阅读说明：本技术 一种独立自行走的钻孔设备 (Independent self-walking drilling equipment ) 是由 田军委 丁瑞敏 王沁 苏宇 张云辉 于 2019-09-18 设计创作，主要内容包括：本发明公开了一种独立自行走的钻孔设备,包括底板、支撑架、钻机、监控设备、四个主支持脚和至少两个辅助支撑脚；四个所述主支持脚旋转连接于底板的四个顶点处,且可分别旋转至底板相互垂直的两个方向上,所述辅助支撑脚旋转连接于底板两个相对侧面上,且分布于两相邻的主支持脚之间；所述支撑架固定连接于底板上表面,所述钻机与支撑架连接,且可分别沿竖直方向和水平方向伸缩；所述监控设备固定连接于支撑架的最高位置。本发明所述的一种独立自行走的钻孔设备,行走灵活,作业稳定性高。(the invention discloses independent self-walking drilling equipment, which comprises a bottom plate, a supporting frame, a drilling machine, monitoring equipment, four main supporting legs and at least two auxiliary supporting legs, wherein the bottom plate is provided with a support; the four main supporting feet are rotatably connected to four top points of the bottom plate and can respectively rotate to two directions which are vertical to each other of the bottom plate, and the auxiliary supporting feet are rotatably connected to two opposite side surfaces of the bottom plate and are distributed between two adjacent main supporting feet; the drilling machine is connected with the support frame and can respectively stretch out and draw back along the vertical direction and the horizontal direction; the monitoring equipment is fixedly connected to the highest position of the support frame. The drilling equipment capable of independently and automatically walking is flexible in walking and high in operation stability.)

1. An independent self-propelled drilling apparatus, characterized in that: the device comprises a bottom plate (1), a support frame (2), a drilling machine (3), monitoring equipment (4), four main supporting feet (5) and at least two auxiliary supporting feet (6); the four main supporting feet (5) are rotatably connected to four top points of the bottom plate (1) and can respectively rotate to two mutually vertical directions of the bottom plate (1), and the auxiliary supporting feet (6) are rotatably connected to two opposite side surfaces of the bottom plate (1) and are distributed between two adjacent main supporting feet (5); the support frame (2) is fixedly connected to the upper surface of the bottom plate (1), and the drilling machine (3) is connected with the support frame (2) and can respectively extend and retract along the vertical direction and the horizontal direction; the monitoring equipment (4) is fixedly connected to the highest position of the support frame (2).

2. A self-propelled drilling apparatus according to claim 1, wherein: the supporting frame (2) comprises a first plate body (7), a screw rod (8), a nut (9) and a shear type lifting frame (10); the novel scissor type lifting frame is characterized in that the first plate body (7) is fixedly connected onto the bottom plate (1), two protrusions (11) extending upwards are arranged on the first plate body (7), two ends of the screw rod (8) are respectively connected with the protrusions (11) in a rotating mode, the nut (9) is connected with the screw rod (8) in a sliding mode, one end of the bottom of the scissor type lifting frame (10) is hinged to one of the protrusions (11), the other end of the bottom of the scissor type lifting frame is hinged to the nut (9), and the drilling machine (3) is connected to the top of the scissor type lifting frame (10).

3. A self-propelled drilling apparatus according to claim 2, wherein: the support frame (2) further comprises a second plate body (12); two ends of the second plate body (12) are respectively fixed with the two bulges (11) and are covered above the screw rod (8); wherein one end of the bottom of the scissor lifting frame (10) is hinged with the second plate body (12), the other end is hinged with a sliding sleeve (13), and the sliding sleeve (13) is sleeved with the second plate body (12) and is fixedly connected with the nut (9).

4. A self-propelled drilling apparatus according to claim 3, wherein: the support frame (2) further comprises a third plate body (14), the third plate body (14) is provided with a guide groove (15), one end of the top of the scissor type lifting frame (10) is hinged to the third plate body (14), and the other end of the top of the scissor type lifting frame is connected to the guide groove (15) in a sliding mode.

5. A self-propelled drilling apparatus according to claim 4, wherein: the device also comprises a feeding mechanism (16), wherein the feeding mechanism (16) comprises a gear (17), a rack (18), a guide rod (20) and a guide seat (19); the rack (18) and the guide rod (20) are arranged in parallel and fixed with each other, the guide seat (19) is fixedly connected with the third plate body (14), the guide rod (20) is connected with the guide seat (19) in a sliding manner, and the gear (17) is connected with a motor in a driving manner and is connected with the rack (18) in a matching manner; the drilling machine (3) is fixedly connected to one end of the guide rod (20); a baffle plate (21) covers the feeding mechanism (16), and the monitoring equipment (4) is fixedly connected to the baffle plate (21).

6. A self-propelled drilling apparatus according to claim 1, wherein: the bottom plate (1) comprises a fourth plate body (22) and a fifth plate body (23); the fifth plate body (23) is fixedly connected below the fourth plate body (22) at intervals, and the main supporting feet (5) and the auxiliary supporting frame (2) are respectively and rotatably connected with the fourth plate body (22); the fourth plate body (22) and the fifth plate body (23) are both hollow structures.

7. A self-propelled drilling apparatus according to claim 6, wherein: a plurality of first connecting pins (24) are arranged at the edge of the fifth board body (23), second connecting pins (26) are arranged on the side surface of the first driver (25), and the first connecting pins (24) are fixedly connected with the second connecting pins (26) through connecting pieces; the terminal connection of main tributary supporting legs (5)/auxiliary supporting legs (6) has flange (27), one side of flange (27) orientation fourth plate body (22) is provided with the recess, first driver (25) set up in the recess, just flange (27) and the output fixed connection of first driver (25), the output axis of first driver (25) is vertical direction.

8. A self-propelled drilling apparatus according to claim 1, wherein: the main support foot (5)/auxiliary support foot (6) comprising a first connecting arm (28) and a second connecting arm (29); one end of the first connecting arm (28) and one side of the flange (27) departing from the bottom plate (1) are in rotating connection, the other end of the first connecting arm (28) and the second connecting arm (29) are in rotating connection, and the rotating axes of the first connecting arm (28) and the flange (27) and the rotating axes of the first connecting arm (28) and the second connecting arm (29) are in the horizontal direction.

9. A self-propelled drilling apparatus according to claim 8, wherein: two ends of the first connecting arm (28) are respectively and fixedly connected with a second driver (30) and a third driver (31); the flange (27) is rotatably connected to one end of the first connecting arm (28) and is fixedly connected with the output end of the second driver (30), and the second connecting arm (29) is rotatably connected to the other end of the first connecting arm (28) and is fixedly connected with the output end of the third driver (31).

Technical Field

The invention relates to independent self-walking drilling equipment, in particular to a robot capable of automatically realizing a drilling function.

Background

In recent years, with the development of science and technology, robots are more and more widely applied. The robot may be classified into a housework type, an operation type, a search and rescue type, a special work type, and the like according to an application of the robot. The search and rescue type and the special operation type can replace manual work to work in the places harmful to human, so the beneficial effect is very obvious. Meanwhile, the robot is quite complex in use occasion, and the stability of the robot during operation must be guaranteed.

disclosure of Invention

the purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the independent self-walking drilling equipment so as to ensure the flexibility of the robot in walking and operation in a complex environment.

The technical scheme is as follows: in order to achieve the purpose, the independent self-walking drilling equipment comprises a bottom plate, a supporting frame, a drilling machine, monitoring equipment, four main supporting legs and at least two auxiliary supporting legs, wherein the bottom plate is provided with a support plate; the four main supporting feet are rotatably connected to four top points of the bottom plate and can respectively rotate to two directions which are vertical to each other of the bottom plate, and the auxiliary supporting feet are rotatably connected to two opposite side surfaces of the bottom plate and are distributed between two adjacent main supporting feet; the drilling machine is connected with the support frame and can respectively stretch out and draw back along the vertical direction and the horizontal direction; the monitoring equipment is fixedly connected to the highest position of the support frame.

Furthermore, the support frame comprises a first plate body, a screw rod, a nut and a shear type lifting frame; the first plate body is fixedly connected to the bottom plate, two protrusions extending upwards are arranged on the first plate body, two ends of the screw rod are respectively and rotatably connected with the protrusions, the nut is in sliding connection with the screw rod, one end of the bottom of the shear type lifting frame is hinged to one of the protrusions, the other end of the bottom of the shear type lifting frame is hinged to the nut, and the drilling machine is connected to the top of the shear type lifting frame.

Further, the support frame also comprises a second plate body; two ends of the second plate body are respectively fixed with the two bulges and are covered above the screw rod; one end of the bottom of the scissor type lifting frame is hinged to the second plate body, the other end of the bottom of the scissor type lifting frame is hinged to the sliding sleeve, and the sliding sleeve is sleeved with the second plate body and fixedly connected with the nut.

Furthermore, the support frame still includes the third plate body, the third plate body is provided with the guide way, wherein one end is articulated with the third plate body at the formula of cutting elevating frame top, and other end sliding connection is in the guide way.

Further, the device also comprises a feeding mechanism, wherein the feeding mechanism comprises a gear, a rack, a guide rod and a guide seat; the rack and the guide rod are arranged in parallel and fixed with each other, the guide seat is fixedly connected with the third plate body, the guide rod is connected with the guide seat in a sliding manner, and the gear is connected with the motor in a driving manner and is connected with the rack in a matching manner; the drilling machine is fixedly connected to one end of the guide rod; a baffle plate covers the feeding mechanism, and the monitoring equipment is fixedly connected to the baffle plate.

Further, the bottom plate comprises a fourth plate body and a fifth plate body; the fifth plate body is fixedly connected below the fourth plate body at intervals, and the main supporting feet and the auxiliary supporting frame are respectively and rotatably connected with the fourth plate body; the fourth plate body and the fifth plate body are both hollow structures.

Furthermore, a plurality of first connecting pins are arranged at the edge of the fifth board body, second connecting pins are arranged on the side surface of the first driver, and the first connecting pins and the second connecting pins are fixedly connected through connecting pieces; the end of the main supporting foot/the auxiliary supporting foot is connected with a flange, one side of the flange, which faces the fourth plate body, is provided with a groove, the first driver is arranged in the groove, the flange is fixedly connected with the output end of the first driver, and the axis of the output end of the first driver is in the vertical direction.

further, the main supporting foot/auxiliary supporting foot comprises a first connecting arm and a second connecting arm; one end of the first connecting arm is rotatably connected with one side of the flange, which deviates from the bottom plate, the other end of the first connecting arm is rotatably connected with the second connecting arm, and the rotation axes of the first connecting arm and the flange and the rotation axes of the first connecting arm and the second connecting arm are both in the horizontal direction.

Furthermore, a second driver and a third driver are fixedly connected to two ends of the first connecting arm respectively; the flange is connected to one end of the first connecting arm in a rotating mode and is fixedly connected with the output end of the second driver, and the second connecting arm is connected to the other end of the first connecting arm in a rotating mode and is fixedly connected with the output end of the third driver.

the beneficial effects of the invention are as follows: the drilling equipment capable of independently walking is provided with a plurality of main supporting feet and auxiliary supporting feet, wherein the auxiliary supporting feet are arranged between the adjacent main supporting feet, a connecting structure does not exist between each main supporting foot and each auxiliary supporting foot, corresponding adjustment can be made according to the terrain where each main supporting foot and each auxiliary supporting foot are located, and the walking flexibility and stability of a robot can be guaranteed; the main supporting feet which are positioned at the four corners of the bottom plate can respectively rotate to the two mutually perpendicular directions of the bottom plate, and the main supporting feet can be correspondingly adjusted according to the direction of a reaction force when the robot works, so that the stability of the robot during working is ensured.

Drawings

FIG. 1 is a schematic structural diagram of the present invention;

FIG. 2 is a top view of the present invention with the monitoring device removed;

FIG. 3 is a cross-sectional view of the connection structure of the base plate, the support frame and the drill bit according to the present invention;

FIG. 4 is a schematic structural view of the connection of the base plate, the support frame and the drill bit according to the present invention;

FIG. 5 is a schematic view of the connection of the bottom plate and the support legs of the present invention;

FIG. 6 is a schematic structural view of a support foot according to the present invention;

FIG. 7 is a schematic view of a first connecting arm according to the present invention;

FIG. 8 is a schematic structural view of a second link arm according to the present invention;

Fig. 9 is a schematic structural view of the flange according to the present invention.

Detailed Description

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

an independent self-propelled drilling apparatus as illustrated in figures 1 to 9, comprising a base plate 1, a support frame 2, a drilling machine 3, a monitoring apparatus 4, four main support feet 5 and two auxiliary support feet 6; the main supporting leg 5 and the auxiliary supporting leg 6 are rotatably connected to the edge part of the bottom plate 1, the supporting frame 2 is fixedly connected to the upper surface of the bottom plate 1, and the drilling machine 3 is connected with the supporting frame 2 and can respectively extend and retract along the vertical direction and the horizontal direction; the monitoring equipment 4 is fixedly connected to the highest position of the support frame 2.

The bottom plate 1 is of an approximately rectangular structure, the four main supporting legs 5 are respectively arranged at four corners of the bottom plate 1, and any one main supporting leg 6 can rotate to the length direction and the width direction of the bottom plate 1. The two auxiliary supporting legs 6 are respectively and rotatably connected to two opposite side surfaces of the bottom plate 1 and distributed between the two main supporting legs. When the robot walks, the main supporting feet 5 and the auxiliary supporting feet 6 are arranged in the length direction of the bottom plate 1. And because main supporting legs 5 and auxiliary supporting legs 6 do not have any connection structure each other, so can carry out corresponding adjustment according to every main supporting legs or the position that auxiliary supporting legs 6 are located, guarantee the flexibility and the stability of robot walking. When the robot uses the drilling machine for operation, a backward reaction force can be generated, and at the moment, the angle of the main supporting leg is properly adjusted to counteract the reaction force generated by the drilling machine, so that the stability of the robot during operation is ensured.

The support frame 2 comprises a first plate body 7, a screw rod 8, a nut 9, a scissor type lifting frame 10, a second plate body 12, a sliding sleeve 13 and a third plate body 14. The first plate body 7 is fixedly connected to the bottom plate 1, the two ends of the first plate body 7 extend upwards to form the protrusions 11, and the second plate body 12 is arranged above the first plate body 7 in a covering mode and is integrally formed with the first plate body 7. The first plate body 7, the protrusion 11 and the second plate body 12 form a cavity-shaped structure with openings at two sides, the screw rod 8 is arranged in the cavity, and two ends of the screw rod are respectively connected with the protrusion 11 in a rotating mode. The nut 9 is in sliding connection with the lead screw 18 in a matching mode, the upper surface of the nut is fixedly connected with a sliding sleeve 13, and the sliding sleeve 13 is in sliding connection with the second plate body 12. One end of the bottom of the scissor type lifting frame 10 is hinged with the second plate body, and the other end of the bottom of the scissor type lifting frame is hinged with the sliding sleeve 13; the third plate body 14 is provided with a guide groove 15, one end of the top of the scissor crane 10 is hinged with the third plate body 14, and the other end of the top of the scissor crane is connected in the guide groove 15 in a sliding manner. One end of the screw rod 8 is connected with a driving part 33 through a coupler 32, and the driving part drives the screw rod to rotate, so that the scissor type lifting frame can ascend or descend. The drilling machine is fixed on the upper surface of the third plate body.

In order to realize the horizontal extension and retraction of the drilling machine, the robot also comprises a feeding mechanism, and the feeding mechanism 16 comprises a gear 17, a rack 18, a guide rod 20 and a guide seat 19; the rack 18 and the guide rod 20 are arranged in parallel and fixed with each other, the guide seat 19 is fixedly connected with the third plate body 14, the guide rod 20 is connected with the guide seat 19 in a sliding manner, and the gear 17 is movably connected with the motor and is connected with the rack 18 in a matching manner; the drilling machine 3 is fixedly connected to one end of the guide rod 20; a baffle plate 21 covers the feeding mechanism 16, and the monitoring device 4 is fixedly connected to the baffle plate 21.

Due to the complex walking environment of the robot, most parts depend on the bottom plate 1, and in order to avoid the chassis being damaged and other parts being damaged when the robot walks, the bottom plate 1 comprises a fourth plate 22 and a fifth plate 23. The fifth board body 23 is fixedly connected below the fourth board body 22 at intervals, and the main supporting legs 5 and the auxiliary supporting frame 2 are rotatably connected with the fourth board body 22 respectively. Meanwhile, in order to reduce the weight of the whole robot, the fourth plate 22 and the fifth plate 23 are both hollow structures.

A plurality of first connecting pins 24 are arranged at the edge of the fifth board body 23, a second connecting pin 26 is arranged on the side surface of the first driver 25, and the first connecting pins 24 and the second connecting pins 26 are fixedly connected through connecting pieces; the end of the main supporting leg 5/the auxiliary supporting leg 6 is connected with a flange 27, one side of the flange 27 facing the fourth plate body 22 is provided with a groove, the first driver 25 is arranged in the groove, the flange 27 is fixedly connected with the output end of the first driver 25, and the axis of the output end of the first driver 25 is in the vertical direction.

A second driver 30 and a third driver 31 are fixedly connected to two ends of the first connecting arm 28 respectively; the flange 27 is rotatably connected to one end of the first connecting arm 28 and is fixedly connected to an output end of the second driver 30, and the second connecting arm 29 is rotatably connected to the other end of the first connecting arm 28 and is fixedly connected to an output end of the third driver 31. The rotation axes of the first connecting arm 28 and the flange 27 and the rotation axes of the first connecting arm 28 and the second connecting arm 29 are both horizontal. The first driver, the second driver and the third driver are all servo motors.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.