Driving mechanism of bionic operation robot

Abstract

The invention provides a driving mechanism of a bionic operation robot. The driving mechanism of the bionic operation robot comprises a fixed disc frame and eight driving claws, the eight driving claws are fixedly installed on the fixed disc frame and are annularly arranged, an installation piece is fixedly installed on the fixed disc frame, a water flow protection driving mechanism is arranged on the fixed disc frame, and the water flow protection driving mechanism is fixedly installed on the installation piece. And the eight driving claws are fixedly provided with mounting blocks, the eight mounting blocks are provided with clamping mechanisms, the bottoms of the eight mounting blocks are provided with foot falling pieces, and the foot falling pieces are connected with the clamping mechanisms correspondingly. The driving mechanism of the bionic operation robot has the advantages of being convenient to use, good in protection effect and suitable for more use environments.

Description

Technical Field

[0001] The invention relates to the technical field of bionic robots, and in particular to a driving mechanism of a bionic operating robot. Background Art

[0002] In recent years, with the rapid development of power grids, the scale of power grid equipment has increased significantly, the risks and pressures of safe operation have increased day by day, and the on-site workload of operation and maintenance personnel has continued to rise. The contradiction of "few personnel, large scale, rapid development, and high requirements" has become increasingly prominent. Therefore, it is necessary to rely on "robot + AI" technology to break through the traditional manual on-site operation ideas. Based on the research and application pilot construction of new robot technology for State Grid substations, research on VR remote control technology of bionic robots in substations is carried out. With the goal of "safety, reliability, economy, and stability", remote operation of bionic AI robots in substations is realized, which reduces the intensity of on-site operations while improving the timeliness and real-time nature of substation equipment management.

[0003] There is a robot base driving mechanism in the prior art (publication number: CN108943020A), whose structure includes a driving mechanism main body, an anti-winding sleeve is movably installed on one side of the front end outer surface of the driving mechanism main body, and a small rotating wheel is provided on the outer surface of one side of the anti-winding sleeve away from the driving mechanism main body, a rotating rod is movably installed at the center of the inner surface of the anti-winding sleeve, and a connecting shaft is movably installed on the inner surface of the anti-winding sleeve near the outer side of the rotating rod, and a connecting pad is fixedly installed on the outer surface of the anti-winding sleeve. A robot base driving mechanism described in the present invention is provided with an anti-winding sleeve, a cooling fan and an anti-collision spring. When the rotating rod rotates, the anti-winding sleeve will wrap its rotating rod well, so as to protect its robot base drive. When the running time is too long, the cooling fan can dissipate heat well. When the anti-collision spring touches an object, it can effectively reduce shock and prevent collision, bringing better usage prospects.

[0004] There is also a patrol robot in the prior art (publication number: CN116638534A), whose structure includes: a robot body, on which a camera is arranged; a lifting mechanism, which is arranged between the robot body and the camera, and the lifting mechanism is used to adjust the relative position of the camera. The present application discloses a patrol robot to solve the problem that the existing patrol robots provide unsatisfactory use effects.

[0005] Both of the above patent documents use rollers as the driving structure of the robot. This roller driving method has high requirements on the environment during actual use. It needs to move on a flat ground. When encountering bumpy ground or steps on the ground, it is easy to roll over or become unable to move, which seriously reduces the scope of use of the robot.

[0006] Therefore, it is necessary to provide a driving mechanism of a bionic operating robot to solve the above technical problems. Summary of the invention

[0007] The technical problem solved by the present invention is to provide a driving mechanism of a bionic operating robot which is easy to use, has a better protection effect and is adaptable to more use environments.

[0008] In order to solve the above technical problems, the driving mechanism of the bionic operating robot provided by the present invention includes: a fixed disc frame and eight driving claws, the eight driving claws are all fixedly installed on the fixed disc frame, the eight driving claws are arranged in a ring shape, a mounting piece is fixedly installed on the fixed disc frame, a water flow protection driving mechanism is arranged on the fixed disc frame, a mounting block is fixedly installed on the eight driving claws, a clamping mechanism is arranged on the eight mounting blocks, a footing piece is arranged at the bottom of the eight mounting blocks, and a plurality of the footing pieces are respectively connected to a plurality of the clamping mechanisms.

[0009] Preferably, the water flow driving device comprises: an air pump, a floating frame, a pushing frame, four filter screens, four frame-type frames, four driving motors, four impellers, an air bag, tinfoil, an air supply frame and an air supply pipe, the air pump is fixedly mounted on the fixed disc frame, the floating frame is fixedly mounted on the bottom of the fixed disc frame, the pushing frame is fixedly mounted on the bottom of the floating frame, the four filter screens are all arranged on the pushing frame, the four frame-type frames are all fixedly mounted on the inner wall of the pushing frame, the four driving motors are respectively fixedly mounted on the four frame-type frames, the four impellers are respectively fixedly sleeved on the output shafts of the four driving motors, the air bag is arranged on the floating frame, the tinfoil is arranged on the floating frame, the air supply frame is fixedly mounted on the bottom of the air pump, the air supply pipe is fixedly mounted on one side outer wall of the air supply frame, and the other end of the air supply pipe is connected to the air bag.

[0010] Preferably, an annular opening is provided on the outer ring of the floating frame, and the tin foil is adhered to the inner wall of the annular opening by glue.

[0011] Preferably, the driving claw comprises: a rotating frame 1, a rotating frame 1, a rotating frame 2, a rotating frame 2, a rotating frame 3, a rotating frame 3, a rotating motor 1, a rotating motor 2 and a rotating motor 3, the rotating frame 1 is fixedly mounted on the fixed disk frame, the rotating frame 1 is rotatably mounted on the rotating frame 1, the rotating frame 2 is fixedly mounted on the rotating frame 1, the rotating frame 2 is rotatably mounted on the rotating frame 2, the rotating frame 3 is fixedly mounted on the rotating frame 2, and the rotating frame 3 is rotatably mounted on the rotating frame 3, the rotating motor 1 is fixedly mounted in the rotating frame 1, the output shaft of the rotating motor 1 is rotatably connected to the rotating frame 1, the rotating motor 2 is fixedly mounted in the rotating frame 2, the output shaft of the rotating motor 2 is rotatably connected to the rotating frame 2, the rotating motor 3 is fixedly mounted in the rotating frame 3, and the output shaft of the rotating motor 3 is rotatably connected to the rotating frame 3.

[0012] Preferably, the mounting member comprises: an L-shaped fixing frame, two electric push rods 2, a protective frame, a rotating disk, a circular gear 1, a circular gear 2, a rotating column, a plurality of threaded grooves, and a rotating motor 4. The L-shaped fixing frame is arranged on the fixing disk frame, the two electric push rods 2 are fixedly mounted on the L-shaped fixing frame, the protective frame is arranged on the L-shaped fixing frame, the bottom of the protective frame is fixedly connected to the telescopic shafts of the two electric push rods 2, the rotating disk is rotatably mounted on the top of the protective frame, the circular gear is arranged in the protective frame, the circular gear 2 is arranged in the protective frame, the circular gear 2 is meshed with the circular gear 1, the rotating column is rotatably mounted on the inner walls on both sides of the protective frame, the circular gear 1 is fixedly sleeved on the rotating column, the top of the rotating column extends to the top of the protective frame and is fixedly connected to the bottom of the rotating disk, the plurality of threaded grooves are all opened on the top of the rotating disk, and the plurality of threaded grooves are arranged in a ring shape, the rotating motor is fixedly mounted on the bottom of the protective frame, and the output shaft of the rotating motor extends into the protective frame and meshes with the circular gear 2.

[0013] Preferably, the foot piece is composed of a supporting block, the bottom of which is set to be spherical, and the holding mechanism comprises: a positioning opening, a positioning block, a connecting block, two slots, two sliding slots, two blocks, two T-shaped sliding buttons and two reinforcing springs, the positioning opening is opened at the top of the mounting block, the positioning block is arranged in the positioning opening, the connecting block is slidably mounted on the positioning block, the bottom of the connecting block is fixedly connected to the top of the supporting block, the two slots are opened on the outer walls at both sides of the positioning block, the two sliding slots are opened on the inner walls at both sides of the positioning opening, the two blocks are respectively slidably mounted in the two sliding slots, one side of the two blocks respectively extends into the two slots and is respectively adapted to the two slots, the two T-shaped sliding buttons are both slidably mounted on the mounting block, the bottoms of the two T-shaped sliding buttons are respectively fixedly connected to the tops of the two blocks, the two reinforcing springs are respectively fixedly mounted on the inner walls at one side of the two sliding slots, and the other ends of the two reinforcing springs are respectively fixedly connected to the outer walls at one side of the two blocks.

[0014] Preferably, a buffer groove is provided at the bottom of the positioning block, the top of the connecting block extends into the buffer groove and is slidably connected to the inner walls on both sides of the buffer groove, and a plurality of buffer springs are fixedly installed on the top of the connecting block, and the top ends of the plurality of buffer springs are fixedly connected to the top inner wall of the buffer groove.

[0015] Preferably, the support block and the driving claw are movably arranged, an adjusting roller is rotatably mounted on the driving claw, an adjusting motor is fixedly mounted on the outer wall of the driving claw, the output shaft of the adjusting motor is fixedly connected to one end of the adjusting roller, four mounting plates arranged in a ring shape are fixedly mounted on the outer wall of the adjusting roller, connecting tubes are fixedly mounted on the four mounting plates by locking bolts, the support block is fixedly connected to one end of one of the connecting tubes, a polymer wool pad is fixedly mounted on one end of one of the connecting tubes, an electromagnetic plate is fixedly mounted on one end of one of the connecting tubes, and a conical support foot is provided on one of the connecting tubes.

[0016] Preferably, the conical support foot is composed of a connecting plate and a plurality of conical blocks, the plurality of conical blocks are fixedly mounted on an outer wall of one side of the connecting plate, a limiting rod is fixedly mounted on an outer wall of the other side of the connecting plate, one end of the limiting rod extends into the corresponding connecting tube and is slidably connected to the inner wall of the connecting tube, an electric push rod is fixedly mounted on the outer wall of the connecting tube, and the telescopic shaft of the electric push rod is fixedly connected to an outer wall of one side of the connecting plate.

[0017] Preferably, a limiting ring is fixedly installed on the outer wall of the connecting tube, an internal thread is provided on the inner wall of the connecting tube, a connecting hole is opened on the outer wall of one side of the mounting plate, the connecting tube passes through the connecting hole and is adapted to the connecting hole, and one side of the locking bolt extends into the connecting tube and is threadedly connected to the inner wall of the connecting tube.

[0018] Compared with the related art, the driving mechanism of the bionic operating robot provided by the present invention has the following beneficial effects: The present invention provides a driving mechanism of a bionic operating robot. By setting eight driving claws, the entire bionic robot can be driven and moved in different environments, thereby improving the use environment of the entire bionic robot. Through the action of the air pump, the air delivery frame, the floating frame, the pushing frame, the driving motor, the impeller, the air bag and the air delivery pipe, the entire bionic robot can be moved on the water surface, thereby improving the use environment of the bionic robot.

[0019] By means of the installation block, the positioning port, the positioning block, the connecting block, the slot, the sliding slot, the block, the T-shaped slide button and the reinforcing spring, the support block can be quickly replaced, thereby improving the maintenance efficiency of the bionic robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the three-dimensional structure of a first embodiment of a driving mechanism of a bionic operating robot provided by the present invention; Figure 2 Another three-dimensional structural schematic diagram of the first embodiment of the driving mechanism of the bionic operating robot provided by the present invention; Figure 3 A schematic diagram of the three-dimensional structure of a driving claw in the first embodiment of the driving mechanism of the bionic manipulation robot provided by the present invention; Figure 4 A schematic diagram of the three-dimensional structure of a water flow protection driving mechanism in the first embodiment of the driving mechanism of the bionic operating robot provided by the present invention; Figure 5 A schematic three-dimensional cross-sectional structure diagram of a floating frame and a pushing frame in a first embodiment of a driving mechanism of a bionic operating robot provided by the present invention; Figure 6 A three-dimensional cross-sectional structural schematic diagram of a clamping mechanism in a first embodiment of a driving mechanism of a bionic operating robot provided by the present invention; Figure 7 A schematic three-dimensional cross-sectional structural diagram of a mounting member in a first embodiment of a driving mechanism of a bionic operating robot provided by the present invention; Figure 8 A schematic three-dimensional cross-sectional structure diagram of a protection frame and a rotating disk in a first embodiment of a driving mechanism of a bionic operating robot provided by the present invention; Fig. 9 A schematic diagram of the three-dimensional structure of a second embodiment of the driving mechanism of the bionic operating robot provided by the present invention; Fig.10 It is a schematic diagram of the three-dimensional cross-sectional structure of the connecting cylinder in the second embodiment of the driving mechanism of the bionic operating robot provided by the present invention.

[0021] Numbers in the figure: 1, fixed disc frame; 2, driving claw; 201, rotating frame 1; 202, rotating frame 1; 203, rotating frame 2; 204, rotating frame 2; 205, rotating frame 3; 206, rotating frame 3; 208, rotating motor 1; 209, rotating motor 2; 2010, rotating motor 3; 3, mounting parts; 301, L-shaped fixed frame; 302, electric push rod 2; 303, protective frame; 304, rotating disc; 305, circular gear 1; 306, circular gear 2; 307, rotating column; 308, threaded groove; 309, rotating motor 4; 4, air pump; 5, air delivery frame; 6, floating frame; 7, pushing frame; 8 , filter; 9, frame; 10, drive motor; 11, impeller; 12, tin foil; 13, air bag; 14, air pipe; 15, adjusting roller; 16, mounting plate; 17, connecting tube; 18, locking bolt; 19, polymer wool pad; 20, electromagnetic plate; 21, foot piece; 22, conical support foot; 2201, conical block; 23, adjusting motor; 24, limit rod; 25, electric push rod 1; 26, mounting block; 27, positioning port; 28, positioning block; 29, connecting block; 30, support block; 31, buffer spring; 32, slot; 33, sliding slot; 34, block; 35, T-shaped slide button; 36, reinforcement spring. DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with the accompanying drawings and implementation modes.

[0023] Please refer to Figure 1-Figure 8In the first embodiment of the present invention, the driving mechanism of the bionic operating robot includes: a fixed disc frame 1 and eight driving claws 2. The fixed disc frame 1 and the driving claws 2 are both made of carbon alloy material to increase the weight of the entire robot. Plastic air bags are arranged on the outer walls of the plurality of driving claws 2. The arrangement of the plurality of plastic air bags can provide buoyancy for the driving claws 2, thereby increasing the buoyancy of the entire bionic robot. The eight driving claws 2 are all fixedly mounted on the fixed disc frame 1. The eight driving claws 2 are arranged in a ring shape. A mounting member 3 is fixedly mounted on the fixed disc frame 1. A plurality of mounting holes are opened on the top of the mounting member 3. The plurality of mounting holes are used to mount and fix the control device and the camera device. A water flow protection driving mechanism is arranged on the fixed disc frame 1. A mounting block 26 is fixedly mounted on the eight driving claws 2. A clamping mechanism is arranged on the eight mounting blocks 26. A footing member 21 is arranged at the bottom of the eight mounting blocks 26. The plurality of footing members 21 are respectively connected to the plurality of clamping mechanisms. The footing member 21 is composed of a support block 30. The bottom of the support block 30 is arranged in a spherical shape.

[0024] The water flow driving device includes: an air pump 4, a floating frame 6, a pushing frame 7, four filter screens 8, four frame frames 9, four driving motors 10, four impellers 11, an air bag 13, tin foil 12, an air delivery frame 5 and an air delivery pipe 14. The air pump 4 is fixedly mounted on the fixed disc frame 1, the floating frame 6 is fixedly mounted on the bottom of the fixed disc frame 1, the pushing frame 7 is fixedly mounted on the bottom of the floating frame 6, the four filter screens 8 are all arranged on the pushing frame 7, the four frame frames 9 are all fixedly mounted on the inner wall of the pushing frame 7, and the four The driving motors 10 are fixedly mounted on the four frame frames 9 respectively, the four impellers 11 are fixedly mounted on the output shafts of the four driving motors 10 respectively, the airbag 13 is arranged on the floating frame 6, the tin foil 12 is arranged on the floating frame 6, the outer ring of the floating frame 6 is provided with an annular opening, the tin foil 12 is glued to the inner wall of the annular opening, the air delivery frame 5 is fixedly mounted on the bottom of the air pump 4, the air delivery pipe 14 is fixedly mounted on the outer wall of one side of the air delivery frame 5, and the other end of the air delivery pipe 14 is connected to the airbag 13.

[0025] The driving claw 2 includes: a rotating frame 1 201, a rotating frame 1 202, a rotating frame 2 203, a rotating frame 2 204, a rotating frame 3 205, a rotating frame 3 206, a rotating motor 1 208, a rotating motor 2 209, and a rotating motor 3 2010. The rotating frame 1 201 is fixedly mounted on the fixed disk frame 1, the rotating frame 1 202 is rotatably mounted on the rotating frame 1 201, the rotating frame 2 203 is fixedly mounted on the rotating frame 1 202, the rotating frame 2 204 is rotatably mounted on the rotating frame 2 203, and the rotating frame 3 205 is fixedly mounted on the fixed disk frame 1 Installed on rotating frame 204, rotating frame 3 206 is rotatably installed on rotating frame 3, rotating motor 1 208 is fixedly installed in rotating frame 1 201, and the output shaft of rotating motor 1 208 is rotatably connected to rotating frame 1 202, rotating motor 2 209 is fixedly installed in rotating frame 203, and the output shaft of rotating motor 209 is rotatably connected to rotating frame 2 204, rotating motor 3 2010 is fixedly installed in rotating frame 3 205, and the output shaft of rotating motor 3 2010 is rotatably connected to rotating frame 3 206.

[0026] The mounting member 3 includes: an L-shaped fixing frame 301, two electric push rods 302, a protection frame 303, a rotating disk 304, a circular gear 1 305, a circular gear 2 306, a rotating column 307, a plurality of threaded grooves 308, and a rotating motor 4 309. The L-shaped fixing frame 301 is arranged on the fixing disk frame 1, the two electric push rods 302 are fixedly installed on the L-shaped fixing frame 301, the protection frame 303 is arranged on the L-shaped fixing frame 301, the bottom of the protection frame 303 is fixedly connected to the telescopic shaft of the two electric push rods 302, the rotating disk 304 is rotatably installed on the top of the protection frame 303, and the circular gear is arranged on the protection frame 303. Inside, circular gear 2 306 is arranged in the protective frame 303, circular gear 2 306 is meshed with circular gear 1 305, rotating column 307 is rotatably installed on the inner walls of both sides of the protective frame 303, circular gear 1 305 is fixedly sleeved on the rotating column 307, the top of the rotating column 307 extends to the top of the protective frame 303 and is fixedly connected to the bottom of the rotating disk 304, multiple thread grooves 308 are opened on the top of the rotating disk 304, and multiple thread grooves 308 are arranged in a ring shape, the rotating motor is fixedly installed at the bottom of the protective frame 303, and the output shaft of the rotating motor extends into the protective frame 303 and meshes with circular gear 2 306.

[0027] The clamping mechanism includes: a positioning port 27, a positioning block 28, a connecting block 29, two card slots 32, two sliding slots 33, two card blocks 34, two T-shaped slide buttons 35 and two reinforcing springs 36. The positioning port 27 is opened at the top of the mounting block 26, the positioning block 28 is arranged in the positioning port 27, the connecting block 29 is slidably installed on the positioning block 28, a buffer groove is opened at the bottom of the positioning block 28, the top of the connecting block 29 extends into the buffer groove and is slidably connected to the inner walls on both sides of the buffer groove, a plurality of buffer springs 31 are fixedly installed on the top of the connecting block 29, the tops of the plurality of buffer springs 31 are fixedly connected to the top inner wall of the buffer groove, the bottom of the connecting block 29 is fixedly connected to the support The top of the support block 30 is fixedly connected, two slots 32 are provided on the outer walls on both sides of the positioning block 28, two sliding slots 33 are provided on the inner walls on both sides of the positioning opening 27, two blocks 34 are slidably installed in the two sliding slots 33, one side of the two blocks 34 extends into the two slots 32 and fits with the two slots 32 respectively, two T-shaped slide buttons 35 are slidably installed on the mounting block 26, the bottoms of the two T-shaped slide buttons 35 are fixedly connected to the tops of the two blocks 34 respectively, two reinforcement springs 36 are fixedly installed on the inner walls on one side of the two sliding slots 33 respectively, and the other ends of the two reinforcement springs 36 are fixedly connected to the outer walls on one side of the two blocks 34 respectively.

[0028] In this embodiment: Before use, the control device and the camera device are mounted on the mounting member 3 by bolts, and then the fixed disc frame 1 is driven to move by the eight driving claws 2, and then the entire bionic robot is driven to move; The specific operation is as follows: start the rotary motor 1 208 to drive the rotary frame 1 202 to rotate, thereby moving in parallel, start the rotary motor 209 to drive the rotary frame 2 204 to rotate longitudinally, and start the rotary motor 3 2010 to drive the rotary frame 3 206 to move longitudinally. In the above manner, the eight driving claws 2 can drive the bionic robot to move in different environments; When encountering a river, the eight driving claws 2 are retracted, and then the air pump 4 is started to blow the air flow into the air delivery frame 5, and then the air flow is flowed into the air bag 13 through the air delivery pipe 14. The air bag 13 extends outward under the action of the air flow and pushes the tin foil 12 away from the floating frame 6. At the same time, the air bag 13 also extends to the bottom of the fixed disc frame 1. The buoyancy of the air bag 13 supports the bionic robot, and then the corresponding driving motor 10 can be started according to the required direction of movement to drive the impeller 11 to rotate. The rotation of the impeller 11 pushes the water flow, so that the entire bionic robot moves on the water surface.

[0029] During the maintenance of the robot, when the support block 30 needs to be replaced, the two T-shaped slide buttons 35 can be pulled away from each other to make the two card blocks 34 disengage from the two card slots 32 respectively, and then the support block 30 can be removed from the mounting block 26 through the positioning block 28 and the connecting block 29. Similarly, it is only necessary to insert the positioning block 28 into the positioning opening 27, and under the action of the two reinforcing springs 36, the two card blocks 34 are pushed into the two card slots 32 respectively, thereby completing the installation of the support block 30. The operation is simple and convenient.

[0030] During the use of the robot, the control device and the monitoring equipment can be installed on the rotating disk 304. During use, the two electric push rods 2 302 can be started to push the protective frame 303 and the rotating disk 304 up, so as to facilitate the adjustment of the height of the monitoring equipment. By starting the rotating motor 4 309, the circular gear 2 306 is driven to rotate, and then the circular gear 1 305 is driven to rotate. Subsequently, the rotating disk 304 is driven to rotate under the action of the rotating column 307, thereby driving the monitoring equipment to rotate, which is convenient for the comprehensive monitoring of the monitoring equipment.

[0031] Compared with the related art, the driving mechanism of the bionic operating robot provided by the present invention has the following beneficial effects: By setting the eight driving claws 2, the entire bionic robot can be driven and moved in different environments, thereby improving the use environment of the entire bionic robot; Through the action of the air pump 4, the air supply frame 5, the floating frame 6, the pushing frame 7, the driving motor 10, the impeller 11, the air bag 13 and the air supply pipe 14, the entire bionic robot can be moved on the water surface, thereby improving the use environment of the bionic robot.

[0032] Through the actions of the mounting block 26, the positioning opening 27, the positioning block 28, the connecting block 29, the slot 32, the sliding slot 33, the block 34, the T-shaped slide button 35 and the reinforcing spring 36, the support block 30 can be quickly replaced, thereby improving the maintenance efficiency of the bionic robot.

[0033] Second embodiment: Based on the driving mechanism of the bionic operating robot provided in the first embodiment of the present application, the second embodiment of the present application provides another driving mechanism of the bionic operating robot. The second embodiment is only a preferred mode of the first embodiment, and the implementation of the second embodiment will not affect the independent implementation of the first embodiment.

[0034] The second embodiment of the present invention is further described below in conjunction with the accompanying drawings and implementation modes.

[0035] Please refer to Figure 9-10In the driving mechanism of the bionic operating robot, a footing piece 21 is movably arranged with a driving claw 2, an adjusting roller 15 is rotatably installed on the driving claw 2, an adjusting motor 23 is fixedly installed on the outer wall of the driving claw 2, the output shaft of the adjusting motor 23 is fixedly connected with one end of the adjusting roller 15, four annular mounting plates 16 are fixedly installed on the outer wall of the adjusting roller 15, and a connecting tube 17 is fixedly installed on each of the four mounting plates 16 through a locking bolt 18. The footing piece 21 is composed of a support block 30, a polymer wool pad 19, an electromagnetic plate 20 and a conical support foot 22, the support block 30, the polymer wool pad 19 and the electromagnetic plate 20 are respectively fixedly connected with one end of the three connecting tubes 17, the conical support foot 22 is slidably connected with one end of one of the connecting tubes 17, and the polymer wool pad 19 is constructed by the prior art. , millions of hairs made of artificial rubber are arranged on it, the diameter of each fine hair is about 500 nanometers, and the length of each hair is less than 2 microns. The electromagnetic plate 20 is connected to the external battery through electricity, and the magnetic force of the electromagnetic plate 20 is controlled by controlling the input of electricity, thereby facilitating the adsorption during the contact with iron. The conical support foot 22 is composed of a connecting plate and a plurality of conical blocks 2201, and the plurality of conical blocks 2201 are all fixedly mounted on the outer wall of one side of the connecting plate, and a limiting rod 24 is fixedly mounted on the outer wall of the other side of the connecting plate, one end of the limiting rod 24 extends into the corresponding connecting tube 17 and is slidably connected to the inner wall of the connecting tube 17, and an electric push rod 25 is fixedly mounted on the outer wall of the connecting tube 17, and the telescopic shaft of the electric push rod 25 is fixedly connected to the outer wall of one side of the connecting plate.

[0036] A limiting ring is fixedly installed on the outer wall of the connecting tube 17, an internal thread is provided on the inner wall of the connecting tube 17, a connecting hole is opened on the outer wall of one side of the mounting plate 16, the connecting tube 17 passes through the connecting hole and is adapted to the connecting hole, one side of the locking bolt 18 extends into the connecting tube 17 and is threadedly connected to the inner wall of the connecting tube 17.

[0037] In this embodiment: During use, when the driving claw 2 moves, the footing piece 21 can be replaced according to the environment to be moved. The specific operation is as follows: start the adjusting motor 23 to drive the adjusting roller 15 to rotate, thereby driving the four mounting plates 16 to rotate. On a relatively flat and hard ground, the support block 30 can be driven to move as the footing piece 21. When it is necessary to climb an iron frame, the electromagnetic plate 20 can be given magnetic force by electricity, and the robot is driven to move by the adsorption of magnetism and iron. When climbing a glass surface, the polymer wool pad 19 can be used as the footing piece 21 for movement. When the robot needs to be fixed, the conical support foot 22 can be used as the footing piece 21. During use, the electric push rod 25 can be started to push the conical support foot 22 down, so that multiple conical blocks 2201 are inserted into the ground to increase the contact stability with the ground, thereby ensuring that the robot is placed firmly. In summary, the use range of the entire bionic robot can be improved.

[0038] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A driving mechanism of a bionic operating robot, comprising: A fixed disc frame and eight driving claws, characterized in that the eight driving claws are all fixedly mounted on the fixed disc frame, the eight driving claws are arranged in a ring shape, a mounting piece is fixedly mounted on the fixed disc frame, a water flow protection driving mechanism is arranged on the fixed disc frame, mounting blocks are fixedly mounted on the eight driving claws, a clamping mechanism is arranged on the eight mounting blocks, a footing piece is arranged at the bottom of the eight mounting blocks, and a plurality of the footing pieces are respectively connected to a plurality of the clamping mechanisms.

2. The driving mechanism of the bionic operating robot according to claim 1, characterized in that: The water flow driving device includes: an air pump, a floating frame, a pushing frame, four filter screens, four frame-type frames, four driving motors, four impellers, an air bag, tin foil, an air delivery frame and an air delivery pipe. The air pump is fixedly mounted on the fixed disc frame, the floating frame is fixedly mounted on the bottom of the fixed disc frame, the pushing frame is fixedly mounted on the bottom of the floating frame, the four filter screens are all arranged on the pushing frame, the four frame-type frames are all fixedly mounted on the inner wall of the pushing frame, the four driving motors are respectively fixedly mounted on the four frame-type frames, the four impellers are respectively fixedly sleeved on the output shafts of the four driving motors, the air bag is arranged on the floating frame, the tin foil is arranged on the floating frame, the air delivery frame is fixedly mounted on the bottom of the air pump, the air delivery pipe is fixedly mounted on one side outer wall of the air delivery frame, and the other end of the air delivery pipe is connected to the air bag.

3. The driving mechanism of the bionic operating robot according to claim 2, characterized in that: The outer ring of the floating frame is provided with an annular opening, and the tin foil is adhered to the inner wall of the annular opening by glue.

4. The driving mechanism of the bionic operating robot according to claim 1, characterized in that: The driving claw comprises: a rotating frame 1, a rotating frame 1, a rotating frame 2, a rotating frame 2, a rotating frame 3, a rotating frame 3, a rotating motor 1, a rotating motor 2, and a rotating motor 3. The rotating frame 1 is fixedly mounted on the fixed disk frame, the rotating frame 1 is rotatably mounted on the rotating frame 1, the rotating frame 2 is fixedly mounted on the rotating frame 1, the rotating frame 2 is rotatably mounted on the rotating frame 2, the rotating frame 3 is fixedly mounted on the rotating frame 2, and the rotating frame 3 is rotatably mounted on the rotating frame 3. The rotating motor 1 is fixedly mounted in the rotating frame 1, and the output shaft of the rotating motor 1 is rotatably connected to the rotating frame 1, the rotating motor 2 is fixedly mounted in the rotating frame 2, and the output shaft of the rotating motor 2 is rotatably connected to the rotating frame 2, the rotating motor 3 is fixedly mounted in the rotating frame 3, and the output shaft of the rotating motor 3 is rotatably connected to the rotating frame 3.

5. The driving mechanism of the bionic operating robot according to claim 1, characterized in that: The mounting member comprises: an L-shaped fixing frame, two electric push rods 2, a protection frame, a rotating disk, a circular gear 1, a circular gear 2, a rotating column, a plurality of threaded grooves, and a rotating motor 4. The L-shaped fixing frame is arranged on the fixing disk frame 1, the two electric push rods 2 are fixedly mounted on the L-shaped fixing frame, the protection frame is arranged on the L-shaped fixing frame, the bottom of the protection frame is fixedly connected to the telescopic shafts of the two electric push rods 2, the rotating disk is rotatably mounted on the top of the protection frame, the circular gear is arranged in the protection frame, the circular gear 2 is arranged in the protection frame, the circular gear 2 is meshed with the circular gear 1, the rotating column is rotatably mounted on the inner walls of both sides of the protection frame, the circular gear 1 is fixedly sleeved on the rotating column, the top of the rotating column extends to the top of the protection frame and is fixedly connected to the bottom of the rotating disk, the plurality of threaded grooves are all opened on the top of the rotating disk, and the plurality of threaded grooves are arranged in an annular shape, the rotating motor is fixedly mounted on the bottom of the protection frame, and the output shaft of the rotating motor extends into the protection frame and meshes with the circular gear 2.

6. The driving mechanism of the bionic operating robot according to claim 1, characterized in that: The foot piece is composed of a supporting block, the bottom of which is set to be spherical, and the holding mechanism comprises: a positioning port, a positioning block, a connecting block, two slots, two sliding slots, two blocks, two T-shaped sliding buttons and two reinforcing springs, the positioning port is opened at the top of the mounting block, the positioning block is arranged in the positioning port, the connecting block is slidably mounted on the positioning block, the bottom of the connecting block is fixedly connected to the top of the supporting block, the two slots are opened on the outer walls at both sides of the positioning block, the two sliding slots are opened on the inner walls at both sides of the positioning port, the two blocks are respectively slidably mounted in the two sliding slots, one side of the two blocks respectively extends into the two slots and is respectively adapted to the two slots, the two T-shaped sliding buttons are both slidably mounted on the mounting block, the bottoms of the two T-shaped sliding buttons are respectively fixedly connected to the tops of the two blocks, the two reinforcing springs are respectively fixedly mounted on the inner walls at one side of the two sliding slots, and the other ends of the two reinforcing springs are respectively fixedly connected to the outer walls at one side of the two blocks.

7. The driving mechanism of the bionic operating robot according to claim 6, characterized in that: A buffer groove is provided at the bottom of the positioning block, the top of the connecting block extends into the buffer groove and is slidably connected to the inner walls on both sides of the buffer groove, and a plurality of buffer springs are fixedly installed on the top of the connecting block, and the top ends of the plurality of buffer springs are fixedly connected to the top inner wall of the buffer groove.

8. The driving mechanism of the bionic operating robot according to claim 1, characterized in that: The footing piece is movably arranged with the driving claw, an adjusting roller is rotatably installed on the driving claw, an adjusting motor is fixedly installed on the outer wall of the driving claw, the output shaft of the adjusting motor is fixedly connected to one end of the adjusting roller, four annular mounting plates are fixedly installed on the outer wall of the adjusting roller, connecting tubes are fixedly installed on the four mounting plates by locking bolts, the footing piece is composed of a supporting block, a polymer wool pad, an electromagnetic plate and a conical support foot, the supporting block, the polymer wool pad and the electromagnetic plate are fixedly connected to one end of three connecting tubes respectively, and the conical support foot is slidably connected to one end of one of the connecting tubes.

9. The driving mechanism of the bionic operating robot according to claim 8, characterized in that: The conical support foot is composed of a connecting plate and a plurality of conical blocks, and the plurality of conical blocks are fixedly mounted on an outer wall of one side of the connecting plate, and a limiting rod is fixedly mounted on an outer wall of the other side of the connecting plate, and one end of the limiting rod extends into the corresponding connecting tube and is slidably connected to the inner wall of the connecting tube, and an electric push rod 1 is fixedly mounted on the outer wall of the connecting tube, and the telescopic shaft of the electric push rod 1 is fixedly connected to an outer wall of one side of the connecting plate.

10. The driving mechanism of the bionic operating robot according to claim 9, characterized in that: A limiting ring is fixedly installed on the outer wall of the connecting tube, an internal thread is provided on the inner wall of the connecting tube, a connecting hole is opened on the outer wall of one side of the mounting plate, the connecting tube passes through the connecting hole and is adapted to the connecting hole, and one side of the locking bolt extends into the connecting tube and is threadedly connected to the inner wall of the connecting tube.

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