CN106437706B - A kind of wheel leg type problem of rock-drilling robot - Google Patents
A kind of wheel leg type problem of rock-drilling robot Download PDFInfo
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- CN106437706B CN106437706B CN201611220504.XA CN201611220504A CN106437706B CN 106437706 B CN106437706 B CN 106437706B CN 201611220504 A CN201611220504 A CN 201611220504A CN 106437706 B CN106437706 B CN 106437706B
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- 238000005553 drilling Methods 0.000 title claims abstract description 38
- 230000033001 locomotion Effects 0.000 claims abstract description 54
- 239000012530 fluid Substances 0.000 claims abstract description 18
- 230000000712 assembly Effects 0.000 claims abstract description 12
- 238000000429 assembly Methods 0.000 claims abstract description 12
- 230000000007 visual effect Effects 0.000 claims abstract description 12
- 230000009194 climbing Effects 0.000 claims abstract description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 17
- 239000000758 substrate Substances 0.000 claims description 12
- 230000005484 gravity Effects 0.000 claims description 6
- 239000011435 rock Substances 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 229910000746 Structural steel Inorganic materials 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 230000003321 amplification Effects 0.000 claims description 2
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 9
- 230000005611 electricity Effects 0.000 description 5
- 241001124569 Lycaenidae Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- -1 3.10 Substances 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C29/00—Propulsion of machines for slitting or completely freeing the mineral from the seam
- E21C29/22—Propulsion of machines for slitting or completely freeing the mineral from the seam by wheels, endless tracks or the like
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a kind of wheel leg type problem of rock-drilling robot, including wheel undercarriage（1）, scaffold（2）, vehicle body moving assembly（3）, electric drive swivel component（4）, fluid pressure type lift leg assembly（5）, vehicle body（6）, visual information harvester（7）And robot assemblies（8）；The robot assemblies（8）There are two groups, is separately mounted to vehicle body（6）Both sides, robot assemblies（8）Hydraulic splitting machine is installed（8.1.3）.The present invention is a kind of wheel leg type problem of rock-drilling robot, its mobile device combines the advantage that wheeled devices speed is fast and leg formula device obstacle climbing ability is strong, it can be quickly through rugged and rough region, on the robotic arm by the installation of hydraulic splitting machine, by the coordinated movement of various economic factors of vehicle body moving assembly and double multi-degree-of-freemechanical mechanical arms, intelligence adjusts the operating angle and operating distance of hydraulic splitting machine, and complex task is executed instead of staff, efficient, ability to work is strong.
Description
Technical field
The present invention relates to a kind of robot, specifically a kind of wheel leg type problem of rock-drilling robot belongs to robotic technology field.
Background technology
In mining, there are many danger zones, be often unsuitable for personnel's handwork, at this moment if using mobile energy
Power is good and ability to work is strong problem of rock-drilling robot replaces manually performing task, not only can guarantee the safety of staff but also can carry
High efficiency.
In existing technical solution, it usually needs staff is hand-held or hand push hydraulic splitting machine goes work on the spot, both
It is dangerous to cannot be guaranteed efficiency again.
Invention content
In view of the above existing problems in the prior art, the present invention provides a kind of wheel leg type problem of rock-drilling robot, mobile devices
The advantage that wheeled devices speed is fast and leg formula device obstacle climbing ability is strong is combined, danger zone can be rapidly entered, pass through vehicle body
The coordinated movement of various economic factors of moving assembly and double multi-degree-of-freemechanical mechanical arms executes rock drilling task, efficient, ability to work instead of staff
By force.
To achieve the goals above, the technical solution adopted by the present invention is：A kind of wheel leg type problem of rock-drilling robot, including it is wheeled
Chassis, scaffold, vehicle body moving assembly, electric drive swivel component, fluid pressure type lift leg assembly, vehicle body, visual information acquisition dress
It sets and robot assemblies；Two sets of wheel undercarriages provide movement speed fast wheel type mobile mode for problem of rock-drilling robot, and vehicle body moves
Dynamic component adjusts the position of centre of gravity of robot, and electric drive swivel component and fluid pressure type lift leg assembly provide obstacle detouring for tow-armed robot
The strong leg formula move mode of ability has both that movement speed is fast and the wheel leg type rock drilling of strong two advantages of obstacle climbing ability to be combined into
Robot quickly reaches danger zone；Under the guidance for the visual information that four groups of visual information harvesters are got, pass through vehicle
The coordinated movement of various economic factors of body moving assembly and two sets of robot assemblies executes complicated operation task instead of staff；
The wheel undercarriage is identical as typical wheel undercarriage structure on the market, is only adjusted in the fitted position of part
It is whole；
The visual information harvester shares four groups, is separately mounted to the orientation of front, rear, left and right four of vehicle body；For
Operating personnel provide the environmental information residing for robot, in order to the remote control of robot；
The robot assemblies have two groups, are separately mounted to vehicle body both sides, including one component of axis, two component of axis, axis three
Component, four component of axis and mechanical arm are electrically held；One component of axis, two component of axis, three component of axis, four component of axis are sequentially connected, group
The mechanical part of multi-degree-of-freemechanical mechanical arm is synthesized, mechanical arm electrically holds external power supply and signal receiving/transmission device, can be with to constitute
The multi freedom degree mechanical rock drilling of complex task is executed by staff's remote control；
One component of axis includes nut, bolt, hydraulic splitting machine and pawl headstock（8.1.4）；Hydraulic splitting machine is embedding
Enter the round hole of pawl headstock and its positioning is realized by nut, bolt；
Two component of axis includes small arm seat electric motor end cap, small arm seat electric rotating machine and large arm；Small arm seat electric rotating
Machine shares two groups, and every group has two motors, the rotation of one component of control shaft up and down to realize the adjusting of operating distance；Small arm seat electricity
Small arm seat electric rotating machine is bolted in the round hole of large arm by generator terminal lid；
Three component of axis includes large arm electric motor end cap, large arm electric rotating machine, large arm swivel bearing and big arm seat；Greatly
The Internal and external cycle of arm swivel bearing is bolted with large arm and big arm seat respectively, and output shaft and the large arm key of large arm electric rotating machine connect
It connects；Large arm electric motor end cap is fixed through periphery holes and big arm seat bolt, then fixes large arm electric rotating machine through inner ring hole；Large arm electric rotating
The rotation of machine output shaft drives large arm to be rotated around large arm electric rotating machine axis direction, that is, axis five, to realize two component of axis around axis three
Rotation；
Four component of axis include big arm seat rotary connector, large arm seat rotating axis hold, mechanical arm pedestal and large arm
Seat rotational deceleration motor；Mechanical arm pedestal is bolted on vehicle body, the Internal and external cycle that large arm seat rotating axis is held respectively with machine
Tool arm pedestal and big arm seat rotary connector are bolted, and the other end and the big arm seat of big arm seat rotary connector are bolted；
Big arm seat rotational deceleration motor is fixed on through bolt on mechanical arm pedestal, and output shaft is keyed with big arm seat rotary connector；
The rotation of big arm seat rotational deceleration motor output shaft drives big arm seat around big arm seat rotational deceleration electricity through big arm seat rotary connector
Machine axis direction, that is, axis four rotates, and to realize rotation of three component of axis around axis four, and then realizes the tune of splitting machine operating angle
Section；
The vehicle body moving assembly includes vehicle body mobile motor, vehicle body mobile motor seat, vehicle body movement shaft coupling, vehicle body
Mobile drive block, vehicle body mobile connection part, vehicle body move linear slider, vehicle body moves ball-screw, vehicle body moves line slide rail,
Vehicle body moving substrate, vehicle body movement lead screw shaft bearings and vehicle body move leading screw bearing；Vehicle body mobile motor seat, vehicle body movement are straight
Line sliding rail and vehicle body movement lead screw shaft bearings are bolted on vehicle body moving substrate, vehicle body mobile motor and vehicle body
Mobile leading screw bearing is bolted on respectively on vehicle body mobile motor seat and vehicle body movement lead screw shaft bearings；Vehicle body movement connection
Axis device both ends are separately connected the output shaft of vehicle body movement ball-screw and vehicle body mobile motor, and vehicle body moves the another of ball-screw
The inner ring tight fit at end and vehicle body movement leading screw bearing；Vehicle body both sides move linear slider with four vehicle bodies by bolt and are connected,
Centre is fixed by bolt and vehicle body mobile connection part, and vehicle body mobile connection part is fixed with vehicle body movement drive block bolt again；Vehicle
Body moves the inner ring of drive block and vehicle body moves ball-screw screw-thread fit, and the rotation of vehicle body mobile motor output shaft passes through rolling
Ballscrew is driven, and is converted to vehicle body movement drive block and is moved moving for ball-screw axis direction along vehicle body, to realize vehicle body
Lateral linear motion on vehicle body moving substrate；On the one hand machine is adjusted flexibly in vehicle body moving assembly in robot kinematics
The position of centre of gravity of device people, the work that leg assembly is lifted for fluid pressure type provide precondition；On the other hand specific bit is reached in robot
It postpones, increases the operating space of mechanical arm by transverse movement；
The fluid pressure type lift leg assembly includes rotatable base, vehicle body supporting rack, Barrel of Hydraulic Cylinders, hydraulic cylinder piston
Bar, supporting rack rotate small bearing, supporting rack rotary shaft, supporting rack and rotate big bearing, supporting rack rotation hubcap, hydraulic cylinder rotation
Axis locating plate and hydraulic cylinder rotary shaft；Vehicle body supporting rack is connect with carriage bolt, and two side holes are with supporting rack rotary shaft through flower
It is keyed and passes through the shaft shoulder and sleeve axially position；Supporting rack rotating shaft terminal rotates small bearing and supporting rack with supporting rack respectively
Rotate the inner ring tight fit of big bearing, supporting rack rotates small bearing and supporting rack rotate the outer ring of big bearing respectively with rotatable base
The outer end face of two counterbore tight fits of seat, supporting rack rotation hubcap and supporting rack rotary shaft is adjacent to and is bolted on can
On rotating basis, to realize the axially position of supporting rack rotary shaft；The interlude outer surface of hydraulic cylinder rotary shaft and hydraulic cylinder
The connecting pin internal surface gaps cooperation of cylinder barrel or hydraulic cylinder piston rod, both sides section outer surface and rotatable base or vehicle body supporting rack
Corresponding aperture position internal surface gaps positioned through hydraulic cylinder rotary shaft locating plate with merging, to which Barrel of Hydraulic Cylinders and hydraulic cylinder be lived
The connecting pin of stopper rod is connected to the designated position of rotatable base or vehicle body supporting rack；Unilateral hydraulic cylinder piston rod is along its axis
The linear motion in line direction is converted to rotation of the vehicle body supporting rack around supporting rack rotary shaft by linkage rod slide block mechanism, thus will be another
The rotatable base of side lifts, and the work for electric drive swivel component provides precondition；
The electric drive swivel component include swivel driving motor, swivel retarder, turntable bearing, swivel set axis and
Cover axis locating plate；The both ends of turntable bearing are bolted with rotatable base and scaffold respectively, and swivel retarder passes through spiral shell
Bolt is fixed on rotatable base, and power source comes from swivel driving motor；Swivel set axis one end is defeated with swivel retarder
Shaft is keyed, and the other end connect through spline with scaffold and by covering axis locating plate axially position；Turn driving motor
Output torque is transmitted to through turning retarder amplification, then through swivel set axis on scaffold, before scaffold is fixed
It puts, is converted to rotating backward for swivel retarder, to drive rotatable base to rotate, the fortune of leg assembly is lifted in conjunction with fluid pressure type
It is dynamic, realize the movement of leg formula and the obstacle detouring of rock drill device people.
The rotatable base and vehicle body supporting rack is cast by stainless steel, is done on the basis of ensureing bearing capacity
Light-weight technologg.
Pawl headstock, forearm, small arm seat, large arm, big arm seat and the mechanical arm pedestal is cast, and is ensureing to carry
Light-weight technologg is done on the basis of ability.
The scaffold is welded using structural steel.
The present invention is a kind of wheel leg type problem of rock-drilling robot, and mobile device combines that wheeled devices speed is fast and leg formula device
The strong advantage of obstacle climbing ability, can rapidly enter mine danger zone, pass through vehicle body moving assembly and double multi-degree-of-freemechanical mechanical arms
The coordinated movement of various economic factors, instead of staff execute rock drilling task, efficient, ability to work is strong.
Description of the drawings
Fig. 1 is wheel leg type problem of rock-drilling robot principle schematic provided in an embodiment of the present invention；
In figure：1, wheel undercarriage, 2, scaffold, 3, vehicle body moving assembly, 4, electric drive swivel component, 5, fluid pressure type lift
Leg assembly, 6, vehicle body, 7, visual information harvester, 8, robot assemblies.
Fig. 2 is wheel leg type problem of rock-drilling robot front view provided in an embodiment of the present invention；
Fig. 3 is wheel leg type problem of rock-drilling robot vertical view provided in an embodiment of the present invention；
Fig. 4 is wheel leg type problem of rock-drilling robot side view provided in an embodiment of the present invention；
Fig. 5 is robot assemblies principle schematic provided in an embodiment of the present invention；
In figure：8.1, one component of axis, 8.2, two component of axis, 8.3, three component of axis, 8.4, four component of axis, 8.5, mechanical arm electricity
Gas end.
Fig. 6 is one assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure：8.1.1, nut, 8.1.2, bolt, 8.1.3, hydraulic splitting machine, 8.1.4, pawl headstock.
Fig. 7 is two assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure：8.2.1, small arm seat electric motor end cap, 8.2.2, small arm seat electric rotating machine, 8.2.3, large arm.
Fig. 8 is three assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure：8.3.1, large arm electric motor end cap, 8.3.2, large arm electric rotating machine, 8.3.3, large arm swivel bearing, 8.3.4,
Big arm seat.
Fig. 9 is four assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure：8.4.1, big arm seat rotary connector, 8.4.2, large arm seat rotating axis are held, 8.4.3, gadget arm pedestal,
8.4.4, big arm seat rotational deceleration motor.
Figure 10 is vehicle body moving assembly principle schematic provided in an embodiment of the present invention；
In figure：3.1, vehicle body mobile motor, 3.2, vehicle body mobile motor seat, 3.3, vehicle body move shaft coupling, 3.4, vehicle body
Mobile drive block, 3.5, vehicle body mobile connection part, 3.6, vehicle body move linear slider, 3.7, vehicle body move ball-screw, 3.8,
Vehicle body moves line slide rail, 3.9, vehicle body moving substrate, 3.10, vehicle body move lead screw shaft bearings, 3.11, vehicle body move lead screw shaft
It holds.
Figure 11 is that fluid pressure type provided in an embodiment of the present invention lifts leg assembly principle schematic；
Circle A enlarged drawings in Figure 12 fluid pressure type lift leg assembly principle schematics provided in an embodiment of the present invention；
In figure：5.1, rotatable base, 5.2, vehicle body supporting rack, 5.3, Barrel of Hydraulic Cylinders, 5.4, hydraulic cylinder piston rod,
5.5, supporting rack rotates small bearing, 5.6, supporting rack rotary shaft, 5.7, supporting rack rotate big bearing, 5.8, supporting rack rotate shaft end
Lid, 5.9, hydraulic cylinder rotary shaft locating plate, 5.10, hydraulic cylinder rotary shaft.
Figure 13 electric drive swivel component principle schematics provided in an embodiment of the present invention；
In figure：4.1, driving motor is turned, 4.2, swivel retarder, 4.3, turntable bearing, 4.4, swivel set axis, 4.5, set
Axis locating plate.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It please refers to Fig.1 to Fig.4, is a kind of wheel leg type problem of rock-drilling robot principle schematic provided in an embodiment of the present invention and three
View, it include wheel undercarriage 1, scaffold 2, vehicle body moving assembly 3, electric drive swivel component 4, fluid pressure type lift leg assembly 5,
Vehicle body 6, visual information harvester 7 and robot assemblies 8；Two sets of wheel undercarriages 1 provide movement speed for problem of rock-drilling robot
Fast wheel type mobile mode, vehicle body moving assembly 3 adjust the position of centre of gravity of robot, electric drive swivel component 4 and fluid pressure type lift
Leg assembly 5 provides obstacle climbing ability strong leg formula move mode for problem of rock-drilling robot, to be combined into have both movement speed soon and more
The wheel leg type problem of rock-drilling robot of strong two advantages of barrier ability, quickly reaches danger zone；It is obtained in four groups of visual information harvesters 7
Under the guidance for the visual information got, by the coordinated movement of various economic factors of vehicle body moving assembly 3 and two sets of multi-spindle machining arm components 8, instead of
Staff executes complicated operation task；
The wheel undercarriage 1 is identical as typical wheel undercarriage structure on the market, only in the fitted position of part
Adjustment；
The scaffold 2 is welded using structural steel；
The visual information harvester 7 shares four groups, is separately mounted to the orientation of front, rear, left and right four of vehicle body 6；
The environmental information residing for robot is provided for operating personnel, in order to the remote control of robot.
Referring to Fig. 5, being a kind of wheel leg type problem of rock-drilling robot robot assemblies principle signal provided in an embodiment of the present invention
Figure, including one component 8.1 of axis, two component 8.2 of axis, three component 8.3 of axis, four component 8.4 of axis and mechanical arm electrically hold 8.5；Axis
One component 8.1, two component 8.2 of axis, three component 8.3 of axis, four component 8.4 of axis are sequentially connected, and are combined into multi-degree-of-freemechanical mechanical arm
Mechanical part, mechanical arm electrically hold 8.5 external power supplys and signal receiving/transmission device, can be by staff's remote control to constitute
Execute the multi freedom degree mechanical both arms of complex task.
Referring to Fig. 6, being a kind of one principle schematic of wheel leg type problem of rock-drilling robot axis provided in an embodiment of the present invention, it is wrapped
Include nut 8.1.1, bolt 8.1.2, hydraulic splitting machine 8.1.3 and pawl headstock 8.1.4；Hydraulic splitting machine 8.1.3 is embedded in pawl head
The round hole of seat 8.1.4 simultaneously realizes its positioning by nut 8.1.1, bolt 8.1.2；
The pawl headstock 8.1.4 is cast, and light-weight technologg is done on the basis of ensureing bearing capacity.
Referring to Fig. 7, be a kind of two assembly principle schematic diagram of wheel leg type problem of rock-drilling robot axis provided in an embodiment of the present invention,
It includes small arm seat electric motor end cap 8.2.1, small arm seat electric rotating machine 8.2.2 and large arm 8.2.3；Small arm seat electric rotating machine
8.2.2 two groups are shared, every group has two motors, the rotation of one component of control shaft up and down to realize the adjusting of operating distance；Small arm seat
Small arm seat electric rotating machine 8.2.2 is bolted in the round hole of large arm 8.2.3 by electric motor end cap 8.2.1；
The large arm 8.2.3 is cast, and light-weight technologg is done on the basis of ensureing bearing capacity.
Referring to Fig. 8, be a kind of three assembly principle schematic diagram of wheel leg type problem of rock-drilling robot axis provided in an embodiment of the present invention,
It includes large arm electric motor end cap 8.3.1, large arm electric rotating machine 8.3.2, large arm swivel bearing 8.3.3 and big arm seat 8.3.4；Greatly
The Internal and external cycle of arm swivel bearing 8.3.3 is bolted with large arm 8.3.4 and big arm seat 8.3.4 respectively, large arm electric rotating machine 8.3.2
Output shaft be keyed with large arm 8.2.3；Large arm electric motor end cap 8.3.1 is fixed through periphery holes and big arm seat 8.3.4 bolts, then is passed through
Inner ring hole fixes large arm electric rotating machine 8.3.2；The rotation of large arm electric rotating machine 8.3.2 output shafts drives large arm 8.2.3 around large arm
Electric rotating machine 8.3.2 axis directions, that is, axis five rotates, to realize rotation of two component 8.4 of axis around axis three；
The big arm seat 8.3.4 is cast, and light-weight technologg is done on the basis of ensureing bearing capacity.
Referring to Fig. 9, be a kind of four assembly principle schematic diagram of wheel leg type problem of rock-drilling robot axis provided in an embodiment of the present invention,
It includes big arm seat rotary connector 8.4.1, large arm seat rotating axis holds 8.4.2, mechanical arm pedestal 8.4.3 and big arm seat rotates
Decelerating motor 8.4.4；Mechanical arm pedestal 8.4.3 is bolted on vehicle body 6, and large arm seat rotating axis holds the inside and outside of 8.4.2
Circle is bolted with mechanical arm pedestal 8.4.3 and big arm seat rotary connector 8.4.1 respectively, big arm seat rotary connector 8.4.1
The other end be bolted with big arm seat 8.4.4；Big arm seat rotational deceleration motor 8.4.4 is fixed on mechanical arm pedestal through bolt
8.4.3 on, output shaft is keyed with big arm seat rotary connector 8.4.1；Big arm seat rotational deceleration motor 8.4.4 output shafts
It rotates and is around big arm seat rotational deceleration motor 8.4.4 axis directions through the big arm seat 8.4.4 of big arm seat rotary connector 8.4.1 drives
Axis four rotates, and to realize rotation of three component 8.5 of axis around axis four, and then realizes the adjusting of splitting machine operating angle；
The mechanical arm pedestal 8.4.3 is cast, and light-weight technologg is done on the basis of ensureing bearing capacity.
Referring to Fig. 10, being that a kind of wheel leg type problem of rock-drilling robot vehicle body moving assembly principle provided in an embodiment of the present invention is shown
It is intended to, it includes vehicle body mobile motor 3.1, vehicle body mobile motor seat 3.2, vehicle body movement shaft coupling 3.3, vehicle body movement drive block
3.4, vehicle body mobile connection part 3.5, vehicle body movement linear slider 3.6, vehicle body movement ball-screw 3.7, vehicle body movement straight line are slided
Rail 3.8, vehicle body moving substrate 3.9, vehicle body movement lead screw shaft bearings 3.10 and vehicle body movement leading screw bearing 3.11；Vehicle body moves
Motor cabinet 3.2, vehicle body movement line slide rail 3.8 and vehicle body movement lead screw shaft bearings 3.10 are bolted on vehicle body shifting
On dynamic substrate 3.9, vehicle body mobile motor 3.1 and vehicle body movement leading screw bearing 3.11 are bolted on vehicle body movement electricity respectively
On engine base 3.2 and vehicle body movement lead screw shaft bearings 3.10；3.3 both ends of vehicle body movement shaft coupling are separately connected vehicle body movement ball wire
The output shaft of thick stick 3.7 and vehicle body mobile motor 3.1, vehicle body moves the other end of ball-screw 3.7 and vehicle body moves leading screw bearing
3.11 inner ring tight fit；6 both sides of vehicle body move linear slider with four vehicle bodies by bolt and are connected, and centre passes through bolt and vehicle
Body mobile connection part 3.5 is fixed, and vehicle body mobile connection part 3.5 is fixed with vehicle body movement 3.4 bolt of drive block again；Vehicle body movement is driven
The inner ring of motion block 3.4 moves 3.7 screw-thread fit of ball-screw with vehicle body, and the rotation of 3.1 output shaft of vehicle body mobile motor passes through rolling
Ballscrew is driven, and is converted to vehicle body movement drive block 3.4 and is moved moving for 3.7 axis direction of ball-screw along vehicle body, to real
Lateral linear motion of the existing vehicle body 6 on vehicle body moving substrate 3.9；3 one side of vehicle body moving assembly is in robot kinematics
In the position of centre of gravity of robot is adjusted flexibly, the work that leg assembly 5 is lifted for fluid pressure type provides precondition；On the other hand in machine
After people reaches designated position, increase the operating space of mechanical arm by transverse movement；
1 and 12 are please referred to Fig.1, is a kind of fluid pressure type lift leg group of wheel leg type problem of rock-drilling robot provided in an embodiment of the present invention
The schematic diagram of part principle schematic and wherein round A, it includes rotatable base 5.1, vehicle body supporting rack 5.2, Barrel of Hydraulic Cylinders
5.3, hydraulic cylinder piston rod 5.4, supporting rack rotate small bearing 5.5, supporting rack rotary shaft 5.6, supporting rack rotate big bearing 5.7,
Supporting rack rotates hubcap 5.8, hydraulic cylinder rotary shaft locating plate 5.9 and hydraulic cylinder rotary shaft 5.10；Vehicle body supporting rack 5.2 with
Vehicle body moving substrate 3.9 is bolted, and two side holes connect with supporting rack rotary shaft 5.6 through spline axial by the shaft shoulder and sleeve
Positioning；5.6 both ends of supporting rack rotary shaft rotate small bearing 5.5 with supporting rack respectively and supporting rack rotates the inner ring of big bearing 5.7
Tight fit, supporting rack rotates small bearing 5.5 and supporting rack rotates two of the outer ring of big bearing 5.7 respectively with rotatable base 5.1
The outer end face of counterbore tight fit, supporting rack rotation hubcap 5.8 and supporting rack rotary shaft 5.6 is adjacent to and is bolted on can
On rotating basis 5.1, to realize the axially position of supporting rack rotary shaft 5.6；The interlude appearance of hydraulic cylinder rotary shaft 5.10
The connecting pin internal surface gaps of face and Barrel of Hydraulic Cylinders 5.3 or hydraulic cylinder piston rod 5.4 coordinate, both sides section outer surface with it is rotatable
The corresponding aperture position internal surface gaps of pedestal 5.1 or vehicle body supporting rack 5.2 are positioned with merging through hydraulic cylinder rotary shaft locating plate 5.9,
To which the connecting pin of Barrel of Hydraulic Cylinders 5.3 and hydraulic cylinder piston rod 5.4 is connected to rotatable base 5.1 or vehicle body support
The designated position of frame 5.2；Unilateral hydraulic cylinder piston rod 5.4 is converted along the linear motion of its axis direction by linkage rod slide block mechanism
It is vehicle body supporting rack 5.2 around the rotation of supporting rack rotary shaft 5.6, to lift the rotatable base 5.1 of the other side, for electricity
The work of swivel component 4 is driven to provide precondition；
The rotatable base 5.1 and vehicle body supporting rack 5.2 is cast by stainless steel, in the base for ensureing bearing capacity
Light-weight technologg is done on plinth.
3 are please referred to Fig.1, is that a kind of electric drive swivel component of wheel leg type problem of rock-drilling robot provided in an embodiment of the present invention is former
Schematic diagram is managed, it includes swivel driving motor 4.1, swivel retarder 4.2, turntable bearing 4.3, swivel set axis 4.4 and set axis
Locating plate 4.5；The both ends of turntable bearing 4.3 are bolted with rotatable base 5.1 and scaffold 2 respectively, turn retarder
4.2 are bolted on rotatable base 5.1, and power source comes from swivel driving motor 4.1；Swivel set axis 4.4 1
End and the output shaft of swivel retarder 4.2 are keyed, and the other end connect through spline with scaffold 2 and by covering axis locating plate
4.5 axially position；The output torque for turning driving motor 4.1 is amplified through turning retarder 4.2, then is transmitted through swivel set axis 4.4
Onto scaffold 2, under the premise of scaffold 2 is fixed, rotating backward for swivel retarder 4.2 is converted to, to
It drives rotatable base 5.1 to rotate, the movement of leg assembly 5 is lifted in conjunction with fluid pressure type, realize the leg formula movement of Novel double-arm robot
And obstacle detouring.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (4)
1. a kind of wheel leg type problem of rock-drilling robot, including wheel undercarriage（1）, scaffold（2）, vehicle body moving assembly（3）, electric drive
Swivel component（4）, fluid pressure type lift leg assembly（5）, vehicle body（6）, visual information harvester（7）And robot assemblies（8）；Two
Cover wheel undercarriage（1）There is provided movement speed fast wheel type mobile mode for problem of rock-drilling robot, vehicle body moving assembly（3）Adjust machine
The position of centre of gravity of people, electric drive swivel component（4）Leg assembly is lifted with fluid pressure type（5）It is strong that obstacle climbing ability is provided for problem of rock-drilling robot
Leg formula move mode；
The visual information harvester（7）Four groups are shared, vehicle body is separately mounted to（6）The orientation of front, rear, left and right four；
The robot assemblies（8）There are two groups, is separately mounted to vehicle body（6）Both sides, including one component of axis（8.1）, two component of axis
（8.2）, three component of axis（8.3）, four component of axis（8.4）And mechanical arm is electrically held（8.5）；One component of axis（8.1）, two component of axis
（8.2）, three component of axis（8.3）, four component of axis（8.4）It is sequentially connected, is combined into the mechanical part of multi-degree-of-freemechanical mechanical arm, machinery
Arm is electrically held（8.5）External power supply and signal receiving/transmission device can be executed complicated appoint to constitute by staff's remote control
The multi freedom degree mechanical rock drilling of business；
One component of axis（8.1）Including nut（8.1.1）, bolt（8.1.2）, hydraulic splitting machine（8.1.3）And pawl head
Seat（8.1.4）；Hydraulic splitting machine（8.1.3）Embedded pawl headstock（8.1.4）Round hole and by nut（8.1.1）, bolt
（8.1.2）Realize its positioning;Two component of axis（8.2）Including small arm seat electric motor end cap（8.2.1）, small arm seat electric rotating machine
（8.2.2）And large arm（8.2.3）；Small arm seat electric rotating machine（8.2.2）Two groups are shared, every group has two motors up and down, control
The rotation of one component of axis, realizes the adjusting of operating distance；Small arm seat electric motor end cap（8.2.1）By small arm seat electric rotating machine
（8.2.2）It is bolted on large arm（8.2.3）Round hole in；
Three component of axis（8.3）Including large arm electric motor end cap（8.3.1）, large arm electric rotating machine（8.3.2）, large arm rotary shaft
It holds（8.3.3）And big arm seat（8.3.4）；Large arm swivel bearing（8.3.3）Internal and external cycle respectively with large arm（8.2.3）And large arm
Seat（8.3.4）It is bolted, large arm electric rotating machine（8.3.2）Output shaft and large arm（8.2.3）Key connection；Large arm electric motor end cap
（8.3.1）Through periphery holes and big arm seat（8.3.4）Bolt is fixed, then fixes large arm electric rotating machine through inner ring hole（8.3.2）；Large arm
Electric rotating machine（8.3.2）The rotation of output shaft drives large arm（8.2.3）Around large arm electric rotating machine（8.3.2）Axis direction, that is, axis three
Rotation, to realize two component of axis（8.2）Around the rotation of axis three；
Four component of axis（8.4）Including big arm seat rotary connector（8.4.1）, large arm seat rotating axis holds（8.4.2）, machinery
Arm pedestal（8.4.3）And big arm seat rotational deceleration motor（8.4.4）；Mechanical arm pedestal（8.4.3）It is bolted on vehicle
Body（6）On, large arm seat rotating axis is held（8.4.2）Internal and external cycle respectively with mechanical arm pedestal（8.4.3）It is rotatably connected with big arm seat
Part（8.4.1）One end is bolted, big arm seat rotary connector（8.4.1）The other end and big arm seat（8.3.4）It is bolted；
Big arm seat rotational deceleration motor（8.4.4）It is fixed on mechanical arm pedestal through bolt（8.4.3）On, output shaft is rotated with big arm seat
Connector（8.4.1）Key connection；Big arm seat rotational deceleration motor（8.4.4）The rotation of output shaft is through big arm seat rotary connector
（8.4.1）Drive big arm seat（8.3.4）Around big arm seat rotational deceleration motor（8.4.4）Axis direction, that is, axis four rotates, to real
Three component of existing axis（8.3 ）Around the rotation of axis four, and then realize the adjusting of splitting machine operating angle；
The vehicle body moving assembly（3）Including vehicle body mobile motor（3.1）, vehicle body mobile motor seat（3.2）, vehicle body movement connection
Axis device（3.3）, vehicle body move drive block（3.4）, vehicle body mobile connection part（3.5）, vehicle body move linear slider（3.6）, vehicle body
Mobile ball-screw（3.7）, vehicle body move line slide rail（3.8）, vehicle body moving substrate（3.9）, vehicle body move lead screw shaft bearings
（3.10）And vehicle body moves leading screw bearing（3.11）；Vehicle body mobile motor seat（3.2）, vehicle body move line slide rail（3.8）With
And vehicle body moves lead screw shaft bearings（3.10）It is bolted on vehicle body moving substrate（3.9）On, vehicle body mobile motor
（3.1）Leading screw bearing is moved with vehicle body（3.11）It is bolted on vehicle body mobile motor seat respectively（3.2）It is moved with vehicle body
Lead screw shaft bearings（3.10）On；Vehicle body moves shaft coupling（3.3）Both ends are separately connected vehicle body movement ball-screw（3.7）One end and
Vehicle body mobile motor（3.1）Output shaft, vehicle body move ball-screw（3.7）The other end and vehicle body move leading screw bearing
（3.11）Inner ring tight fit；Vehicle body（6）Both sides linear slider is moved by bolt and four vehicle bodies（3.6）It is connected, centre is logical
Cross bolt and vehicle body mobile connection part（3.5）It is fixed, vehicle body mobile connection part（3.5）Again drive block is moved with vehicle body（3.4）Spiral shell
Bolt is fixed；Vehicle body moves drive block（3.4）Inner ring and vehicle body move ball-screw（3.7）Screw-thread fit, vehicle body mobile motor
（3.1）The rotation of output shaft is converted to vehicle body movement drive block by ball-screw-transmission（3.4）Ball wire is moved along vehicle body
Thick stick（3.7）The movement of axis direction, to realize vehicle body（6）In vehicle body moving substrate（3.9）On lateral linear motion；Vehicle body
Moving assembly（3）The position of centre of gravity of robot is adjusted in robot kinematics；
The fluid pressure type lifts leg assembly（5）Including rotatable base（5.1）, vehicle body supporting rack（5.2）, Barrel of Hydraulic Cylinders
（5.3）, hydraulic cylinder piston rod（5.4）, supporting rack rotate small bearing（5.5）, supporting rack rotary shaft（5.6）, supporting rack rotation it is big
Bearing（5.7）, supporting rack rotate hubcap（5.8）, hydraulic cylinder rotary shaft locating plate（5.9）And hydraulic cylinder rotary shaft
（5.10）；Vehicle body supporting rack（5.2）With vehicle body moving substrate（3.9）It is bolted, two side holes and supporting rack rotary shaft（5.6）
It is connected through spline and passes through the shaft shoulder and sleeve axially position；Supporting rack rotary shaft（5.6）Both ends rotate small axis with supporting rack respectively
It holds（5.5）Big bearing is rotated with supporting rack（5.7）Inner ring tight fit, supporting rack rotates small bearing（5.5）It is rotated with supporting rack
Big bearing（5.7）Outer ring respectively with rotatable base（5.1）Two counterbore tight fits, supporting rack rotate hubcap（5.8）With
Supporting rack rotary shaft（5.6）Outer end face be adjacent to and be bolted on rotatable base（5.1）On, to realize supporting rack
Rotary shaft（5.6）Axially position；Hydraulic cylinder rotary shaft（5.10）Interlude outer surface and Barrel of Hydraulic Cylinders（5.3）Or hydraulic pressure
Cylinder piston rod（5.4）The cooperation of connecting pin internal surface gaps, both sides section outer surface and rotatable base（5.1）Or vehicle body supporting rack
（5.2）Corresponding aperture position internal surface gaps with merge through hydraulic cylinder rotary shaft locating plate（5.9）Positioning, thus by Barrel of Hydraulic Cylinders
（5.3）And hydraulic cylinder piston rod（5.4）Connecting pin be connected to rotatable base（5.1）Or vehicle body supporting rack（5.2）'s
Designated position；Unilateral hydraulic cylinder piston rod（5.4）Linear motion along its axis direction is converted to vehicle by linkage rod slide block mechanism
Body supporting rack（5.2）Around supporting rack rotary shaft（5.6）Rotation, to by the rotatable base of the other side（5.1）It lifts；
The electric drive swivel component（4）Including turning driving motor（4.1）, swivel retarder（4.2）, turntable bearing
（4.3）, swivel set axis（4.4）And set axis locating plate（4.5）；Turntable bearing（4.3）Both ends respectively with rotatable base
（5.1）And scaffold（2）It is bolted, turns retarder（4.2）It is bolted on rotatable base（5.1）On,
Power source comes from swivel driving motor（4.1）；Swivel set axis（4.4）One end and swivel retarder（4.2）Output axle key connect
It connects, the other end and scaffold（2）It is connected through spline and by covering axis locating plate（4.5）Axially position；Turn driving motor
（4.1）Output torque through turn retarder（4.2）Amplification, then cover axis through swivel（4.4）It is transmitted to scaffold（2）On,
Scaffold（2）Under the premise of fixed, swivel retarder is converted to（4.2）Rotate backward, to drive rotatable base
Seat（5.1）Rotation lifts leg assembly in conjunction with fluid pressure type（5）Movement, realize that the leg formula of problem of rock-drilling robot is mobile and obstacle detouring.
2. a kind of wheel leg type problem of rock-drilling robot according to claim 1, which is characterized in that the rotatable base
（5.1）With vehicle body supporting rack（5.2）It is cast by stainless steel.
3. a kind of wheel leg type problem of rock-drilling robot according to claim 1, which is characterized in that the pawl headstock（8.1.4）、
Small arm seat electric motor end cap（8.2.1）, large arm（8.2.3）, big arm seat（8.3.4）And mechanical arm pedestal（8.4.3）It casts.
4. a kind of wheel leg type problem of rock-drilling robot according to claim 1, which is characterized in that the scaffold（2）It adopts
It is welded with structural steel.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810983562.0A CN109441448A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot with visual information acquisition device |
| CN201611220504.XA CN106437706B (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
| CN201810983561.6A CN109184688A (en) | 2016-12-26 | 2016-12-26 | Wheel leg type problem of rock-drilling robot |
| CN201810983563.5A CN109538207A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
| CN201810882275.0A CN109083643A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611220504.XA CN106437706B (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810983563.5A Division CN109538207A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
| CN201810882275.0A Division CN109083643A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
| CN201810983561.6A Division CN109184688A (en) | 2016-12-26 | 2016-12-26 | Wheel leg type problem of rock-drilling robot |
| CN201810983562.0A Division CN109441448A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot with visual information acquisition device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106437706A CN106437706A (en) | 2017-02-22 |
| CN106437706B true CN106437706B (en) | 2018-09-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810983562.0A Pending CN109441448A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot with visual information acquisition device |
| CN201611220504.XA Active CN106437706B (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
| CN201810882275.0A Pending CN109083643A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
| CN201810983561.6A Withdrawn CN109184688A (en) | 2016-12-26 | 2016-12-26 | Wheel leg type problem of rock-drilling robot |
| CN201810983563.5A Pending CN109538207A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
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| CN201810983562.0A Pending CN109441448A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot with visual information acquisition device |
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| CN201810882275.0A Pending CN109083643A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
| CN201810983561.6A Withdrawn CN109184688A (en) | 2016-12-26 | 2016-12-26 | Wheel leg type problem of rock-drilling robot |
| CN201810983563.5A Pending CN109538207A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110486014A (en) * | 2019-07-25 | 2019-11-22 | 广西雷公斧重工有限公司 | Multi-functional splitting machine |
| CN111376667B (en) * | 2020-04-17 | 2024-02-13 | 合肥中科深谷科技发展有限公司 | Mobile inspection operation robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109184688A (en) | 2019-01-11 |
| CN109083643A (en) | 2018-12-25 |
| CN109538207A (en) | 2019-03-29 |
| CN109441448A (en) | 2019-03-08 |
| CN106437706A (en) | 2017-02-22 |
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