Mole-imitating excavation robot

A robot and mole-like technology, applied in the field of bionic robots, can solve the problems of long robot body length, poor trajectory controllability, and large turning radius

Inactive Publication Date: 2013-03-20
三亚哈尔滨工程大学南海创新发展基地
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  • Abstract
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  • Claims
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Problems solved by technology

[0008] The main disadvantages of the above two bionic arch-mud robots are that due to the influence of the working principle and the size of the mechanism, the length of the robot body is relatively long, the turning radius is large, and the trajectory controllability is poor.

Method used

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  • Mole-imitating excavation robot
  • Mole-imitating excavation robot
  • Mole-imitating excavation robot

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[0043] For the working soil characteristic parameters in the embodiment of this design: the internal friction angle is 24 degrees, the cohesion is about 20kPa, and the soil density is 18.4kN / m 3 . The basic design parameters are: body size (length × width × height): 413 × 170 × 86mm. The length of the crank 12 is 22mm, the length of the connecting rod 13 is 46mm, the length of the rocker 14 is 80mm, the effective length of the rocker 14 in the double crank rocker mechanism is 24mm, and the length of the end connecting rod 15 is 56mm. The swing angle of the limbs is 139 degrees. The extensible distance of limbs is 56mm. Other design parameters are: the motor 1 has a diameter of φ32mm and a length of 62.9mm, the reduction box 2 has a diameter of φ32mm and a length of 46.2mm, and the size of the steering gearbox 3 (length×width×height) is 52×34×34mm. The reducer 28 has a diameter of φ19mm and a length of 15.5mm, and a twist drive motor 29 has a diameter of φ22mm and a length o...

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Abstract

The invention provides a mole-imitating excavation robot which comprises a body, a left fore limb and a right fore limb which are arranged in front of the body, a left posterior limb and a right posterior limb which are arranged in rear of the body, wherein fore limb claw toes are arranged on the left fore limb and the right fore limb, and posterior limb buckets are arranged on the left posterior limb and the right posterior limb. Four limbs are two-degrees-of-freedom mechanisms, independently move, circulate according to a desired trajectory and are changeable in trajectory radiuses. The left fore limb and the right fore limb mainly complete an excavation movement, and the left posterior limb and the right posterior limb mainly complete a dumping movement. Through a coordination movement of the four limbs, an advancing movement and a turning movement in a horizontal plane can be realized. The body is divided into a front part and a rear part which are connected through a torsion shaft and can relatively rotate by a certain angle, and therefore, the excavation trajectory of the robot turns in a vertical plane. The fore limb claw toes and the posterior limb buckets are fixed on the tail ends of the limbs through auxiliary slide blocks, and can rotate with the rotation of the limbs and retract with the retraction of the limbs, and therefore the functions of earth cutting and earth dumping are realized.

Description

technical field [0001] The invention relates to a bionic robot, in particular to a life-releasing digging robot. Background technique [0002] With the development of the international shipping industry, shipwreck accidents occur frequently at sea. For some sunken ships with high value and blocking the channel, it is necessary to salvage them in time. One of the key technologies in salvage of sunken ships is to attack the jackhole underwater, that is, to thread steel cables at the bottom of the ship for hoisting operations of the sunken ship. At present, the commonly used method of underwater attacking jack holes is that divers use manual mud tapping devices to drill holes. This method is inefficient, costly, and cannot be applied in deep water environments. [0003] At present, there are mainly two types of bionic arching mud robots: earthworm-like creeping multi-section robots and impact crawling robots. Its specific characteristics are as follows: [0004] 1) Earthwor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00E21D9/00
Inventor 王茁李艳杰张波刘风坤张毅治田忠锋张真郭石宇
Owner 三亚哈尔滨工程大学南海创新发展基地
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