ運動し、回し棒４２は左方へ運動して妨害リング４３を押し、そして移動軸５１と移動軸５１の左端にあるドリル３２とは押されて左方へ運動し、穿孔をはじめる。 3. When the moving shaft 51 rises to the required altitude position, the sensor 33 starts. At this time, the fixed magnetic block 36 and the moving magnetic block 38 absorb each other, and the moving magnetic block 38 absorbs the moving magnetic block 38 from the magnetic space 37 by the attractive force. Ascending inside, tightening the narrow rope 23, the sliding gear 22 being pulled by the narrow rope 23 and ascending, and disengaging with the driven gear 26, the driven gear 26 stopped rotating, the moving shaft 51 stopped ascending, and so on. Then, the sliding gear 22 meshes with the meshing gear 15 to drive and rotate the meshing gear 15, and the meshing gear 15 rotates to drive and rotate the rotary shaft 79 and the reel 11 at the upper end of the rotary shaft 79. Then, the tow rope 62 is tightened, the turning rod 42 and the moving block 41 are further pulled and move to the left, the turning rod 42 moves to the left to push the obstruction ring 43, and the moving shaft 51 and the moving shaft 51 The drill 32 at the left end of the gear is pushed and moves to the left to start drilling.

４、穿孔が終わったあと、モータ１９を作動させて逆回転させ、伝動により、リール１１は逆回転して引縄６２を緩め、位置移動ブロック６５は引縄６２による牽引力をなくし、復位ばね６３によって右方へ運動し復位し、移動軸５１は回し棒４２による推力をなくし、牽引力ばね７７によって右方へ運動し復位し、ドリル３２が復位したあとに、センサ３３を止め、固定磁性ブロック３６と移動磁性ブロック３８とは互いに吸引しなくなり、移動磁性ブロック３８は重力によって降下し復位し、細縄２３は緩み、摺動歯車２２は細縄２３による牽引力をなくし、重力によって降下し復位し、そして改めて従動歯車２６と噛み合い、さらに従動歯車２６を駆動して逆回転させ、伝動により、移動軸５１と固定ブロック７３とは駆動されて降下し復位し、そしてモータ１９を止め、操作を完了とする。 4. After the drilling is completed, the motor 19 is operated to rotate in the reverse direction, the reel 11 rotates in the reverse direction to loosen the tow rope 62, the position moving block 65 eliminates the traction force by the tow rope 62, and the return spring 63. The moving shaft 51 loses the thrust force of the rotating rod 42, moves to the right by the traction force spring 77 and returns to the right position, and after the drill 32 returns to the right position, the sensor 33 is stopped and the fixed magnetic block 36 is stopped. And the moving magnetic block 38 do not attract each other, the moving magnetic block 38 descends and returns due to gravity, the narrow rope 23 loosens, the sliding gear 22 loses the traction force by the thin rope 23, and descends and returns due to gravity. Then, it meshes with the driven gear 26 again, further drives the driven gear 26 to rotate in the reverse direction, and by transmission, the moving shaft 51 and the fixed block 73 are driven to descend and reposition, and the motor 19 is stopped to complete the operation. To do.

以上の実施例はあくまで本発明の技術的思想と特徴を説明するためのものであり、本分野の技術者に本発明を理解できることと実施できることを目的とし、本発明を限定するためのものではなく、本発明の意義と原則のもとで行われたいかなる修正と、等価置換と改善などは本発明の保護範囲に含まれるべきである。 The above examples are merely for explaining the technical idea and features of the present invention, and are intended to allow engineers in the field to understand and implement the present invention, and are not intended to limit the present invention. However, any modifications, equivalent substitutions and improvements made under the significance and principles of the invention should be included in the scope of protection of the invention.

Claims (6)

外殻を含み、前記外殻の内部下端には伝動空間が設置され、前記外殻の内部右端には回転空間が設置され、前記回転空間の左側には回し空間が設置され、前記伝動空間の中には本願発明に動力を提供できる伝動機構が設置され、前記回転空間の中には穿孔を行える回転穿孔機構が設置され、前記伝動空間の内部左端には定位機能を有する昇降機構が設置され、前記回し空間の中にはドリルの前進を制御できる送り機構が設置され、
前記送り機構は前記回転空間の中に位置しかつ前記回転空間の中で上下に摺動できる固定ブロックを含み、前記固定ブロックの中には従動空間が設置され、前記従動空間の左右壁には左端が本願発明の外に延在する移動軸が回転可能に連結され、前記移動軸の右端には前記従動空間の中に位置する第一傘歯車がキーで連結され、前記第一傘歯車の中には右方に開口する環状空間が設置され、前記環状空間の中には前記環状空間の中で摺動できる摺動ブロックが設置され、前記摺動ブロックの右面には固定棒が固定的に設置され、前記固定棒の右面は前記従動空間の右壁と固定的に連結され、前記回し空間の上壁には下方に開口する移動空間が設置され、前記移動空間の中には前記移動空間の中で左右に摺動できる移動ブロックが設置され、前記移動ブロックの左面には前記移動空間の左壁と連結された弾力ばねが固定的に設置され、前記回し空間の下壁には上方に開口する位置移動空間が設置され、前記位置移動空間の中には前記位置移動空間の中で左右に摺動できる位置移動ブロックが設置され、前記位置移動ブロックの左面には前記位置移動空間の左壁と連結された復位ばねが固定的に設置され、前記位置移動ブロックの左面には引縄が固定的に連結され、前記位置移動ブロックの上面と前記移動ブロックの下面とには回し棒が固定的に連結され、前記移動軸には前記回し棒の左側に位置する妨害リングが設置され、前記伝動空間の上下壁には回転軸が回転可能に連結され、前記回転軸の下端には噛合歯車が設置され、前記回転軸の上端にはリールが設置され、前記リールには前記引縄が連結され、前記伝動空間の前後壁には旋転棒が回転可能に連結され、前記旋転棒には定滑車が設置され、前記引縄は前記定滑車によって案内され、前記移動軸の右端には右方に開口する円柱空間が設置され、前記円柱空間の中には前記円柱空間の中で摺動できる連結ブロックが設置され、前記連結ブロックの右面には前記従動空間の右壁と連結された牽引力ばねが固定的に設置され、
本願発明は前記伝動機構によって動力が提供され、そして前記昇降機構によって穿孔高度を定位し、最後に前記回転穿孔機構でドリルを回し、かつ前記送り機構で穿孔方向へドリルを送ることで、穿孔作業を行うことを特徴とする自動穿孔用ロボット。 A transmission space is installed at the inner lower end of the outer shell including the outer shell, a rotation space is installed at the inner right end of the outer shell, and a rotation space is installed on the left side of the rotation space. A transmission mechanism capable of providing power to the present invention is installed therein, a rotary drilling mechanism capable of drilling is installed in the rotating space, and an elevating mechanism having a localization function is installed at the inner left end of the transmission space. , A feed mechanism that can control the advance of the drill is installed in the turning space.
The feed mechanism includes a fixed block that is located in the rotating space and can slide up and down in the rotating space, a driven space is installed in the fixed block, and the left and right walls of the driven space A moving shaft whose left end extends outside the present invention is rotatably connected, and a first bevel gear located in the driven space is connected to the right end of the moving shaft with a key. An annular space that opens to the right is installed inside, a sliding block that can slide in the annular space is installed in the annular space, and a fixing rod is fixed on the right surface of the sliding block. The right surface of the fixed rod is fixedly connected to the right wall of the driven space, a moving space that opens downward is installed on the upper wall of the turning space, and the moving space is contained in the moving space. A moving block that can slide left and right in the space is installed, an elastic spring connected to the left wall of the moving space is fixedly installed on the left surface of the moving block, and above the lower wall of the turning space. A position movement space that opens in is installed, a position movement block that can slide left and right in the position movement space is installed in the position movement space, and a position movement block that can slide left and right in the position movement space is installed on the left surface of the position movement space. A repositioning spring connected to the left wall is fixedly installed, a tow rope is fixedly connected to the left surface of the position moving block, and a rotating rod is fixedly connected to the upper surface of the position moving block and the lower surface of the moving block. It is fixedly connected, an obstruction ring located on the left side of the turning rod is installed on the moving shaft, a rotating shaft is rotatably connected to the upper and lower walls of the transmission space, and meshes with the lower end of the rotating shaft. A gear is installed, a reel is installed at the upper end of the rotating shaft, the tow rope is connected to the reel, a rotating rod is rotatably connected to the front and rear walls of the transmission space, and the rotating rod is connected to the rotating rod. A fixed slide is installed, the tow rope is guided by the fixed slide, a columnar space opening to the right is installed at the right end of the moving shaft, and the columnar space slides in the columnar space. A connecting block that can be connected is installed, and a traction force spring connected to the right wall of the driven space is fixedly installed on the right surface of the connecting block.
In the present invention, power is provided by the transmission mechanism, the drilling altitude is localized by the elevating mechanism, and finally the drill is rotated by the rotary drilling mechanism and the drill is fed in the drilling direction by the feeding mechanism. A robot for automatic drilling, which is characterized by performing. 前記伝動機構は前記伝動空間の下壁に固定されたモータを含み、前記モータの上端には伝動軸が伝動可能に連結され、前記伝動軸の上端には摺動歯車がキーで連結され、前記摺動歯車の中には上方に開口する摺動空間が設置され、前記摺動空間の中には前記摺動空間の中で摺動できるスライダが設置され、前記スライダの上面には細縄が固定的に連結され、前記伝動軸の下端には駆動プーリが設置され、前記駆動プーリにはベルトが連結されていることを特徴とする請求項１に記載の自動穿孔用ロボット。 The transmission mechanism includes a motor fixed to the lower wall of the transmission space, a transmission shaft is movably connected to the upper end of the motor, and a sliding gear is connected to the upper end of the transmission shaft with a key. A sliding space that opens upward is installed in the sliding gear, a slider that can slide in the sliding space is installed in the sliding space, and a narrow rope is placed on the upper surface of the slider. The automatic drilling robot according to claim 1, wherein the robot is fixedly connected, a drive pulley is installed at the lower end of the transmission shaft, and a belt is connected to the drive pulley. 前記昇降機構は、前記伝動空間の下壁に回転可能に連結されかつ前記伝動軸の左側に位置する旋転軸を含み、前記旋転軸の下端には前記摺動歯車と?み合うように連結された従動歯車が設置され、前記旋転軸の上端には第二傘歯車が設置され、前記伝動空間の右壁には回転棒が回転可能に連結され、前記回転棒の右端には前記第二傘歯車と?み合うように連結された第三傘歯車が設置され、前記回転棒の左端には旋転歯車が設置され、前記回し空間の左側には左右に開口する昇降空間が設置され、前記伝動空間の左端下壁にはラックが貫通になるように連結され、前記ラックの上端は前記昇降空間の中に延在し、かつ前記ラックの前面は前記旋転歯車と?み合うように連結され、前記ラックの上面には前記昇降空間の中で摺動できる昇降ブロックが固定的に設置され、前記移動軸の左端にはセンサが固定的に設置され、前記移動軸の左面にはドリルが固定的に設置され、前記伝動空間の上壁の中には磁性空間が設置され、前記磁性空間の上端には固定磁性ブロックが固定的に設置され、前記磁性空間の下端には前記磁性空間の中で上下に摺動できる移動磁性ブロックが設置され、前記移動磁性ブロックの下面は前記細縄の一端と固定的に連結されていることを特徴とする請求項１に記載の自動穿孔用ロボット。 The elevating mechanism includes a rotating shaft rotatably connected to the lower wall of the transmission space and located on the left side of the transmission shaft, and is connected to the lower end of the rotation shaft so as to mesh with the sliding gear. A driven gear is installed, a second umbrella gear is installed at the upper end of the rotating shaft, a rotating rod is rotatably connected to the right wall of the transmission space, and the second umbrella is rotatably connected to the right end of the rotating rod. A third umbrella gear connected so as to mesh with the gear is installed, a rotating gear is installed at the left end of the rotating rod, and an elevating space that opens to the left and right is installed on the left side of the rotating space, and the transmission The lower wall at the left end of the space is connected so that the rack penetrates, the upper end of the rack extends into the elevating space, and the front surface of the rack is connected so as to mesh with the rotating gear. An elevating block that can slide in the elevating space is fixedly installed on the upper surface of the rack, a sensor is fixedly installed on the left end of the moving shaft, and a drill is fixed on the left surface of the moving shaft. A magnetic space is installed in the upper wall of the transmission space, a fixed magnetic block is fixedly installed at the upper end of the magnetic space, and a fixed magnetic block is fixedly installed at the lower end of the magnetic space in the magnetic space. The automatic drilling robot according to claim 1, wherein a moving magnetic block that can slide up and down is installed, and the lower surface of the moving magnetic block is fixedly connected to one end of the narrow rope. 前記回転穿孔機構は、前記伝動空間の右端下壁に回転可能に連結されかつ上端が前記回転空間の上壁と回転可能に連結された回動軸を含み、前記回動軸の下端には前記伝動空間の中に位置する従動プーリが設置され、前記従動プーリは前記ベルトを通じて前記駆動プーリと連結され、前記回動軸の上端には一端が前記回転空間の中に位置する歯車軸が設置され、前記従動空間の上壁には回動棒が回転可能に連結され、前記回動棒の上端には回転歯車が設置され、前記回転歯車は前記歯車軸を通じて前記回動軸と?み合うように連結され、前記回動棒の下端には前記第一傘歯車と?み合うように連結された第四傘歯車が設置されていることを特徴とする請求項１に記載の自動穿孔用ロボット。 The rotary drilling mechanism includes a rotary shaft rotatably connected to the lower right end wall of the transmission space and rotatably connected to the upper wall of the rotary space at the upper end, and the lower end of the rotary shaft includes the rotary shaft. A driven pulley located in the transmission space is installed, the driven pulley is connected to the drive pulley through the belt, and a gear shaft having one end located in the rotating space is installed at the upper end of the rotating shaft. A rotary rod is rotatably connected to the upper wall of the driven space, a rotary gear is installed at the upper end of the rotary rod, and the rotary gear meshes with the rotary shaft through the gear shaft. The automatic drilling robot according to claim 1, wherein a fourth bevel gear is installed at the lower end of the rotating rod so as to mesh with the first bevel gear. .. はじめに、前記固定磁性ブロックと前記移動磁性ブロックとの間には磁性による吸引力がなく、前記摺動歯車と前記従動歯車とは噛み合い、前記摺動歯車と前記噛合歯車とは噛み合っていないことを特徴とする請求項３に記載の自動穿孔用ロボット。 First, it is found that there is no magnetic attraction between the fixed magnetic block and the moving magnetic block, the sliding gear and the driven gear are in mesh, and the sliding gear and the meshing gear are not in mesh. The robot for automatic drilling according to claim 3, wherein the robot is characterized. はじめに、前記回し棒は前記移動空間と前記復位ばねとによって前記回し空間の右側に位置し、前記回し棒は前記妨害リングに対して推力がないことを特徴とする請求項１に記載の自動穿孔用ロボット。 First, the automatic drilling according to claim 1, wherein the turning rod is located on the right side of the turning space by the moving space and the repositioning spring, and the turning rod has no thrust against the disturbing ring. Robot for.
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