All-terrain anti-explosion robot

Abstract

The invention discloses an all-terrain anti-explosion robot, and relates to the technical field of manipulators, the all-terrain anti-explosion robot comprises a walking mechanism, a mechanical arm mechanism, second electric telescopic rods, a mechanical claw mechanism and an adjusting mechanism, the mechanical arm mechanism is installed on the top of the walking mechanism, and the second electric telescopic rods are installed on the two sides of the mechanical arm mechanism; the mechanical gripper mechanism is installed at one end of the second electric telescopic rod and used for sampling of substances in various shapes, and the adjusting mechanism is installed on the mechanical gripper mechanism and used for clamping different solid substances through the mechanical gripper mechanism. By means of the arrangement mode that the mechanical claw mechanism and the adjusting mechanism are matched, through the design of the turnover adjusting block, the mechanical claw can rapidly switch three clamping faces, the grabbing requirements of common objects, smooth objects and fragile objects are met, and the stable clamping requirements of a robot for objects made of different materials in different environments are met.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical hands, in particular to an all-terrain explosion-proof robot. BACKGROUND

[0002] The all-terrain explosion-proof robot is a survey and operation equipment widely used in dangerous environments and complex terrains. The existing all-terrain explosion-proof robot adopts a tracked walking mechanism, which has strong obstacle crossing, climbing and complex terrain adapting capabilities. For example, chemical explosion sites, nuclear radiation areas, earthquake rescue and geological exploration.

[0003] The conventional explosion-proof robot adopts a fixed structure mechanical claw, i.e. the end structure of the mechanical claw is fixed. When grabbing various substances, such as smooth ice blocks, irregular rock layers or gelatinous substances, the existing mechanical claw end is basically a finger claw metal structure, which cannot change the end form of the finger claw, resulting in difficulty in adapting to the grabbing requirements of objects with various forms or different materials. Especially when facing fragile, smooth or flexible objects, the sampling and grabbing of the substances are easily damaged or failed, which limits the application effect of the robot in different environments. SUMMARY

[0004] The present application aims to provide an all-terrain explosion-proof robot to solve the problems in the background.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical scheme: an all-terrain explosion-proof robot, comprising:

[0006] a walking mechanism;

[0007] a mechanical arm mechanism installed on the top of the walking mechanism;

[0008] a second electric telescopic rod installed on both sides of the mechanical arm mechanism, the mechanical arm mechanism being used for position movement of the second electric telescopic rod;

[0009] a mechanical claw mechanism installed on one end of the second electric telescopic rod, the mechanical claw mechanism being used for sampling of various shape substances;

[0010] an adjusting mechanism installed on the mechanical claw mechanism, the adjusting mechanism being used for clamping different solid substances through the mechanical claw mechanism.

[0011] Preferably, the walking mechanism comprises:

[0012] an explosion-proof box, the mechanical arm mechanism being installed on the top of the explosion-proof box;

[0013] A track walking assembly is installed at the bottom of the explosion-proof box, and is used for mechanical walking of the explosion-proof box.

[0014] A first mounting plate is arranged at one end of the explosion-proof box through locking bolts;

[0015] A second mounting plate is arranged at one end of the first mounting plate through locking bolts, and the first mounting plate and the second mounting plate can be angle-adjusted through the locking bolts;

[0016] A plurality of cameras are respectively fixed to the front faces of the first mounting plate and the second mounting plate;

[0017] A lighting ring lamp is sleeved on the outer wall of the camera, and is used for assisting the shooting illumination of the camera.

[0018] Preferably, the mechanical arm mechanism comprises:

[0019] A rectangular frame is slidably arranged at the top of the inner cavity of the explosion-proof box;

[0020] A drive gear is rotatably arranged at the top of the inner cavity of the rectangular frame through a motor;

[0021] A limiting tooth is fixed to the bottom of the inner cavity of the rectangular frame through a support column;

[0022] A pneumatic cylinder is fixed to the bottom of the explosion-proof box, and the telescopic end of the pneumatic cylinder is fixedly connected with the bottom of the outer wall of the rectangular frame, and the pneumatic cylinder is used for vertical lifting movement of the rectangular frame;

[0023] A plurality of mounting racks are oppositely fixed to the top of the inner wall of the explosion-proof box, and the rectangular frame and the inner side of the mounting rack are slidably and penetratingly connected;

[0024] A rotating gear is rotatably arranged at the bottom of the mounting rack through a bearing, and the drive gear is meshingly connected with the outer walls of two adjacent rotating gears;

[0025] A rotating joint is arranged at one end of the rotating gear;

[0026] A first electric telescopic rod is rotatably arranged in the inner cavity of the rotating joint through a motor at the fixed end of the first electric telescopic rod;

[0027] A clamping block is fixed to the telescopic end of the first electric telescopic rod, and the clamping block is fixed to the outer wall of the fixed end of a second electric telescopic rod, and the other end of the plurality of second electric telescopic rods is further provided with a drill bit and a knocking head.

[0028] Preferably, the mechanical claw mechanism comprises:

[0029] A fixed cylinder is threadedly connected to the end of the second electric telescopic rod.

[0030] A mounting ring is fixed to one end of the fixed cylinder.

[0031] A plurality of grabbing assemblies are rotatably inserted into the outer wall of the mounting ring in a ring array, and the plurality of grabbing assemblies are used for grabbing the articles.

[0032] A telescopic assembly is installed between the plurality of grabbing assemblies and the fixed cylinder, and the telescopic assembly is used for the active driving of the grabbing assemblies.

[0033] A water passage is formed in the middle of the telescopic assembly.

[0034] An air pump is installed at one end of the inner cavity of the fixed cylinder.

[0035] A water pump box is installed at the other end of the inner cavity of the fixed cylinder.

[0036] Preferably, the grabbing assembly comprises:

[0037] A plurality of movable rods are rotatably inserted into the outer wall of the mounting ring in a ring array.

[0038] A grabbing rod is rotatably inserted into one end of the movable rod.

[0039] A plurality of air pipes are inserted into the inner cavity of the grabbing rod, and the plurality of air pipes are connected to the air inlet and outlet of the air pump through the electromagnetic valve.

[0040] A positioning groove is formed in the grabbing surface of the grabbing rod.

[0041] An active groove is formed at one end of the positioning groove, and the adjusting mechanism is arranged in the inner cavities of the positioning groove and the adjacent active groove.

[0042] Preferably, the telescopic assembly comprises:

[0043] A moving rod is slidably inserted into one end of the fixed cylinder.

[0044] An active ring is fixed to one end of the moving rod, a plurality of grabbing rods are rotatably inserted and connected to the outer wall of the active ring through the pin shaft, a water passage is formed in the middle of the active ring and the moving rod, and the water passage is connected to the water inlet and outlet of the water pump box through the pipeline.

[0045] An active block is rotatably inserted into the other end of the moving rod.

[0046] An eccentric wheel is fixedly connected to the eccentric surface of the active block.

[0047] A belt shaft motor is installed at the bottom of the shaft of the eccentric wheel, and the belt shaft motor is fixed to the inner wall of the fixed cylinder.

[0048] Preferably, the adjusting mechanism comprises:

[0049] An adjusting block is rotatably arranged in the inner cavity of the positioning groove;

[0050] A sleeve is fixed to the end of the adjusting block, and the sleeve is rotatably connected to the both ends of the inner wall of the positioning groove through bearings;

[0051] A torsion assembly is arranged at one end of the sleeve, and the torsion assembly comprises a torsion spring and a fixed ring, the torsion spring is arranged on the outer wall of the sleeve, one end of the torsion spring is fixed to the outer wall of the movable groove, the other end of the torsion spring is fixedly connected to the outer wall of the fixed ring, and the fixed ring is fixed to the outer wall of the sleeve;

[0052] A limiting assembly is arranged between the sleeve and the inner wall of the movable groove, and the limiting assembly is used for limiting the rotation of the sleeve;

[0053] A pulling assembly is arranged between the limiting assembly and the movable block.

[0054] Preferably, the limiting assembly comprises:

[0055] A supporting rod is fixed to the outer wall of the sleeve;

[0056] A plurality of clamping columns are slidably arranged at the both ends of the supporting rod;

[0057] A plurality of clamping grooves are arranged at the top of the inner wall of the movable groove, the plurality of clamping columns are respectively slidably arranged at the both ends of the inner cavities of the clamping grooves, and the pulling assembly is arranged at the bottom of the plurality of clamping columns;

[0058] A connecting ring is fixed to the middle part of the clamping column;

[0059] A compression spring is arranged on the outer wall of the clamping column, and the compression spring is fixed between the connecting ring and the supporting rod;

[0060] A guide column is rotatably arranged at the top of the inner wall of the movable groove through a bearing;

[0061] A guide wheel is rotatably arranged at one side of the inner wall of the movable groove through a bearing.

[0062] Preferably, the pulling assembly comprises:

[0063] A first pulling rope is fixedly connected to the bottom of one of the clamping columns, and the first pulling rope is slidably connected to the outer wall of the sleeve;

[0064] The second pull rope is fixedly connected with the bottom of the other one of the clamping columns, and is slidably connected with the outer wall of the sleeve; the first pull rope and the second pull rope are respectively slidably connected with the outer wall of the adjacent guide column, and are slidably connected with the outer wall of the guide wheel; the first pull rope and the second pull rope are slidably connected with the outer wall of the grabbing rod.

[0065] The first pull rope and the second pull rope are oppositely wound on the outer wall of the winding disc.

[0066] The servo motor is fixed to the bottom of the outer wall of the movable block, and the output end of the servo motor is in transmission connection with one end of the winding disc.

[0067] Preferably, the adjusting block comprises:

[0068] The triangular block is rotationally connected with the inner cavity of the positioning groove.

[0069] The sealing strip is fixed to the corner of the triangular block.

[0070] The flat part is arranged on the first side of the triangular block.

[0071] The convex part is arranged on the second side of the triangular block, and the convex part comprises a circular groove, a plurality of convex blocks and a rubber film, the circular groove is arranged on the second side of the triangular block, the plurality of convex blocks are fixed to the inner wall of the circular groove, and the rubber film is fixed to the side of the inner wall of the circular groove.

[0072] The flexible part is arranged on the third side of the triangular block, and the flexible part comprises an annular groove and an airbag ring, the annular groove is arranged on the third side of the triangular block, and the airbag ring is fixed to the inner wall of the annular groove.

[0073] The positioning tube is fixedly inserted into the inner cavity of one of the sleeves, and the inner cavities of the annular groove and the circular groove are fixedly connected with the inner wall of the positioning tube through the air pipe and the valve body.

[0074] The technical effects and advantages of the present application are as follows:

[0075] (1) The mechanical claw mechanism and the adjusting mechanism are matched and arranged, the adjusting block is designed to be reversible, the mechanical claw can quickly switch three clamping surfaces, and the grasping requirements of ordinary objects, smooth objects and fragile objects are met; the pull rope is controlled by the servo motor, and the three clamping surfaces can be automatically and accurately switched; the whole process does not need manual intervention, the switching is quick and reliable, the adaptability and reliability of operation are greatly improved, and the stable clamping requirements of different material objects by robots in different environments are met.

[0076] (2) the present application utilizes the setting mode of adjusting block, torsion assembly, limiting assembly and pulling assembly, when needing to clamp smooth or fragile objects, the controller instructs the servo motor to rotate the winding disc, the first pull rope or the second pull rope is pulled, the torsion of the torsion spring is overcome and the adjusting block is accurately rotated 120°, the required clamping surface is switched to the working position, and through the working of the water pump box, the liquid sample can be sucked into storage or discharged through the water hole;

[0077] (3) the present application realizes stable progress and multi-angle terrain shooting of complex terrain through the track type walking mechanism, the first mounting plate and the second mounting plate, combines multiple cameras, the illumination ring lamp guarantees the image acquisition quality in low light environment, the eccentric wheel is driven by the shaft motor, the moving rod and the movable ring are driven to move, the opening and closing of the grabbing rod are controlled, and the multiple grabbing rods can realize the mechanical clamping function of objects. BRIEF DESCRIPTION OF DRAWINGS

[0078] Figure 1 It is the overall structure schematic diagram of the present application.

[0079] Figure 2 It is the front view structure schematic diagram of the explosion-proof box.

[0080] Figure 3 It is the present application Figure 1 It is the enlarged structure schematic diagram of A.

[0081] Figure 4 It is the fixed cylinder place of the present application.

[0082] Figure 5 It is the fixed cylinder place of the present application.

[0083] Figure 6 It is the moving rod place of the present application.

[0084] Figure 7 It is the overall structure schematic diagram of the present application.

[0085] Figure 8 It is the end part structure schematic diagram of the present application.

[0086] Figure 9 It is the overall structure schematic diagram of the present application.

[0087] Figure 10 It is the overall structure schematic diagram of the present application.

[0088] Figure 11 It is the overall structure schematic diagram of the present application. Figure 1 .

[0089] Figure 12Overall structure diagram of the adjusting block of the present application Figure 2 .

[0090] Figure 13 Overall structure diagram of the adjusting block of the present application

[0091] In the figure: 100, walking mechanism; 101, explosion-proof box; 102, track walking assembly; 103, first mounting plate; 104, second mounting plate; 105, camera; 106, lighting ring lamp; 200, mechanical arm mechanism; 201, rectangular frame; 202, driving gear; 203, limiting tooth; 204, air cylinder; 205, mounting bracket; 206, rotating gear; 207, rotating joint; 208, first electric telescopic rod; 209, clamping block; 300, second electric telescopic rod; 400, mechanical claw mechanism; 401, fixed cylinder; 402, mounting ring; 403, grabbing assembly; 431, movable rod; 432, grabbing rod; 433, air pipe; 434, positioning groove; 435, movable groove; 404, telescopic assembly; 441, moving rod; 442, movable ring; 443, movable block; 444, eccentric wheel; 445, belt shaft motor; 405, water hole; 406, air pump; 407, water pump box; 500, adjusting mechanism; 501, adjusting block; 511, triangular block; 512, sealing strip; 513, flat part; 514, protruding part; 141, circular groove; 142, protruding block; 143, rubber film; 515, flexible part; 151, annular groove; 152, air bag ring; 516, positioning pipe; 502, pipe sleeve; 503, torsion assembly; 531, torsion spring; 532, fixed ring; 504, limiting assembly; 541, supporting rod; 542, clamping column; 543, clamping groove; 544, connecting ring; 545, compression spring; 546, guide column; 547, guide wheel; 505, pulling assembly; 551, first pull rope; 552, second pull rope; 553, winding disc; 554, servo motor; 600, drill bit; 700, knocking head. DETAILED DESCRIPTION

[0092] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0093] The present application provides a kind of all terrain explosion-proof robot as shown in Figures 1-13 .

[0094] Embodiment one, comprising walking mechanism 100, mechanical arm mechanism 200, second electric telescopic rod 300, mechanical claw mechanism 400 and adjusting mechanism 500, walking mechanism 100 is used for the walking and geographical shooting of the robot, mechanical arm mechanism 200 is installed on the top of walking mechanism 100, second electric telescopic rod 300 is installed on both sides of mechanical arm mechanism 200, mechanical arm mechanism 200 is used for the position movement of second electric telescopic rod 300, mechanical claw mechanism 400 is installed on one end of second electric telescopic rod 300, mechanical claw mechanism 400 is used for sampling of multi-shape substances, adjusting mechanism 500 is installed on mechanical claw mechanism 400, adjusting mechanism 500 is used for clamping different solid substances through mechanical claw mechanism 400, so that mechanical claw mechanism 400 can clamp flexible and fragile substances, smooth substances or ordinary substances.

[0095] Among them, walking mechanism 100 comprises explosion-proof box 101, track walking assembly 102, first mounting plate 103, second mounting plate 104, camera 105 and lighting ring lamp 106, mechanical arm mechanism 200 is installed on the top of explosion-proof box 101, explosion-proof box 101 is made of explosion-proof alloy, track walking assembly 102 is installed on the bottom of explosion-proof box 101, track walking assembly 102 is used for mechanical walking of explosion-proof box 101, track walking assembly 102 is an existing finished track walking structure, which can drive explosion-proof box 101 to move, first mounting plate 103 is arranged at one end of explosion-proof box 101 through locking bolts, second mounting plate 104 is arranged at one end of first mounting plate 103 through locking bolts, first mounting plate 103 and second mounting plate 104 can be adjusted in angle through locking bolts, a plurality of cameras 105 are respectively fixed on the front of first mounting plate 103 and second mounting plate 104, lighting ring lamp 106 is sleeved on the outer wall of camera 105, lighting ring lamp 106 is used for assisting the shooting illumination of camera 105, through the angle setting between first mounting plate 103 and second mounting plate 104, the plurality of cameras 105 can be used for shooting the terrain at different angles, which is suitable for the multi-scene use of the robot.

[0096] In addition, the mechanical arm mechanism 200 comprises a rectangular frame 201, a driving gear 202, a limiting tooth 203, a cylinder 204, a mounting frame 205, a rotating gear 206, a rotating joint 207, a first electric telescopic rod 208 and a clamping block 209. The rectangular frame 201 is slid on the top of the inner cavity of the explosion-proof box 101, and the rectangular frame 201 is in the form of a rectangular plate frame structure. The driving gear 202 is driven to rotate and is inserted into the top of the inner cavity of the rectangular frame 201 by a motor. The driving gear 202 is a shaft bevel gear, and the two ends of the driving gear 202 are rotatably connected to the top support of the rectangular frame 201 through bearings. The driving of the motor enables the driving gear 202 to stably rotate on the top of the rectangular frame 201. The limiting tooth 203 is fixed to the bottom of the inner cavity of the rectangular frame 201 through a support column, and the limiting tooth 203 is in an active clamping state with the bottom of the two rotating gears 206. The cylinder 204 is fixed to the bottom of the explosion-proof box 101, and the telescopic end of the cylinder 204 is fixedly connected to the bottom of the outer wall of the rectangular frame 201. The cylinder 204 is used for the vertical lifting movement of the rectangular frame 201. The driving of the cylinder 204 enables the rectangular frame 201 to move upwards, so that the driving gear 202 moves away from the outer wall of the two rotating gears 206, and the limiting tooth 203 is clamped with the outer wall of the rotating gear 206, thereby fixing the positions of the two rotating gears 206 and preventing the rotating joints 207 from rotating at will. When the cylinder 204 drives the rectangular frame 201 to move downwards, the driving gear 202 is engaged and clamped with the outer wall of the two rotating gears 206, so that the rotation of the driving gear 202 drives the two rotating gears 206 to rotate synchronously, thereby realizing the synchronous movement of the two rotating joints 207. A plurality of mounting frames 205 are fixedly connected to the inner wall of the top of the explosion-proof box 101. The rectangular frame 201 is slidably inserted into the mounting frame 205. The rotating gear 206 is rotatably inserted into the bottom of the mounting frame 205 through a bearing. The rotating gear 206 is a shaft gear. The end of the rotating gear 206 is fixedly connected to the rotating joint 207. The driving gear 202 is engaged with the outer wall of the adjacent two rotating gears 206. The rotating joint 207 is installed at one end of the rotating gear 206. The fixed end of the first electric telescopic rod 208 is rotatably arranged in the inner cavity of the rotating joint 207 by a motor. The first electric telescopic rod 208 and the rotating joint 207 form a mechanical arm joint structure, so that the telescopic end of the first electric telescopic rod 208 can rotate and move telescopically. The clamping block 209 is fixed to the telescopic end of the first electric telescopic rod 208, and the clamping block 209 is fixed to the outer wall of the fixed end of the second electric telescopic rod 300, so that the telescopic end of the second electric telescopic rod 300 can move at multiple angles.

[0097] Further, the mechanical claw mechanism 400 comprises a fixed cylinder 401, a mounting ring 402, a grabbing assembly 403, a telescopic assembly 404, a water passage 405, an air pump 406 and a water pump box 407. The fixed cylinder 401 is threadedly connected to the end of the second electric telescopic rod 300, so that the fixed cylinder 401 can be disassembled from the end of the second electric telescopic rod 300, facilitating the end of the second electric telescopic rod 300 to be replaced with different tools for geological exploration. The mounting ring 402 is fixed to one end of the fixed cylinder 401. The grabbing assemblies 403 are rotatably inserted into the outer wall of the mounting ring 402 in an annular array. The grabbing assemblies 403 are used for grabbing and clamping objects. The telescopic assembly 404 is installed between the grabbing assemblies 403 and the fixed cylinder 401. The telescopic assembly 404 is used for driving the grabbing assemblies 403 to move. The water passage 405 is formed in the middle of the telescopic assembly 404. The water passage 405 is used for absorbing and sampling liquid. The air pump 406 is installed at one end of the inner cavity of the fixed cylinder 401. The water pump box 407 is installed at the other end of the inner cavity of the fixed cylinder 401. The water pump box 407 is combined with a water pump and a water tank, so that it can suck liquid and discharge the liquid through the drain pipe on the outer wall of the fixed cylinder 401.

[0098] Specifically, the grabbing assembly 403 comprises movable rods 431, grabbing rods 432, air tubes 433, positioning grooves 434 and movable grooves 435. The movable rods 431 are rotatably inserted into the outer wall of the mounting ring 402 in an annular array. The grabbing rods 432 are rotatably inserted into one end of the movable rods 431. The air tubes 433 are inserted into the inner cavities of the grabbing rods 432. The air tubes 433 are connected to the air inlet and outlet of the air pump 406 through electromagnetic valves. The air pump 406 is a bidirectional air pump, which can suck air through the air tubes 433 and blow air into the inner cavities of the air tubes 433. The positioning grooves 434 are formed in the clamping surfaces of the grabbing rods 432. The movable grooves 435 are formed at one end of the positioning grooves 434, facilitating the connection of the upper parts of the adjusting mechanism 500.

[0099] More specifically, the telescopic assembly 404 comprises moving rods 441, movable rings 442, movable blocks 443, eccentric wheels 444 and shaft motors 445. The moving rods 441 are slidably inserted into one end of the fixed cylinder 401. The movable rings 442 are fixed to one end of the moving rods 441. The grabbing rods 432 are rotatably connected to the outer wall of the movable rings 442 through pins. The water passage 405 is formed in the middle of the movable rings 442 and the moving rods 441. The water passage 405 is connected to the water inlet and outlet of the water pump box 407 through a pipeline. The movable blocks 443 are rotatably inserted into the other end of the moving rods 441. The movable blocks 443 are fixedly connected to the eccentric surfaces of the eccentric wheels 444. The shaft motors 445 are installed at the bottom of the shafts of the eccentric wheels 444. The shaft motors 445 are fixed to the inner wall of the fixed cylinder 401.

[0100] Further, the adjusting mechanism 500 is arranged in the inner cavity of the positioning groove 434 and the adjacent movable groove 435, the adjusting mechanism 500 comprises an adjusting block 501, a sleeve 502, a torsion assembly 503, a limiting assembly 504 and a pulling assembly 505, the adjusting block 501 is rotatable in the inner cavity of the positioning groove 434, the adjusting block 501 is in a triangular structure, the sleeve 502 is fixed to the end of the adjusting block 501, the sleeve 502 is rotatably connected with the both ends of the inner wall of the positioning groove 434 through bearings, so that the adjusting block 501 can be flipped on different surfaces of the clamping surface of the grabbing rod 432, thereby facilitating clamping of different materials, the torsion assembly 503 is sleeved on one end of the sleeve 502, the limiting assembly 504 is arranged between the sleeve 502 and the inner wall of the movable groove 435, the limiting assembly 504 is used for limiting rotation of the sleeve 502, and the pulling assembly 505 is installed between the limiting assembly 504 and the movable block 443, the pulling assembly 505 is used for flipping of the three surfaces of the adjusting block 501.

[0101] The adjusting block 501 comprises a triangular block 511, a sealing strip 512, a flat part 513, a convex part 514, a flexible part 515 and a positioning tube 516, the triangular block 511 is rotationally connected with the inner cavity of the positioning groove 434, the triangular block 511 is in a triangular structure, the sealing strip 512 is fixed at the corner of the triangular block 511, the sealing strip 512 is made of sealing rubber material, when the different surfaces of the triangular block 511 are attached to the clamping surface of the grabbing rod 432, the sealing strip 512 is tightly attached to the inner wall of the positioning groove 434, the flat part 513 is arranged at the first side of the triangular block 511, under the action of the elastic force of the torsion assembly 503, the flat part 513 can keep in the state of being flush with the clamping surface of the grabbing rod 432, the flat structure of the flat part 513 facilitates the flat part 513 to clamp ordinary substances, the convex part 514 is arranged at the second side of the triangular block 511, the convex part 514 comprises a circular groove 141, a convex block 142 and a rubber film 143, the circular groove 141 is arranged at the second side of the triangular block 511, a plurality of convex blocks 142 are fixed to the inner wall of the circular groove 141, the rubber film 143 is fixed to the side of the inner wall of the circular groove 141, the rubber film 143 is made of elastic rubber material, by blowing air into the inner cavity of the circular groove 141, the rubber film 143 can be inflated, when the convex part 514 is flush with the clamping surface of the grabbing rod 432, the rubber film 143 can elastically clamp fragile objects, and by sucking air into the inner cavity of the circular groove 141, the rubber film 143 is wrapped around the outer wall of the convex block 142, which facilitates the convex block 142 to increase the friction of the outer wall for clamping slippery substances, the flexible part 515 is arranged at the third side of the triangular block 511, the flexible part 515 comprises an annular groove 151 and a gas bag ring 152, the annular groove 151 is arranged at the third side of the triangular block 511, and the gas bag ring 152 is fixed to the inner wall of the annular groove 151, the gas bag ring 152 is made of annular elastic rubber material, by blowing air into the inner cavity of the annular groove 151, when the flexible part 515 is flush with the clamping surface of the grabbing rod 432, the annular elastic rubber of the blown air can stably clamp circular fragile objects, the positioning tube 516 is fixedly inserted into the inner cavity of one of the sleeve 502, so that the gas of the air pipe 433 can communicate with the inner cavities of the sleeve 502 and the positioning tube 516, the inner cavities of the annular groove 151 and the circular groove 141 are fixedly connected with the inner wall of the positioning tube 516 through the air pipe and the valve body, respectively, by controlling the air in and out of the inner cavity of the positioning tube 516 and the valve body of the outer wall of the positioning tube 516, the gas in the inner cavities of the annular groove 151 and the circular groove 141 can be controlled respectively.

[0102] Specifically, the torsion assembly 503 comprises a torsion spring 531 and a fixing ring 532, the torsion spring 531 is sleeved on the outer wall of the sleeve 502, one end of the torsion spring 531 is fixed on the outer wall of the movable groove 435, the other end of the torsion spring 531 is fixedly connected with the outer wall of the fixing ring 532, the fixing ring 532 is fixed on the outer wall of the sleeve 502, through the arrangement of the torsion spring 531, the adjusting block 501 can keep the flat part 513 in the state of being flush with the clamping surface of the end of the grabbing rod 432 under no action force.

[0103] The limiting assembly 504 comprises a supporting rod 541, a clamping column 542, a clamping groove 543, a connecting ring 544, a compression spring 545, a guide column 546 and a guide wheel 547, the supporting rod 541 is fixed on the outer wall of the sleeve 502, a plurality of clamping columns 542 are slidingly inserted into both ends of the supporting rod 541, the clamping groove 543 is formed on the top of the inner wall of the movable groove 435, the clamping groove 543 is composed of two 120° arc grooves with different diameters, so that the two clamping columns 542 can be slidingly inserted and connected in the inner cavities of both ends of the clamping groove 543, the plurality of clamping columns 542 are respectively slidingly inserted into the inner cavities of both ends of the clamping groove 543, the pulling assembly 505 is installed on the bottom of the clamping columns 542, the connecting ring 544 is fixed on the middle part of the clamping column 542, the compression spring 545 is sleeved on the outer wall of the clamping column 542, the compression spring 545 is fixed between the connecting ring 544 and the supporting rod 541, through the elasticity of the compression spring 545, the connecting ring 544 is elastically supported, so that the clamping column 542 can keep the state of being inserted into the inner cavities of the clamping groove 543 without being pulled by the pulling assembly 505, the guide column 546 is rotatably inserted into the top of the inner wall of the movable groove 435 through a bearing, the guide wheel 547 is rotatably inserted into the inner wall of the movable groove 435 through a bearing, and the guide column 546 and the guide wheel 547 are used for guiding the first pulling rope 551 and the second pulling rope 552 of the pulling assembly 505.

[0104] More specifically, the pulling assembly 505 includes a first pulling rope 551, a second pulling rope 552, a winding disc 553 and a servo motor 554, the first pulling rope 551 is fixedly connected with the bottom of one of the clamping columns 542, the first pulling rope 551 is slidingly connected with the outer wall of the sleeve 502, by pulling the first pulling rope 551, the support rod 541 rotates clockwise, the convex part 514 replaces the flat part 513 to keep flush with the clamping surface of the grabbing rod 432, the second pulling rope 552 is fixedly connected with the bottom of the other clamping column 542, the second pulling rope 552 is slidingly connected with the outer wall of the sleeve 502, by pulling the first pulling rope 551, the other clamping column 542 slides out of the inner cavity of the clamping groove 543 at one end, the support rod 541 rotates counterclockwise, the flexible part 515 replaces the flat part 513 to keep flush with the clamping surface of the grabbing rod 432, and the one clamping column 542 can only move 120° at one end of the clamping groove 543, the adjusting block 501 can be stably flipped, the first pulling rope 551 and the second pulling rope 552 are slidingly connected with the outer wall of the adjacent guide column 546, the first pulling rope 551 and the second pulling rope 552 are slidingly connected with the outer wall of the guide wheel 547, the first pulling rope 551 and the second pulling rope 552 are slidingly connected with the outer wall of the grabbing rod 432, the winding disc 553 is rotatably connected with the inner wall of the movable block 443 through a bearing, the first pulling rope 551 and the second pulling rope 552 are reversely wound on the outer wall of the winding disc 553, the servo motor 554 is fixedly connected with the bottom of the outer wall of the movable block 443, the output end of the servo motor 554 is drivingly connected with one end of the winding disc 553, the servo motor 554 is electrically connected with an external power supply through an external controller, when the servo motor 554 is driven, the winding disc 553 can rotate, the first pulling rope 551 and the second pulling rope 552 can be wound and unwound respectively, the adjusting block 501 can be conveniently flipped, the end clamping surface of the grabbing rod 432 can stably clamp different substances, the clamping surface can be conveniently changed, and the convenience of mechanical clamping of the mechanical claw mechanism 400 is improved.

[0105] In example two, on the basis of example one, the other end of the plurality of second electric telescopic rods 300 is also provided with a drill bit 600 and a knocking head 700, so that when the terrain material does not need to be clamped, the drill bit 600 and the knocking head 700 can be respectively used for drilling and knocking sampling operation on the geology by disassembling the fixing barrel 401 and the second electric telescopic rod 300 and assembling the drill bit 600 and the knocking head 700 with the end of the second electric telescopic rod 300, thereby improving the use diversity of the robot.

[0106] Working principle of the present application:

[0107] The track walking assembly 102 drives the explosion-proof box 101 to move, adjusts the angle of the camera 105 through the first mounting plate 103 and the second mounting plate 104, and cooperates with the lighting ring lamp 106 to realize the image collection of the terrain under different angles and light conditions.

[0108] The rectangular frame 201 is controlled to lift by the air cylinder 204, the driving gear 202 is engaged or separated with the rotating gear 206, the fixed or rotation of the rotating joint 207 of the mechanical arm is realized, the first electric telescopic rod 208 and the second electric telescopic rod 300 cooperate with the rotating joint 207, and the multi-angle stretching and positioning on the mechanical arm are completed.

[0109] The eccentric wheel 444 is driven by the belt shaft motor 445, the moving rod 441 and the movable ring 442 are driven to move, the opening and closing of the grabbing rod 432 are controlled, the ordinary geological objects are grabbed, when the objects are flexible or fragile, the adjusting mechanism 500 adjusts the first pull rope 551 or the second pull rope 552 through the servo motor 554, the position of the clamping column 542 in the clamping groove 543 is controlled, the adjusting block 501 is turned over, the flat part 513 is switched to the convex part 514 or the flexible part 515, the grabbing demand of different objects is adapted, the suction and blowing of the inner cavity of the annular groove 151 or the circular groove 141 are realized through the air pump 406, and the water pump box 407 can sample the liquid contacted by the water hole 405, so that the collection and storage of the liquid sample are supported.

[0110] Finally, it should be noted that: the above only for the preferred embodiments of the present application, and not for limiting the present application, although the present application is described in detail with reference to the foregoing embodiments, for those skilled in the art, it still can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features, any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application, should be included in the protection scope of the present application.

Claims

1. An all-terrain explosion-proof robot, characterized by, The utility model relates to a multi-functional sampling device for solid material, which comprises the following components: a walking mechanism (100); a mechanical arm mechanism (200) mounted on the top of the walking mechanism (100); a second electric telescopic rod (300) mounted on both sides of the mechanical arm mechanism (200) for the position movement of the second electric telescopic rod (300); a mechanical gripper mechanism (400) mounted on one end of the second electric telescopic rod (300) for the sampling of multi-shaped substances; an adjusting mechanism (500) mounted on the mechanical gripper mechanism (400) for the clamping of different solid substances through the mechanical gripper mechanism (400).

2. The all-terrain explosion-proof robot according to claim 1, characterized in that, The walking mechanism (100) comprises: an explosion-proof box (101) on the top of which the mechanical arm mechanism (200) is mounted; a track walking assembly (102) mounted on the bottom of the explosion-proof box (101) for the mechanical walking of the explosion-proof box (101); a first mounting plate (103) arranged at one end of the explosion-proof box (101) through locking bolts; a second mounting plate (104) arranged at one end of the first mounting plate (103) through locking bolts, and the first mounting plate (103) and the second mounting plate (104) can be adjusted in angle through the locking bolts; a plurality of cameras (105) fixed on the front of the first mounting plate (103) and the second mounting plate (104) respectively; a lighting ring lamp (106) sleeved on the outer wall of the camera (105) for assisting the shooting illumination of the camera (105).

3. The all-terrain explosion-proof robot according to claim 2, wherein, The mechanical arm mechanism (200) comprises: a rectangular frame (201) sliding on the top of the inner cavity of the explosion-proof box (101); a drive gear (202) rotating through a motor drive and penetrating into the top of the inner cavity of the rectangular frame (201); a limiting tooth (203) fixed on the bottom of the inner cavity of the rectangular frame (201) through a support column; a pneumatic cylinder (204) fixed on the bottom of the explosion-proof box (101), the telescopic end of the pneumatic cylinder (204) being fixedly connected with the bottom of the outer wall of the rectangular frame (201), and the pneumatic cylinder (204) being used for the vertical lifting movement of the rectangular frame (201); two mounting racks (205) oppositely fixed on the inner wall top of the explosion-proof box (101), the rectangular frame (201) and the inner side of the mounting rack (205) being slidingly and penetratingly connected; a rotating gear (206) rotating and penetrating into the bottom of the mounting rack (205) through a bearing, and the drive gear (202) and the outer wall of the adjacent two rotating gears (206) being meshingly connected. Rotary joint (207), mounted on one end of the rotary gear (206); The fixed end of the first electric telescopic rod (208) is rotatable in the inner cavity of the rotary joint (207) through the motor; The clamping block (209) is fixed to the telescopic end of the first electric telescopic rod (208), and the clamping block (209) is fixed to the outer wall of the fixed end of the second electric telescopic rod (300). The other end of the plurality of second electric telescopic rods (300) is also provided with a drill bit (600) and a knocking head (700).

4. The all-terrain explosion-proof robot according to claim 1, wherein The mechanical claw mechanism (400) comprises: The fixed cylinder (401) is threadedly connected to the end of the second electric telescopic rod (300); The mounting ring (402) is fixed to one end of the fixed cylinder (401); The plurality of grabbing assemblies (403) are arranged in an annular array and rotatably inserted into the outer wall of the mounting ring (402), and the plurality of grabbing assemblies (403) are used for clamping the articles; The telescopic assembly (404) is mounted between the plurality of grabbing assemblies (403) and the fixed cylinder (401), and is used for driving the grabbing assemblies (403) to move; The water passage (405) is arranged in the middle of the telescopic assembly (404); The air pump (406) is mounted in one end of the inner cavity of the fixed cylinder (401); The water pump box (407) is mounted in the other end of the inner cavity of the fixed cylinder (401).

5. The all-terrain explosion-proof robot according to claim 4, wherein, The grabbing assembly (403) comprises: The plurality of movable rods (431) are arranged in an annular array and rotatably inserted into the outer wall of the mounting ring (402); The grabbing rod (432) is rotatably inserted into one end of the movable rod (431); The air pipe (433) is inserted into the inner cavity of the grabbing rod (432), and the plurality of air pipes (433) are connected with the air inlet and outlet of the air pump (406) through the electromagnetic valve; The positioning groove (434) is arranged on the clamping surface of the grabbing rod (432); The movable groove (435) is arranged at one end of the positioning groove (434), and the adjusting mechanism (500) is arranged in the inner cavities of the positioning groove (434) and the adjacent movable groove (435).

6. The all-terrain explosion-proof robot according to claim 5, wherein, The telescopic assembly (404) comprises: The movable rod (441) is slidably inserted into one end of the fixed cylinder (401); The movable ring (442) is fixed to one end of the movable rod (441), and the plurality of grabbing rods (432) are rotatably connected with the outer wall of the movable ring (442) through the pin shaft. The water passage (405) is arranged in the middle of the movable ring (442) and the movable rod (441), and the water passage (405) is connected with the water inlet and outlet of the water pump box (407) through the pipeline; A movable block (443) is rotatably inserted into the other end of the moving rod (441); An eccentric wheel (444) is fixedly connected with the eccentric surface of the movable block (443); A belt shaft motor (445) is installed at the bottom of the shaft of the eccentric wheel (444), and the belt shaft motor (445) is fixed to the inner wall of the fixed cylinder (401).

7. The all-terrain explosion-proof robot according to claim 5, wherein, The adjusting mechanism (500) comprises: An adjusting block (501) is rotatable in the inner cavity of the positioning groove (434); A pipe sleeve (502) is fixed to the end of the adjusting block (501), and the pipe sleeve (502) is rotatably connected with the both ends of the inner wall of the positioning groove (434) through bearings; A torsion assembly (503) is sleeved on one end of the pipe sleeve (502), and the torsion assembly (503) comprises a torsion spring (531) and a fixed ring (532), the torsion spring (531) is sleeved on the outer wall of the pipe sleeve (502), one end of the torsion spring (531) is fixed to the outer wall of the movable groove (435), the other end of the torsion spring (531) is fixedly connected with the outer wall of the fixed ring (532), and the fixed ring (532) is fixed to the outer wall of the pipe sleeve (502); A limiting assembly (504) is arranged between the pipe sleeve (502) and the inner wall of the movable groove (435), and the limiting assembly (504) is used for limiting the rotation of the pipe sleeve (502); A pulling assembly (505) is installed between the limiting assembly (504) and the movable block (443).

8. The all-terrain explosion-proof robot according to claim 7, characterized in that, The limiting assembly (504) comprises: A support rod (541) is fixed to the outer wall of the pipe sleeve (502); A plurality of clamping columns (542) are slidably inserted into the both ends of the support rod (541); A clamping groove (543) is formed in the top of the inner wall of the movable groove (435), and a plurality of clamping columns (542) are respectively slidably arranged in the both ends of the inner cavity of the clamping groove (543), and the pulling assembly (505) is installed at the bottom of the plurality of clamping columns (542); A connecting ring (544) is fixed to the middle part of the clamping column (542); A compression spring (545) is sleeved on the outer wall of the clamping column (542), and the compression spring (545) is fixed between the connecting ring (544) and the support rod (541); A guide column (546) is rotatably inserted into the top of the inner wall of the movable groove (435) through a bearing; A guide wheel (547) is rotatably inserted into one side of the inner wall of the movable groove (435) through a bearing.

9. The all-terrain explosion-proof robot according to claim 8, characterized in that, The pulling assembly (505) comprises: A first pull rope (551) is fixedly connected with the bottom of one of the clamping columns (542), and the first pull rope (551) is slidably connected with the outer wall of the pipe sleeve (502); Second pull rope (552), the second pull rope (552) is fixedly connected with the bottom of another one of the column (542), the second pull rope (552) is in close sliding connection with the outer wall of the sleeve (502), the first pull rope (551) and the second pull rope (552) are in close sliding connection with the outer wall of the adjacent guide column (546) respectively, the first pull rope (551) and the second pull rope (552) are in sliding connection with the outer wall of the guide wheel (547), the first pull rope (551), the second pull rope (552) are in sliding insertion connection with the outer wall of the grabbing rod (432); The winding disc (553) is rotatably connected with the inner wall of the movable block (443) by a bearing, and the first pull rope (551) and the second pull rope (552) are oppositely wound on the outer wall of the winding disc (553); The servo motor (554) is fixed to the bottom of the outer wall of the movable block (443), and the output end of the servo motor (554) is in transmission connection with one end of the winding disc (553).

10. The all-terrain explosion-proof robot according to claim 7, wherein, The adjusting block (501) comprises: The triangular block (511) is rotatably connected with the inner cavity of the positioning groove (434); The sealing strip (512) is fixed to the corner of the triangular block (511); The flat part (513) is arranged on the first side of the triangular block (511); The convex part (514) is arranged on the second side of the triangular block (511), the convex part (514) comprises a circular groove (141), a convex block (142) and a rubber film (143), the circular groove (141) is arranged on the second side of the triangular block (511), a plurality of convex blocks (142) are fixed to the inner wall of the circular groove (141), and the rubber film (143) is fixed to the side of the inner wall of the circular groove (141); The flexible part (515) is arranged on the third side of the triangular block (511), and the flexible part (515) comprises an annular groove (151) and an air bag ring (152), the annular groove (151) is arranged on the third side of the triangular block (511), and the air bag ring (152) is fixed to the inner wall of the annular groove (151); The positioning tube (516) is fixedly inserted into the inner cavity of one of the sleeves (502), and the inner cavities of the annular groove (151) and the circular groove (141) are fixedly connected with the inner wall of the positioning tube (516) through an air pipe and a valve body respectively.

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