Chisel type robot and wall surface walking method thereof

Abstract

The invention discloses a chisel type robot and a wall surface walking method thereof. The chisel type robot comprises a telescopic unit and two chisel body units of the same structure. The two chisel body units are oppositely arranged and connected with the two ends of the telescopic unit correspondingly, the telescopic unit controls the distance between the two chisel body units, and the two chisel body units alternately chisel the wall face to achieve walking of the chisel type robot. The method comprises the steps that firstly, one chisel body unit of the chisel type robot is chiseled into the wall face, the direction of the other chisel body unit is controlled, the chisel body unit chisels into the wall face, then after one chisel body unit is controlled to vibrate to leave the wall face, the directions of the two chisel body units are repeatedly and alternately controlled, the two chisel body units are chiseled into the wall face, and therefore wall face walking of the chisel type robot is achieved. The chisel type robot not only has high adhesiveness and efficient crawling capacity, but also can adapt to various complex environments such as rock walls, tree trunks and concrete, and the efficiency and stability of wall surface walking operation are greatly improved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a chiseling robot and a wall walking method thereof. Background Art

[0002] With the rapid development of robotics, wall-crawling robots have shown broad application prospects in engineering exploration, geological mining, and rescue operations. However, existing wall-crawling robots face numerous limitations in terms of attachment methods and operational efficiency. Magnetic robots rely heavily on the wall material and struggle to adapt to non-metallic surfaces. Vacuum robots struggle to maintain sufficient adhesion on rough surfaces like rock faces, tree trunks, and concrete, resulting in unstable attachment and easy detachment. Mechanical claw robots rely on gripping points for attachment, making them ineffective on smooth surfaces or those without support points. Furthermore, existing wall-crawling robots generally employ rigid structures, which fail to provide sufficient impact force when drilling into the wall. They also lack vibration isolation mechanisms, making them susceptible to detachment from the wall due to vibration. Traditional robotic arm or tracked robots are complex and heavy, resulting in limited mobility and poor adaptability on vertical or curved surfaces. Given this technical background, developing a wall-crawling robot capable of autonomous attachment, precise drilling, flexible vibration isolation, and efficient crawling has become a pressing technical challenge in the field. Summary of the Invention

[0003] In order to overcome the problems existing in the background technology, the present invention provides a chiseling robot and a wall walking method thereof, which solves the technical problems of poor adaptability and insufficient walking flexibility of traditional robots in vertical wall or curved surface environments.

[0004] The technical solution adopted in the present invention is:

[0005] 1. A chiseling robot

[0006] It includes a telescopic unit and two chisel units with the same structure; the two chisel units are arranged opposite to each other and are respectively connected to the two ends of the telescopic unit. The telescopic unit controls the distance between the two chisel units. The two chisel units alternately chisel into the wall to realize the walking of the chisel robot.

[0007] Each chisel body unit includes two symmetrically arranged chisel arms and a driving rotation mechanism; each chisel arm includes a pick head, a vibration module and a variable rigidity soft connection module; both sides of the driving rotation mechanism are vertically fixedly connected outward with a variable rigidity soft connection module, a vibration module and a pick head in sequence.

[0008] The variable rigidity soft connection module comprises an inner and outer soft strain-limiting sleeve and a conduit connection block. The conduit connection block has a hollow conduit running through it. The inner soft strain-limiting sleeve forms a cylindrical soft cavity with one end open. The other end of the inner soft strain-limiting sleeve is sealed, and the open end of the inner soft strain-limiting sleeve is connected to the conduit connection block. The outer soft strain-limiting sleeve is positioned outside the inner soft strain-limiting sleeve, forming a sealed hollow cavity between the inner and outer soft strain-limiting sleeves. The cavity is filled with loose rubber particles. The inner and outer soft strain-limiting sleeves are integrally formed.

[0009] The vibration module includes a vibration shell and an internal motor, an eccentric block, and a motor mounting seat installed in the vibration shell; the two ends of the vibration shell are respectively fixedly connected to the pick head and one end of the seal of the inner soft strain limiting sleeve; a motor mounting seat is set in the vibration shell, the internal motor is installed on the motor mounting seat, and the eccentric block is installed on the output shaft of the internal motor.

[0010] The blunt side of the pick head is fixedly connected to the vibration shell, and the sharp side of the pick head is used for chiseling into the wall surface.

[0011] The driving rotation mechanism includes a first rotating shaft, a rotating frame, a second rotating shaft, a driving gear, a driven gear, a first motor, a second motor, a worm, a worm wheel, a double-outlet air pump and a third rotating shaft.

[0012] The first rotating shaft is arranged in a direction perpendicular to the chisel arm, and the first rotating shaft is fixedly connected to the rotating frame, a driven gear is fixedly connected to the first rotating shaft, a groove is provided at one end of the first rotating shaft, a double-outlet air pump is provided in the groove, a bearing is sleeved on the outer periphery of one end of the first rotating shaft with the groove, a bearing shell is fixedly installed on the outer periphery of the bearing, two small holes are provided in the radial direction of the bearing shell, and a conduit connecting block is vertically fixedly connected to each of the two sides where the small holes of the bearing shell are located, and two output ports of the double-outlet air pump are each connected to a conduit, and each conduit passes through the corresponding small hole and is sealed and connected to the corresponding conduit connecting block.

[0013] The second rotating shaft is arranged parallel to the first rotating shaft, a bearing is sleeved on the second rotating shaft and the second rotating shaft is fixedly connected to a driving gear, the outer periphery of the bearing is fixedly connected to the rotating frame, the rotating frame is installed with a first motor, the output shaft of the first motor is transmission-connected to the second rotating shaft, and the driving gear is meshed with the driven gear for transmission.

[0014] The third rotating shaft is arranged perpendicular to the second rotating shaft and perpendicular to the direction of the telescopic unit. A worm gear is fixedly connected to the third rotating shaft, and both ends of the third rotating shaft are fixedly connected to the telescopic unit. The rotating frame is also equipped with a second motor, and the output shaft of the second motor is connected to the worm gear, and the worm gear is connected to the worm gear.

[0015] The first rotating shaft and the third rotating shaft are respectively arranged on both sides of the rotating frame in the X-axis direction, and the first rotating shaft and the third rotating shaft are both perpendicular to the X-axis direction; the X-axis direction is a straight line where the openings of the first U-shaped frame and the second U-shaped frame face outward.

[0016] The rotating frame is equipped with an expansion mounting seat, which is used to install wall working tools.

[0017] The telescopic unit includes two U-shaped connecting seats, a telescopic cylinder and a push rod; the two sides of each U-shaped connecting seat are fixedly connected to the two ends of the corresponding third rotating shaft, the bottoms of the two U-shaped connecting seats are fixedly connected to the base of the telescopic cylinder and one end of the push rod respectively, and the output rod of the telescopic cylinder is fixedly connected to the other end of the push rod.

[0018] The chiseling robot further comprises a data acquisition module and a control module; the data acquisition module is mounted on the chiseling arm, and the control module is electrically connected to the internal motor, the double-outlet air pump, the first motor, the second motor, the telescopic cylinder and the data acquisition module respectively.

[0019] 2. A wall walking method for a chiseling robot

[0020] S1. Chisel one of the chisel body units of the chisel robot into the wall, and then control the variable rigidity soft connection module of the chisel body unit that chisels into the wall to be in a rigid state.

[0021] S2. Adjust the chiseling direction of the chiseling unit that has not chiseled into the wall, and adjust the distance between the two chiseling units, control the variable rigidity soft connection module of the chiseling unit that has not chiseled into the wall to be in a rigid state, then control the chiseling unit that has not chiseled into the wall to chisel into the wall, then control the variable rigidity soft connection module of one of the chiseling units to be in a flexible state, and finally control the chiseling unit where the variable rigidity soft connection module in the flexible state is located to leave the wall.

[0022] S3. Repeat step S2 to achieve walking motion of the chiseling robot on the wall.

[0023] The step S1 is specifically as follows:

[0024] One of the chisel body units of the chisel robot is chiseled into the wall, and then the double-outlet air pump of the chisel body unit that has chiseled into the wall is controlled to work, and the gas is filled into the cylindrical soft body cavity formed by the inner soft strain limiting sleeve through the cavity pipe of the conduit and the conduit connecting block, causing the inner and outer soft strain limiting sleeves to expand and deform, thereby making the variable rigidity soft body connection module of the corresponding chisel body unit in a rigid state.

[0025] The step S2 is specifically as follows:

[0026] S21. Control the second motor of the chisel unit that has already chiseled into the wall to operate. The second motor drives the third rotating shaft to rotate via the worm and the worm gear. The third rotating shaft drives the telescopic unit and the chisel unit on the other side to rotate together around the direction of the third rotating shaft, thereby adjusting the chiseling direction of the chisel unit that has not chiseled into the wall.

[0027] S22. Control the telescopic cylinder to work. The output rod of the telescopic cylinder drives the push rod to extend and retract, thereby controlling the distance between the two chisel body units.

[0028] S23. Control the dual-outlet air pump of the chisel unit that has not been chiseled into the wall to operate, and fill the cylindrical soft body cavity formed by the inner soft strain limiting sleeve through the cavity pipe of the conduit and the conduit connecting block, so that the inner and outer soft strain limiting sleeves expand and deform, thereby making the variable rigidity soft body connection module of the corresponding chisel unit in a rigid state.

[0029] S24. Control the first motor of the chisel unit that has already chiseled into the wall to rotate. The first motor drives the first rotating shaft to rotate via the driving gear and the driven gear. The first rotating shaft drives the rotating frame to rotate, thereby driving the telescopic unit and the chisel unit on the other side to rotate as a whole, so that the chisel arm of the chisel unit that has not chiseled into the wall chisels into the wall.

[0030] S25, controlling the double-outlet air pump of one of the chisel body units that has been chiseled into the wall to not work, so that the inner soft strain limiting sleeve does not expand and deform, thereby making the variable rigidity soft connection module of the corresponding chisel body unit in a flexible state.

[0031] S26, controlling the internal motor of the chisel arm where the variable rigidity soft connection module is located in the flexible state to operate, so that the internal motor drives the eccentric block to vibrate, thereby causing the corresponding chisel body unit to separate from the wall.

[0032] The beneficial effects of the present invention are:

[0033] 1. The variable rigidity soft connection module of the present invention uses an air pump to inflate the particles so as to change the rigidity, thereby achieving rigid support during drilling and flexible vibration isolation during separation, effectively avoiding falling off due to vibration, and thus ensuring the stability of the drilling robot.

[0034] 2. The present invention uses a fixed support of one chisel unit and another chisel unit to rotate around the axis and chisel in, thereby gradually moving forward using inertial impact force, reducing motor drive energy consumption and improving wall crawling efficiency.

[0035] 3. The pickaxe head of the present invention adopts a replaceable structure, and pickaxe heads of different materials and shapes can be selected according to different working environments, further expanding the adaptability and application scenarios of the robot.

[0036] 4. The present invention uses a worm gear structure with a high transmission ratio to achieve multi-directional precise adjustment and flexible crawling of the chiseling robot on vertical walls, tree trunks and complex curved surfaces.

[0037] 5. The present invention uses a data acquisition module to obtain real-time information about the wall material, drilling depth, and surrounding environment. Combined with the response of the control module, the robot can quickly adapt to complex environments and implement closed-loop control, effectively reducing manual intervention and improving the level of intelligent operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a structural schematic diagram of the chiseling robot of the present invention.

[0039] Figure 2 It is a front view of the chiseling robot of the present invention.

[0040] Figure 3 It is a side view of the chiseling robot of the present invention.

[0041] Figure 4 This is a cross-sectional view of the chisel arm when the variable rigid soft body connection module is in the flexible state.

[0042] Figure 5 This is a cross-sectional view of the chisel arm when the variable rigid soft body connection module is in the rigid state.

[0043] Figure 6 This is the structural diagram of the vibration module.

[0044] Figure 7 Schematic diagram of the chiseling robot walking on the wall according to the present invention.

[0045] Among them, it includes the telescopic unit 1, U-shaped connecting base 1.1, telescopic cylinder 1.2, push rod 1.3, chisel body unit 2, drive rotation mechanism 2.1, pick head 2.2, vibration module 2.3, variable rigidity soft connection module 2.4, soft strain limiting sleeve 2.4.1, catheter connection block 2.4.2, internal motor 2.3.1, eccentric block 2.3.2, motor mounting base 2.3.3, first rotating shaft 2.1.1, rotating frame 2.1.2, double-outlet air pump 2.1.2, second rotating shaft 2.1.3, driving gear 2.1.4, driven gear 2.1.5, first motor 2.1.6, second motor 2.1.7, worm 2.1.8, and worm wheel 2.1.9. DETAILED DESCRIPTION

[0046] The present invention is described in more detail below with reference to the accompanying drawings and examples. However, the present invention is not limited thereto. A person skilled in the art may make various improvements and modifications without departing from the principles of the present invention, and such improvements and modifications are considered to be within the scope of protection of the present invention. Any matters not described in detail in this specification constitute prior art known to those skilled in the art.

[0047] like Figure 1 、 Figure 2 and Figure 3 As shown, the chiseling robot of the present invention comprises:

[0048] The telescopic unit 1 and two identical chisel units 2 are arranged opposite each other and connected to the ends of the telescopic unit 1. The telescopic unit 1 controls the distance between the two chisel units 2, and the two chisel units 2 alternately chisel into the wall surface to enable the chiseling robot to move. The wall surface includes various complex surfaces such as rock walls, tree trunks, and concrete.

[0049] Each chisel body unit 2 includes two symmetrically arranged chisel arms and a drive rotation mechanism 2.1; each chisel arm includes a detachable pick head 2.2, a vibration module 2.3 and a variable rigidity soft connection module 2.4; the variable rigidity soft connection module 2.4, the vibration module 2.3 and the pick head 2.2 are vertically fixedly connected to the two sides of the drive rotation mechanism 2.1 in sequence.

[0050] like Figure 4 and Figure 5 As shown, the variable rigidity soft connection module 2.4 includes an inner and outer soft strain limiting sleeve 2.4.1 and a catheter connection block 2.4.2; the interior of the catheter connection block 2.4.2 is a through cavity pipe, the inner soft strain limiting sleeve 2.4.1 forms a cylindrical soft cavity with one end open, the other end of the inner soft strain limiting sleeve 2.4.1 is sealed, and the open end of the inner soft strain limiting sleeve 2.4.1 is connected to the catheter connection block 2.4.2, so that the cavity pipe of the catheter connection block 2.4.2 is connected to the cylindrical soft cavity formed by the inner soft strain limiting sleeve 2.4.1; the outer soft strain limiting sleeve 2.4.1 is sleeved on the outside of the inner soft strain limiting sleeve 2.4.1, and a sealed hollow cavity is formed between the inner and outer soft strain limiting sleeves 2.4.1, and the hollow cavity is filled with loose rubber particles.

[0051] The soft strain limiting sleeve 2.4.1 is made of rubber. The inner and outer layers of the soft strain limiting sleeve 2.4.1 are integrally formed.

[0052] like Figure 4 、 Figure 5 and Figure 6As shown, the vibration module 2.3 includes a vibration shell and an internal motor 2.3.1, an eccentric block 2.3.2 and a motor mounting base 2.3.3 installed in the vibration shell; the two ends of the vibration shell are respectively fixedly connected to the pick head 2.2 and the sealed end of the inner soft strain limiting sleeve 2.4.1; a motor mounting base 2.3.3 is provided in the vibration shell, the internal motor 2.3.1 is installed on the motor mounting base 2.3.3, the eccentric block 2.3.2 is installed on the output shaft of the internal motor 2.3.1, the motor mounting base 2.3.3 is installed on the side away from the pick head 2.2, and the eccentric block 2.3.2 is installed on the side close to the pick head 2.2.

[0053] The blunt side of the pick head 2.2 is fixedly connected to the vibration housing, and the sharp side of the pick head 2.2 is used for chiseling into the wall.

[0054] The driving rotation mechanism 2.1 includes a first rotating shaft 2.1.1, a rotating frame 2.1.2, a second rotating shaft 2.1.3, a driving gear 2.1.4, a driven gear 2.1.5, a first motor 2.1.6, a second motor 2.1.7, a worm 2.1.8, a worm gear 2.1.9, a double-outlet air pump and a third rotating shaft.

[0055] The first rotating shaft 2.1.1 passes through two limiting holes provided on the rotating frame 2.1.2 and is arranged in a direction perpendicular to the chisel arm, and the first rotating shaft 2.1.1 is fixedly connected to the rotating frame 2.1.2, and a fixed key on the first rotating shaft 2.1.1 is connected to a driven gear 2.1.5, and a groove is provided at one end of the first rotating shaft 2.1.1, and a double-outlet air pump is provided in the groove, and a bearing is sleeved on the outer periphery of one end of the first rotating shaft 2.1.1 with the groove, and a bearing shell is fixedly installed on the outer periphery of the bearing, and the bearing shell has two small holes radially provided, and a conduit connecting block 2.4.2 is vertically fixedly connected to each side of the small hole of the bearing shell, and the two output ports of the double-outlet air pump are each connected to a conduit, and each conduit passes through the corresponding small hole and the corresponding conduit connecting block 2 .4.2 Sealed connection, the outlet of the dual-outlet air pump is connected to the cylindrical soft body cavity of the inner soft strain limiting sleeve 2.4.1 through the conduit and the conduit connecting block 2.4.2. When the dual-outlet air pump is in a non-working state, the variable rigidity soft body connection module 2.4 is in a flexible state 11; when the dual-outlet air pump is in a working state, the gas compressed by the dual-outlet air pump passes through the conduit and the conduit connecting block 2.4.2 in turn and is filled into the cylindrical soft body cavity of the inner soft strain limiting sleeve 2.4.1, causing the cylindrical soft body cavity of the inner soft strain limiting sleeve 2.4.1 to expand, and then the particle cavity formed between the inner and outer soft strain limiting sleeves 2.4.1 also expands, causing the variable rigidity soft body connection module 2.4 to be in a rigid state 22.

[0056] The second rotating shaft 2.1.3 passes through the two limiting holes 2 opened on the rotating frame 2.1.2 and is arranged parallel to the first rotating shaft 2.1.1. A bearing is sleeved on the second rotating shaft 2.1.3 and the second rotating shaft 2.1.3 is fixedly keyed to the driving gear 2.1.4. The outer periphery of the bearing is fixedly connected to the rotating frame 2.1.2. The first motor 2.1.6 is installed on the rotating frame 2.1.2. The output shaft of the first motor 2.1.6 is connected to the second rotating shaft 2.1.3 for transmission, and the driving gear 2.1.4 is meshed with the driven gear 2.1.5 for transmission.

[0057] The rotation of the first motor 2.1.6 drives the transmission of the second rotating shaft 2.1.3, which drives the driving gear 2.1.4 to rotate. The driving gear 2.1.4 drives the driven gear 2.1.5 to rotate the first rotating shaft 2.1.1, which drives the rotating frame 2.1.2 to rotate.

[0058] The third rotating shaft passes through the two limiting holes three opened in the rotating frame 2.1.2 and is arranged perpendicular to the second rotating shaft 2.1.3 and perpendicular to the direction of the telescopic unit 1. A worm gear 2.1.9 is fixedly connected to the third rotating shaft, and both ends of the third rotating shaft are fixedly connected to the telescopic unit 1; the rotating frame 2.1.2 is also equipped with a second motor 2.1.7, the output shaft of the second motor 2.1.7 is perpendicular to the third rotating shaft, the output shaft of the second motor 2.1.7 is connected to the worm 2.1.8, and the worm 2.1.8 is connected to the worm gear 2.1.9.

[0059] The rotation of the second motor 2.1.7 drives the rotation of the worm 2.1.8 and the worm gear 2.1.9, the worm gear 2.1.9 drives the rotation of the third rotating shaft, and the third rotating shaft drives the rotation of the telescopic unit 1.

[0060] The rotating frame 2.1.2 is formed as an integral body of the first U-shaped frame and the second U-shaped frame. The first U-shaped frame and the second U-shaped frame are fixedly connected at the bottom. The two openings of the first U-shaped frame and the second U-shaped frame are in opposite directions. The cross section of the first U-shaped frame and the cross section of the second U-shaped frame are perpendicular to each other.

[0061] The first rotating shaft 2.1.1 and the third rotating shaft are respectively arranged on both sides of the rotating frame 2.1.2 in the X-axis direction. The first rotating shaft 2.1.1 and the third rotating shaft are both perpendicular to the X-axis direction; the X-axis direction is the straight line where the openings of the first U-shaped frame and the second U-shaped frame face outward.

[0062] The first rotating shaft 2.1.1 and the third rotating shaft pass through the two limiting holes 1 opened on the first U-shaped frame and are arranged perpendicular to the chisel arm. The second rotating shaft 2.1.3 passes through the two limiting holes 2 opened on the first U-shaped frame and is arranged parallel to the first rotating shaft 2.1.1. The third rotating shaft passes through the two limiting holes 3 opened on the second U-shaped frame and is arranged perpendicular to the second rotating shaft 2.1.3 and perpendicular to the telescopic unit 1.

[0063] In this embodiment, if Figure 1 、 Figure 2 and Figure 3 As shown, the axial directions of the first rotating shaft 2.1.1 and the second rotating shaft 2.1.3 are both arranged in the Z-axis direction, and the circumferential direction of the third rotating shaft is arranged in the Y-axis direction. The X-axis, Y-axis and Z-axis are the axes of the rectangular coordinate system established in the three-dimensional space.

[0064] The rotating frame 2.1.2 is equipped with an expansion mounting seat, which is used to install wall working tools to meet different needs of wall working.

[0065] In this embodiment, initially, when the third rotation axis is not working, the telescopic unit 1 is in the X-axis direction.

[0066] The telescopic unit 1 includes two U-shaped connecting seats 1.1, a telescopic cylinder 1.2 and a push rod 1.3; the two sides of each U-shaped connecting seat 1.1 are fixedly connected to the two ends of the corresponding third rotating shaft, the bottoms of the two U-shaped connecting seats 1.1 are fixedly connected to the base of the telescopic cylinder 1.2 and one end of the push rod 1.3 respectively, and the output rod of the telescopic cylinder 1.2 is fixedly connected to the other end of the push rod 1.3.

[0067] The chiseling robot also includes a data acquisition module and a control module; the data acquisition module is installed on the chiseling arm, and the control module is electrically connected to the internal motor 2.3.1, the dual-outlet air pump, the first motor 2.1.6, the second motor 2.1.7, the telescopic cylinder 1.2 and the data acquisition module respectively; a camera module is provided in the data acquisition module for collecting wall material, chiseling depth and surrounding environment information, and transmitting the collected data to the control module for processing. The control module controls the movement of the chiseling robot according to the processing results.

[0068] The chiseling robot also includes a battery, which provides power to the control module.

[0069] The chiseling robot of this embodiment is implemented according to the following steps of the wall walking method:

[0070] like Figure 7 As shown, S1, initially, one chiseling arm of one of the chiseling body units 2 of the chiseling robot chisels into the wall, and then the two variable rigidity soft connection modules 2.4 of the chiseling body unit 2 chiseling into the wall are controlled to be in the rigid state 22.

[0071] Initially, one chisel arm of one of the chisel units 2 of the chisel robot is chiseled into the wall, and then the control module controls the dual-outlet air pump of the chisel unit 2 that has chiseled into the wall to work, and the gas is filled into the cylindrical soft cavity formed by the inner soft strain limiting sleeve 2.4.1 through the cavity pipe of the conduit and the conduit connecting block 2.4.2. The cylindrical cavity expands and squeezes the hollow cavity formed between the inner and outer soft strain limiting sleeves 2.4.1, causing the inner and outer soft strain limiting sleeves 2.4.1 to expand and deform, thereby making the two variable rigidity soft connection modules 2.4 corresponding to the chisel unit 2 that has chiseled into the wall in a rigid state 22.

[0072] S2. Adjust the chiseling direction of the chiseling body unit 2 that has not chiseled into the wall, and adjust the distance between the two chiseling body units 2, control the variable rigidity soft connection module 2.4 of the chiseling body unit 2 that has not chiseled into the wall to be in the rigid state 22, then control the chisel body unit 2 that has not chiseled into the wall to chisel into the wall, then control the variable rigidity soft connection module 2.4 of one of the chisel body units 2 to be in the flexible state 11, and finally control the chisel body unit 2 where the variable rigidity soft connection module 2.4 in the flexible state 11 is located to leave the wall.

[0073] S21. The control module activates the second motor 2.1.7 of the chisel unit 2 that has already bored into the wall. The second motor 2.1.7 drives the third rotating shaft to rotate via the worm 2.1.8 and worm gear 2.1.9. The third rotating shaft drives the telescopic unit 1 and the chisel unit 2 on the other side to rotate together around the third rotating shaft, thereby adjusting the penetration direction of the chisel unit 2 that has not yet bored into the wall.

[0074] S22 , the control module controls the telescopic cylinder 1.2 to work, and the output rod of the telescopic cylinder 1.2 drives the push rod 1.3 to extend and retract, thereby controlling the distance between the two chisel body units 2 .

[0075] S23. The control module controls the dual-outlet air pump of the chisel unit 2 that has not been chiseled into the wall to operate. Gas is filled into the cylindrical soft body cavity formed by the inner soft strain limiting sleeve 2.4.1 through the cavity pipe of the conduit and the conduit connecting block 2.4.2. The cylindrical cavity expands and squeezes the hollow cavity formed between the inner and outer soft strain limiting sleeves 2.4.1, causing the inner and outer soft strain limiting sleeves 2.4.1 to expand and deform, thereby placing the two variable rigidity soft body connecting modules 2.4 corresponding to the chisel unit 2 in a rigid state 22.

[0076] S24. The control module controls the first motor 2.1.6 of the chisel unit 2 that has already penetrated the wall to rotate. The first motor 2.1.6 drives the first rotating shaft 2.1.1 to rotate through the driving gear 2.1.4 and the driven gear 2.1.5. The first rotating shaft 2.1.1 drives the rotating frame 2.1.2 to rotate, thereby driving the telescopic unit 1 and the chisel unit 2 on the other side to rotate as a whole. Due to rotational inertia, the chisel arm of the chisel unit 2 that has not penetrated the wall penetrates the wall. After the chisel arm penetrates the wall, the first motor 2.1.6 stops working.

[0077] S25. The control module controls the double-outlet air pump of one of the chisel body units 2 that has been chiseled into the wall to stop working, so that the inner soft strain limiting sleeve 2.4.1 does not expand and deform, and the variable rigidity soft connection module 2.4 of the corresponding chisel body unit 2 is in the flexible state 11.

[0078] In a specific implementation, after step S24 is completed, both chisel units 2 of the chisel robot have chiseled into the wall. At this time, one of the chisel units 2 can be selected to detach from the wall as required.

[0079] S26. The control module controls the internal motor 2.3.1 of the chisel arm where the variable rigidity soft connection module 2.4 is located in the flexible state 11 to operate. The internal motor 2.3.1 drives the eccentric block 2.3.2 to vibrate, thereby causing the corresponding chisel body unit 2 to separate from the wall surface. After separation from the wall surface, the internal motor 2.3.1 stops working.

[0080] S3. Repeat step S2 or repeat steps S21 to S26, thereby realizing multi-directional walking motion of the chiseling robot on the wall.

[0081] The chiseling robot of the present invention achieves gradual advancement by alternately chiseling into the wall with its dual chiseling units, and achieves flexible multi-directional crawling through a worm gear transmission mechanism. By adjusting the stiffness of the variable rigidity soft connection module, the robot achieves efficient chiseling into the wall in a rigid state and effectively isolates vibrations in a flexible state, thereby ensuring the robot's stability during movement. Furthermore, the pick head adopts a replaceable structure, allowing for the selection of picks of different materials and shapes according to different working environments, further expanding the robot's adaptability and application scenarios. In summary, the chiseling robot of the present invention not only possesses strong adhesion and efficient crawling capabilities, but can also adapt to a variety of complex environments such as rock walls, tree trunks, and concrete, significantly improving the efficiency and stability of wall operations.

[0082] The above embodiments are merely preferred embodiments for the purpose of fully illustrating the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention. The scope of protection of the present invention shall be subject to the claims.

Claims

1. A chiseling robot, characterized in that: The invention comprises a telescopic unit (1) and two chisel body units (2) of identical structure; the two chisel body units (2) are arranged opposite to each other and are respectively connected to the two ends of the telescopic unit (1); the telescopic unit (1) controls the distance between the two chisel body units (2); the two chisel body units (2) alternately chisel into the wall surface to realize the walking of the chisel robot; Each chisel body unit (2) comprises two symmetrically arranged chisel arms and a driving rotation mechanism (2.1); each chisel arm comprises a pick head (2.2), a vibration module (2.3) and a variable rigidity soft body connection module (2.4); both sides of the driving rotation mechanism (2.1) are vertically and fixedly connected outwardly with the variable rigidity soft body connection module (2.4), the vibration module (2.3) and the pick head (2.2) in sequence.

2. The chiseling robot according to claim 1, characterized in that: The variable rigidity soft connection module (2.4) comprises an inner and outer soft strain limiting sleeve (2.4.1) and a catheter connection block (2.4.2); the interior of the catheter connection block (2.4.2) is a through-hole cavity pipe, the inner soft strain limiting sleeve (2.4.1) forms a cylindrical soft cavity with one end open, the other end of the inner soft strain limiting sleeve (2.4.1) is sealed, and the open end of the inner soft strain limiting sleeve (2.4.1) is connected to the catheter connection block (2.4.2); the outer soft strain limiting sleeve (2.4.1) is sleeved on the outside of the inner soft strain limiting sleeve (2.4.1), and a sealed hollow cavity is formed between the inner and outer soft strain limiting sleeves (2.4.1), and the interior of the hollow cavity is filled with particles.

3. The chiseling robot according to claim 1, characterized in that: The vibration module (2.3) comprises a vibration housing and an internal motor (2.3.1), an eccentric weight (2.3.2), and a motor mounting seat (2.3.3) installed in the vibration housing; the two ends of the vibration housing are respectively fixedly connected to a pick head (2.2) and a sealed end of an inner soft strain limiting sleeve (2.4.1); a motor mounting seat (2.3.3) is provided in the vibration housing, the internal motor (2.3.1) is installed on the motor mounting seat (2.3.3), and the eccentric weight (2.3.2) is installed on the output shaft of the internal motor (2.3.1).

4. The chiseling robot according to claim 1, characterized in that: The non-sharp side of the pick head (2.2) is fixedly connected to the vibration shell, and the sharp side of the pick head (2.2) is used for chiseling into the wall surface.

5. The chiseling robot according to claim 1, characterized in that: The driving rotation mechanism (2.1) comprises a first rotating shaft (2.1.1), a rotating frame (2.1.2), a second rotating shaft (2.1.3), a driving gear (2.1.4), a driven gear (2.1.5), a first motor (2.1.6), a second motor (2.1.7), a worm (2.1.8), a worm wheel (2.1.9), a double-outlet air pump and a third rotating shaft; The first rotating shaft (2.1.1) is arranged in a direction perpendicular to the chisel arm, and the first rotating shaft (2.1.1) is fixedly connected to the rotating frame (2.1.2); a driven gear (2.1.5) is fixedly connected to the first rotating shaft (2.1.1); a groove is provided at one end of the first rotating shaft (2.1.1), a double-outlet air pump is provided in the groove, a bearing is sleeved on the outer periphery of one end of the first rotating shaft (2.1.1) with the groove, a bearing housing is fixedly installed on the outer periphery of the bearing, two small holes are provided in the radial direction of the bearing housing, and a conduit connecting block (2.4.2) is vertically fixedly connected to each of the two sides where the small holes of the bearing housing are located, two output ports of the double-outlet air pump are respectively connected to a conduit, and each conduit passes through the corresponding small hole and is sealed and communicated with the corresponding conduit connecting block (2.4.2); The second rotating shaft (2.1.3) is arranged in parallel with the first rotating shaft (2.1.1), a bearing is sleeved on the second rotating shaft (2.1.3), and the second rotating shaft (2.1.3) is fixedly connected to a driving gear (2.1.4), the outer periphery of the bearing is fixedly connected to the rotating frame (2.1.2), and a first motor (2.1.6) is installed on the rotating frame (2.1.2), the output shaft of the first motor (2.1.6) is transmission-connected to the second rotating shaft (2.1.3), and the driving gear (2.1.4) is meshed with the driven gear (2.1.5) for transmission; The third rotating shaft is arranged perpendicular to the second rotating shaft (2.1.3) and perpendicular to the direction of the telescopic unit (1); a worm gear (2.1.9) is fixedly connected to the third rotating shaft, and both ends of the third rotating shaft are fixedly connected to the telescopic unit (1); the rotating frame (2.1.2) is also equipped with a second motor (2.1.7); the output shaft of the second motor (2.1.7) is transmission-connected to the worm (2.1.8), and the worm (2.1.8) is transmission-connected to the worm gear (2.1.9); The rotating frame (2.1.2) is equipped with an expansion mounting seat, which is used to install wall working tools.

6. The chiseling robot according to claim 5, characterized in that: The telescopic unit (1) comprises two U-shaped connecting seats (1.1), a telescopic cylinder (1.2) and a push rod (1.3); the two sides of each U-shaped connecting seat (1.1) are fixedly connected to the two ends of the corresponding third rotating shaft, the bottoms of the two U-shaped connecting seats (1.1) are respectively fixedly connected to the base of the telescopic cylinder (1.2) and one end of the push rod (1.3), and the output rod of the telescopic cylinder (1.2) is fixedly connected to the other end of the push rod (1.3).

7. The chiseling robot according to claim 1, characterized in that: The chiseling robot further comprises a data acquisition module and a control module; the data acquisition module is mounted on the chiseling arm, and the control module is electrically connected to the internal motor (2.3.1), the double-outlet air pump, the first motor (2.1.6), the second motor (2.1.7), the telescopic cylinder (1.2) and the data acquisition module respectively.

8. A wall walking method for a chiseling robot according to any one of claims 1 to 7, characterized in that: The method comprises the following steps: S1, drilling one of the chisel body units (2) of the chisel robot into the wall, and then controlling the variable rigidity soft connection module (2.4) of the chisel body unit (2) drilling into the wall to be in a rigid state (22); S2, adjusting the chiseling direction of the chiseling body unit (2) that has not chiseled into the wall, and adjusting the distance between the two chiseling body units (2), controlling the variable rigidity soft connection module (2.4) of the chiseling body unit (2) that has not chiseled into the wall to be in a rigid state (22), then controlling the chiseling body unit (2) that has not chiseled into the wall to chisel into the wall, then controlling the variable rigidity soft connection module (2.4) of one of the chiseling body units (2) to be in a flexible state (11), and finally controlling the chiseling body unit (2) where the variable rigidity soft connection module (2.4) in the flexible state (11) is located to leave the wall; S3. Repeat step S2 to achieve walking motion of the chiseling robot on the wall.

9. The wall walking method of a chiseling robot according to claim 8, characterized in that: The step S1 specifically comprises: drilling one of the chisel body units (2) of the chisel robot into the wall, then controlling the double-outlet air pump of the chisel body unit (2) drilled into the wall to operate, and the gas is filled into the cylindrical soft body cavity formed by the inner soft strain limiting sleeve (2.4.1) through the cavity pipe of the conduit and the conduit connecting block (2.4.2), so that the inner and outer soft strain limiting sleeves (2.4.1) expand and deform, thereby making the variable rigidity soft body connecting module (2.4) of the corresponding chisel body unit (2) in a rigid state (22).

10. The wall walking method of a chiseling robot according to claim 8, characterized in that: The step S2 is specifically as follows: S21, controlling the second motor (2.1.7) of the chisel unit (2) that has already chiseled into the wall to operate, the second motor (2.1.7) drives the third rotating shaft to rotate via the worm (2.1.8) and the worm wheel (2.1.9), and the third rotating shaft drives the telescopic unit (1) and the chisel unit (2) on the other side to rotate together around the direction of the third rotating shaft, thereby adjusting the chisel direction of the chisel unit (2) that has not yet chiseled into the wall; S22, controlling the telescopic cylinder (1.2) to work, so that the output rod of the telescopic cylinder (1.2) drives the push rod (1.3) to extend and retract, thereby controlling the distance between the two chisel body units (2); S23, controlling the double-outlet air pump of the chisel unit (2) that has not been chiseled into the wall to operate, and the gas is filled into the cylindrical soft body cavity formed by the inner soft strain limiting sleeve (2.4.1) through the cavity pipe of the conduit and the conduit connecting block (2.4.2), so that the inner and outer soft strain limiting sleeves (2.4.1) expand and deform, thereby making the variable rigidity soft body connecting module (2.4) of the corresponding chisel unit (2) in a rigid state (22); S24, controlling the first motor (2.1.6) of the chisel unit (2) that has already chiseled into the wall to rotate, the first motor (2.1.6) drives the first rotating shaft (2.1.1) to rotate via the driving gear (2.1.4) and the driven gear (2.1.5), the first rotating shaft (2.1.1) drives the rotating frame (2.1.2) to rotate, and further drives the telescopic unit (1) and the chisel unit (2) on the other side to rotate as a whole, so that the chisel arm of the chisel unit (2) that has not chiseled into the wall chisels into the wall; S25, controlling the double-outlet air pump of one of the chisel body units (2) that has been chiseled into the wall to stop working, so that the inner soft strain limiting sleeve (2.4.1) does not expand and deform, thereby making the variable rigidity soft connection module (2.4) of the corresponding chisel body unit (2) in a flexible state (11); S26, controlling the internal motor (2.3.1) of the chisel arm where the variable rigidity soft connection module (2.4) in the flexible state (11) is located to operate, and the internal motor (2.3.1) drives the eccentric block (2.3.2) to vibrate, thereby causing the corresponding chisel body unit (2) to detach from the wall.

Images