An all-terrain explosion-proof robot

Abstract

The application discloses a kind of all-terrain explosion-proof robots, it is related to mechanical hand technical field, including walking mechanism, mechanical arm mechanism, second electric telescopic rod, mechanical claw mechanism and adjusting mechanism, mechanical arm mechanism is installed in the top of walking mechanism, second electric telescopic rod is installed in the two sides of mechanical arm mechanism, mechanical claw mechanism is installed in one end of second electric telescopic rod, and mechanical claw mechanism is used for the sampling of multi-shape material, adjusting mechanism is installed on mechanical claw mechanism, and adjusting mechanism is used for the clamping of different solid materials by mechanical claw mechanism.The application utilizes the setting mode that mechanical claw mechanism and adjusting mechanism cooperate, by the design of reversible adjusting block, mechanical claw can quickly switch three kinds of clamping surfaces, adapt to the grasping demand of ordinary object, smooth object and fragile object, and be suitable for the stable clamping demand of different material objects of robot in different environments.

Description

Technical Field

[0001] This invention relates to the field of robotic arms, and in particular to an all-terrain explosion-proof robot. Background Technology

[0002] All-terrain explosion-proof robots are a type of equipment widely used for exploration and operations in hazardous environments and complex terrains. Most existing all-terrain explosion-proof robots employ tracked locomotives, possessing strong capabilities for obstacle crossing, slope climbing, and adapting to complex terrains. Examples of applications include chemical explosion sites, nuclear radiation zones, earthquake rescue, and geological exploration.

[0003] Traditional explosion-proof robots mostly use mechanical claws with fixed structures, meaning the end structure of the claw is fixed. When grasping diverse materials, such as smooth ice blocks, irregularly shaped rock formations, or gelatinous substances, the existing mechanical claws are basically made of finger-like metal structures, which cannot change the shape of the finger-like ends. This makes it difficult to adapt to the grasping needs of objects of various shapes or materials. Especially when dealing with fragile, smooth, or flexible objects, it is easy to cause damage or failure in the sampling and grasping of materials, thus limiting the robot's application effectiveness in different environments. Summary of the Invention

[0004] The purpose of this invention is to provide an all-terrain explosion-proof robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an all-terrain explosion-proof robot, comprising:

[0006] Walking mechanism;

[0007] A robotic arm mechanism, which is mounted on top of the walking mechanism;

[0008] The second electric telescopic rod is installed on both sides of the robotic arm mechanism, which is used for moving the position of the second electric telescopic rod.

[0009] A mechanical gripper mechanism is installed at one end of a second electric telescopic rod and is used for sampling materials of various shapes.

[0010] An adjustment mechanism is mounted on a mechanical gripper mechanism, and the adjustment mechanism is used to grip different solid materials through the mechanical gripper mechanism.

[0011] Preferably, the walking mechanism includes:

[0012] An explosion-proof box, wherein the robotic arm mechanism is mounted on the top of the explosion-proof box;

[0013] Tracked walking assembly, which is installed at the bottom of the explosion-proof box, is used for the mechanical movement of the explosion-proof box;

[0014] The first mounting plate is mounted on one end of the explosion-proof box by locking bolts;

[0015] The second mounting plate is mounted on one end of the first mounting plate by locking bolts, and the angles of the first and second mounting plates can be adjusted by locking bolts.

[0016] Cameras, wherein multiple cameras are respectively fixed to the front of the first mounting plate and the second mounting plate;

[0017] An illumination ring light is fitted onto the outer wall of the camera and is used to assist the camera in providing illumination for shooting.

[0018] Preferably, the robotic arm mechanism includes:

[0019] A rectangular frame that slides on the top of the inner cavity of the explosion-proof box;

[0020] A drive gear, which is driven to rotate by a motor and inserted into the top of the inner cavity of the rectangular frame;

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

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

[0023] Mounting brackets, multiple mounting brackets are fixed relative to each other on the top of the inner wall of the explosion-proof box, and the rectangular frame is slidably inserted and connected to the inner side of the mounting brackets;

[0024] A rotating gear is inserted into the bottom of the mounting frame via a bearing, and the drive gear meshes with the outer walls of two adjacent rotating gears.

[0025] A rotating joint, which is mounted on one end of a rotating gear;

[0026] The first electric telescopic rod, wherein the fixed end of the first electric telescopic rod is rotated in the inner cavity of the rotating joint by a motor;

[0027] The locking block is fixed to the telescopic end of the first electric telescopic rod and to the outer wall of the fixed end of the second electric telescopic rod. The other end of the plurality of second electric telescopic rods is also equipped with a drill bit and a hammering head.

[0028] Preferably, the mechanical gripper mechanism includes:

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

[0030] Mounting ring, the mounting ring being fixed to one end of the fixing cylinder;

[0031] A gripping assembly, wherein multiple gripping assemblies are arranged in a circular array and rotated through the outer wall of the mounting ring, and the multiple gripping assemblies are used for gripping items;

[0032] A telescopic assembly is installed between multiple gripping components and a fixed cylinder, and the telescopic assembly is used to drive the movement of the gripping components.

[0033] A water passage hole is provided in the middle of the telescopic assembly;

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

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

[0036] Preferably, the grasping component includes:

[0037] Movable rods, multiple movable rods arranged in a circular array, rotatably intersect the outer wall of the mounting ring;

[0038] A gripping lever, which is rotatably inserted into one end of a movable lever;

[0039] A ventilation tube is inserted into the inner cavity of the gripping rod, and multiple ventilation tubes are connected to the inlet and outlet of the air pump through a solenoid valve.

[0040] A positioning groove is formed on the gripping surface of the gripping rod;

[0041] The movable groove is located at one end of the positioning groove, and the adjustment mechanism is located in the inner cavity of the positioning groove and the adjacent movable groove.

[0042] Preferably, the telescopic component includes:

[0043] A movable rod, which slides through one end of a fixed cylinder;

[0044] The movable ring is fixed to one end of the moving rod. Multiple gripping rods are rotatably connected to the outer wall of the movable ring via pins. The water passage hole is opened in the middle of the movable ring and the moving rod. The water passage hole is connected to the inlet and outlet of the water pump box via a pipe.

[0045] A movable block, which rotatably inserts into the other end of a movable rod;

[0046] An eccentric wheel, wherein the movable block is fixedly connected to the eccentric surface of the eccentric wheel;

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

[0048] Preferably, the adjustment mechanism includes:

[0049] An adjusting block that rotates within the cavity of a positioning groove;

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

[0051] A torsion assembly is sleeved on one end of a tube sleeve. The torsion assembly includes a torsion spring and a fixing ring. The torsion spring is sleeved on the outer wall of the tube sleeve. One end of the torsion spring is fixed to the outer wall of the movable groove, and the other end of the torsion spring is fixedly connected to the outer wall of the fixing ring. The fixing ring is fixed to the outer wall of the tube sleeve.

[0052] A limiting component is disposed between the inner wall of the sleeve and the movable groove, and the limiting component is used to limit the rotation of the sleeve;

[0053] A pulling component is installed between the limiting component and the movable block.

[0054] Preferably, the limiting component includes:

[0055] Support rod, the support rod being fixed to the outer wall of the sleeve;

[0056] The locking pins, multiple of which are slidably inserted into both ends of the support rod;

[0057] The slot is located at the top of the inner wall of the movable groove, and the plurality of the locking posts slide at both ends of the inner cavity of the slot respectively. The pulling component is installed at the bottom of the plurality of locking posts.

[0058] A connecting ring, which is fixed to the middle of the locking post;

[0059] A compression spring is sleeved on the outer wall of the locking post and fixed between the connecting ring and the support rod;

[0060] A guide post, which is rotatably inserted into the top of the inner wall of the movable groove via a bearing;

[0061] The guide wheel is inserted into one side of the inner wall of the movable groove via a bearing.

[0062] Preferably, the pulling component includes:

[0063] The first pull rope is fixedly connected to the bottom of one of the locking posts, and the first pull rope is slidably connected to the outer wall of the sleeve.

[0064] The second pull rope is fixedly connected to the bottom of another clamping post. The second pull rope is slidably connected to the outer wall of the sleeve. The first pull rope and the second pull rope are respectively slidably connected to the outer wall of the adjacent guide post. The first pull rope and the second pull rope are both slidably connected to the outer wall of the guide wheel. The first pull rope and the second pull rope are slidably interlocked with the outer wall of the gripping rod.

[0065] A winding reel, wherein the winding reel is rotatably connected to the inner wall of the movable block via a bearing, and the first pull rope and the second pull rope are wound in opposite directions around the outer wall of the winding reel;

[0066] A servo motor is fixed to the bottom of the outer wall of the movable block, and the output end of the servo motor is connected to one end of the winding reel.

[0067] Preferably, the adjustment block includes:

[0068] A triangular block, which is rotatably connected to the inner cavity of the positioning groove;

[0069] A sealing strip, which is fixed to the corner of the triangular block;

[0070] A leveling part is provided on the first side of the triangular block;

[0071] The protrusion is located on the second side of the triangular block. The protrusion includes a circular groove, a protrusion, and a rubber membrane. The circular groove is located on the second side of the triangular block. A plurality of protrusions are fixed to the inner wall of the circular groove, and the rubber membrane is fixed to the side of the inner wall of the circular groove.

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

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

[0074] The technical effects and advantages of this invention are as follows:

[0075] (1) This invention utilizes a combination of mechanical gripper mechanism and adjustment mechanism. Through the design of a flip-up adjustment block, the mechanical gripper can quickly switch between three gripping surfaces to adapt to the gripping needs of ordinary objects, smooth objects and fragile objects. By controlling the pull rope with a servo motor, the three gripping surfaces can be switched automatically and accurately. The whole process does not require manual intervention, and the switching is fast and reliable, which greatly improves the adaptability and reliability of the operation. It is suitable for the stable gripping needs of robots for objects of different materials in different environments.

[0076] (2) The present invention utilizes the matching arrangement of adjusting block, torsion component, limiting component and pulling component. When it is necessary to clamp smooth or fragile objects, the controller commands the servo motor to rotate the take-up reel. By pulling the first or second pull rope, the torque of the torsion spring is overcome and the adjusting block is rotated precisely 120° to switch the required clamping surface to the working position. Furthermore, through the operation of the water pump box, the liquid sample can be sucked in and stored or discharged through the water passage.

[0077] (3) The present invention, through the tracked walking mechanism and the first and second mounting plates, combined with multiple cameras, can achieve stable movement in complex terrain and multi-angle terrain shooting. The lighting ring lamp ensures the image acquisition quality in low light environment. The eccentric wheel is driven by the shaft motor, which drives the moving rod and the movable ring to move, making it easy to control the opening and closing of the gripping rod, so that its multiple gripping rods can realize the function of mechanically gripping objects. Attached Figure Description

[0078] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0079] Figure 2 This is a front cross-sectional view of the explosion-proof box of the present invention.

[0080] Figure 3 For the present invention Figure 1 Enlarged structural diagram at point A in the middle.

[0081] Figure 4 This is a top-view cross-sectional view of the fixed cylinder of the present invention.

[0082] Figure 5 This is a front cross-sectional view of the fixed cylinder of the present invention.

[0083] Figure 6 This is a side cross-sectional view of the movable rod of the present invention.

[0084] Figure 7 This is a schematic diagram of the overall structure of the active block of the present invention.

[0085] Figure 8 This is a schematic cross-sectional view of the end of the gripping rod of the present invention.

[0086] Figure 9 This is a schematic diagram of the overall structure of the torsion spring in this invention.

[0087] Figure 10 This is a schematic diagram of the upward structure of the support rod of the present invention.

[0088] Figure 11 This is a schematic diagram of the overall structure of the adjustment block in this invention. Figure 1 .

[0089] Figure 12This is a schematic diagram of the overall structure of the adjustment block in this invention. Figure 2 .

[0090] Figure 13 This is a top-view cross-sectional view of the adjustment block structure of the present invention.

[0091] In the diagram: 100, Walking mechanism; 101, Explosion-proof box; 102, Tracked walking assembly; 103, First mounting plate; 104, Second mounting plate; 105, Camera; 106, Illumination ring light; 200, Robotic arm mechanism; 201, Rectangular frame; 202, Drive gear; 203, Limiting gear; 204, Cylinder; 205, Mounting bracket; 206, Rotating gear; 207, Rotating joint; 208, First electric telescopic rod; 209, Locking block; 300, Second electric telescopic rod; 400, Mechanical claw mechanism; 401, Fixed cylinder; 402, Mounting ring; 403, Gripping assembly; 431, Movable rod; 432, Gripping rod; 433, Vent pipe; 434, Positioning groove; 435, Movable groove; 404, Telescopic assembly; 441, Moving rod; 442, Movable ring; 443, Movable block; 444, Eccentric wheel; 44 5. Shaft-mounted motor; 405. Water passage hole; 406. Air pump; 407. Water pump box; 500. Adjustment mechanism; 501. Adjustment block; 511. Triangular block; 512. Sealing strip; 513. Flat part; 514. Protrusion; 141. Circular groove; 142. Protrusion; 143. Rubber diaphragm; 515. Flexible part; 151. Annular groove; 152. Airbag ring; 516. Positioning tube; 502. Tube sleeve; 5 03. Torsion assembly; 531. Torsion spring; 532. Fixing ring; 504. Limiting assembly; 541. Support rod; 542. Locking post; 543. Locking groove; 544. Connecting ring; 545. Compression spring; 546. Guide post; 547. Guide wheel; 505. Pulling assembly; 551. First pull rope; 552. Second pull rope; 553. Rewinding reel; 554. Servo motor; 600. Drill bit; 700. Striking head. Detailed Implementation

[0092] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0093] This invention provides, for example Figures 1-13 The image shows an all-terrain explosion-proof robot.

[0094] Example 1 includes a walking mechanism 100, a robotic arm mechanism 200, a second electric telescopic rod 300, a robotic gripper mechanism 400, and an adjustment mechanism 500. The walking mechanism 100 is used for the robot's walking and geographic imaging. The robotic arm mechanism 200 is mounted on top of the walking mechanism 100. The second electric telescopic rod 300 is mounted on both sides of the robotic arm mechanism 200 and is used for moving the position of the second electric telescopic rod 300. The robotic gripper mechanism 400 is mounted on one end of the second electric telescopic rod 300 and is used for sampling materials of various shapes. The adjustment mechanism 500 is mounted on the robotic gripper mechanism 400 and is used to grip different solid materials through the robotic gripper mechanism 400, enabling the robotic gripper mechanism 400 to grip flexible and fragile materials, smooth materials, or ordinary materials.

[0095] The walking mechanism 100 includes an explosion-proof box 101, a tracked walking assembly 102, a first mounting plate 103, a second mounting plate 104, a camera 105, and a lighting ring light 106. A robotic arm mechanism 200 is mounted on top of the explosion-proof box 101. The explosion-proof box 101 is made of explosion-proof alloy. The tracked walking assembly 102 is mounted on the bottom of the explosion-proof box 101 and is used for the mechanical movement of the explosion-proof box 101. The tracked walking assembly 102 is an existing finished tracked walking structure that can drive the explosion-proof box 101 to move. The first mounting plate 103 is fixed to the explosion-proof box 101 by locking bolts. At one end, the second mounting plate 104 is set to one end of the first mounting plate 103 by locking bolts. The angle of the first mounting plate 103 and the second mounting plate 104 can be adjusted by locking bolts. Multiple cameras 105 are respectively fixed to the front of the first mounting plate 103 and the second mounting plate 104. The lighting ring light 106 is sleeved on the outer wall of the camera 105. The lighting ring light 106 is used to assist the camera 105 in shooting illumination. By setting the angle between the first mounting plate 103 and the second mounting plate 104, it is convenient for multiple cameras 105 to shoot the terrain from different angles, which is suitable for the robot's use in multiple scenarios.

[0096] Additionally, the robotic arm mechanism 200 includes a rectangular frame 201, a drive gear 202, a limiting gear 203, a cylinder 204, a mounting bracket 205, a rotating gear 206, a rotating joint 207, a first electric telescopic rod 208, and a locking block 209. The rectangular frame 201 slides on the top of the inner cavity of the explosion-proof box 101. The rectangular frame 201 has a rectangular plate frame structure. The drive gear 202 is driven by a motor to rotate and is inserted into the top of the inner cavity of the rectangular frame 201. The drive gear 202 is a conical wheel with a shaft, and both ends of the drive gear 202 are rotatably connected to the top support of the rectangular frame 201 through bearings. Driven by the motor, the drive gear 202 can rotate within the rectangular frame 201. The top of the frame rotates stably. The limiting tooth 203 is fixed to the bottom of the inner cavity of the rectangular frame 201 via a support column. The limiting tooth 203 is in a movable engagement with the bottom of the two rotating gears 206. The cylinder 204 is fixed to the bottom of the explosion-proof box 101. 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 and lowering movement of the rectangular frame 201. Driven by the cylinder 204, the rectangular frame 201 moves upward, causing the driving gear 202 to move away from the outer wall of the two rotating gears 206. The limiting tooth 203 engages with the outer wall of the rotating gears 206, facilitating the fixation of the position of the two rotating gears 206. The rotating joint 207 will not rotate arbitrarily. The cylinder 204 drives the rectangular frame 201 downwards, causing the drive gear 202 to mesh with the outer walls of the two rotating gears 206. This allows the drive gear 202 to rotate synchronously, facilitating the synchronized movement of the two rotating joints 207. Multiple mounting brackets 205 are fixed to the top of the inner wall of the explosion-proof box 101. The rectangular frame 201 is slidably connected to the inner side of the mounting bracket 205. The rotating gear 206 is rotatably inserted into the bottom of the mounting bracket 205 via bearings. The rotating gear 206 is a shaft gear, and its end is connected to the rotating joint 207. A fixed connection is established, with the drive gear 202 meshing with the outer walls of two adjacent rotating gears 206. A rotating joint 207 is installed at one end of the rotating gear 206. The fixed end of the first electric telescopic rod 208 rotates within the cavity of the rotating joint 207 via a motor. The first electric telescopic rod 208 and the rotating joint 207 form a movable joint structure for the robotic arm, enabling the telescopic end of the first electric telescopic rod 208 to rotate and extend. A locking block 209 is fixed to the telescopic end of the first electric telescopic rod 208 and to the outer wall of the fixed end of the second electric telescopic rod 300, allowing the telescopic end of the second electric telescopic rod 300 to move at multiple angles.

[0097] Furthermore, the mechanical gripper mechanism 400 includes a fixed cylinder 401, a mounting ring 402, gripping components 403, a telescopic component 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, allowing the fixed cylinder 401 to be installed and removed from the end of the second electric telescopic rod 300. This facilitates the use of different tools at the end of the second electric telescopic rod 300 for geological exploration. The mounting ring 402 is fixed to one end of the fixed cylinder 401. Multiple gripping components 403 are arranged in a ring array and rotated through the outer wall of the mounting ring 402. Multiple gripping components 403 are used for gripping items. A telescopic component 404 is installed between the multiple gripping components 403 and the fixed cylinder 401. The telescopic component 404 is used for the movement drive of the gripping components 403. A water passage hole 405 is opened in the middle of the telescopic component 404. The water passage hole 405 is used for liquid adsorption sampling. An air pump 406 is installed at one end of the inner cavity of the fixed cylinder 401. A water pump box 407 is installed at the other end of the inner cavity of the fixed cylinder 401. The water pump box 407, through the combination of a water pump and a water tank, can draw in liquid and discharge the liquid through the drain pipe on the outer wall of the fixed cylinder 401.

[0098] Specifically, the gripping assembly 403 includes a movable rod 431, a gripping rod 432, an air vent 433, a positioning groove 434, and a movable groove 435. Multiple movable rods 431 are arranged in a circular array and rotate through the outer wall of the mounting ring 402. The gripping rod 432 rotates through one end of the movable rod 431. The air vent 433 is inserted into the inner cavity of the gripping rod 432. Multiple air vents 433 are connected to the inlet and outlet of the air pump 406 through a solenoid valve. The air pump 406 is a bidirectional air pump that can suck in air through the air vent 433 and also blow air into the inner cavity of the air vent 433. The positioning groove 434 is opened on the gripping surface of the gripping rod 432, and the movable groove 435 is opened at one end of the positioning groove 434 to facilitate the connection of the components on the adjustment mechanism 500.

[0099] More specifically, the telescopic assembly 404 includes a movable rod 441, a movable ring 442, a movable block 443, an eccentric wheel 444, and a shaft motor 445. 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 multiple gripping rods 432 are rotatably inserted into the outer wall of the movable ring 442 via pins. A water passage hole 405 is opened in the middle of the movable ring 442 and the movable rod 441, and the water passage hole 405 is connected to the inlet and outlet of the water pump box 407 via a pipe. The movable block 443 is rotatably inserted into the other end of the movable rod 441, and the movable block 443 is fixedly connected to the eccentric surface of the eccentric wheel 444. The shaft motor 445 is installed at the bottom of the shaft of the eccentric wheel 444 and is fixed to the inner wall of the fixed cylinder 401.

[0100] Furthermore, the adjustment mechanism 500 is disposed within the cavities of the positioning groove 434 and the adjacent movable groove 435. The adjustment mechanism 500 includes an adjustment block 501, a sleeve 502, a torsion assembly 503, a limiting assembly 504, and a pulling assembly 505. The adjustment block 501 rotates within the cavity of the positioning groove 434 and has a triangular structure. The sleeve 502 is fixed to the end of the adjustment block 501 and is rotatably inserted and connected to both ends of the inner wall of the positioning groove 434 via bearings. This allows the adjusting block 501 to flip over different sides of the gripping surface of the gripping rod 432, facilitating the gripping of different materials. The torsion component 503 is sleeved on one end of the tube sleeve 502. The limiting component 504 is located between the inner wall of the tube sleeve 502 and the movable groove 435. The limiting component 504 is used to limit the rotation of the tube sleeve 502. The pulling component 505 is installed between the limiting component 504 and the movable block 443. The pulling component 505 is used to flip the three sides of the adjusting block 501.

[0101] The adjusting block 501 includes a triangular block 511, a sealing strip 512, a flattening part 513, a protrusion 514, a flexible part 515, and a positioning tube 516. The triangular block 511 is rotatably connected to the inner cavity of the positioning groove 434. The triangular block 511 has 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 so that when different surfaces of the triangular block 511 are in contact with the clamping surface of the gripping rod 432, the sealing strip 512 is tightly in contact with the inner wall of the positioning groove 434. The flattening part 513 is provided on the first side of the triangular block 511. Under no pulling force, the triangular block 511 is rotated by the torsion assembly 50. Under the elastic force of 3, the flat part 513 can be kept flush with the clamping surface of the gripping rod 432. The planar structure of the flat part 513 makes it easy for the flat part 513 to clamp ordinary materials. The protrusion 514 is provided on the second side of the triangular block 511. The protrusion 514 includes a circular groove 141, a protrusion 142 and a rubber membrane 143. The circular groove 141 is opened on the second side of the triangular block 511. Multiple protrusions 142 are fixed to the inner wall of the circular groove 141. The rubber membrane 143 is fixed to the side of the inner wall of the circular groove 141. The rubber membrane 143 is made of elastic rubber. By blowing air into the inner cavity of the circular groove 141, the rubber membrane 143 can... When the bulge is raised so that the protrusion 514 is flush with the gripping surface of the gripping rod 432, the rubber membrane 143 can elastically grip fragile objects. Furthermore, by suction into the inner cavity of the circular groove 141, the rubber membrane 143 wraps around the outer wall of the protrusion 142, facilitating increased friction on the outer wall for gripping slippery materials. A flexible part 515 is located on the third side of the triangular block 511. The flexible part 515 includes an annular groove 151 and an airbag ring 152. The annular groove 151 is located on the third side of the triangular block 511, and the airbag ring 152 is fixed to the inner wall of the annular groove 151. The airbag ring 152 is made of annular elastic rubber. When air is blown into the inner cavity of the annular groove 151, so that its flexible part 515 is flush with the clamping surface of the gripping rod 432, the blown annular elastic rubber can stably clamp the round fragile item. The positioning tube 516 is fixedly inserted into the inner cavity of one of the sleeves 502, so that the gas from the vent pipe 433 can communicate with the inner cavity of one of the sleeves 502 and the positioning tube 516. The inner cavities of the annular groove 151 and the circular groove 141 are fixedly connected to the inner wall of the positioning tube 516 through air pipes and valve bodies, respectively. By controlling the gas in and out of the inner cavity of the positioning tube 516 and the valve body on 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 separately.

[0102] Specifically, the torsion assembly 503 includes 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 to the outer wall of the movable groove 435, and the other end of the torsion spring 531 is fixedly connected to the outer wall of the fixing ring 532. The fixing ring 532 is fixed to the outer wall of the sleeve 502. By setting the torsion spring 531, the adjusting block 501 can keep the flat part 513 flush with the clamping surface of the end of the gripping rod 432 when there is no force.

[0103] The limiting assembly 504 includes a support rod 541, locking pins 542, locking grooves 543, a connecting ring 544, a compression spring 545, a guide post 546, and a guide wheel 547. The support rod 541 is fixed to the outer wall of the sleeve 502. Multiple locking pins 542 are slidably inserted into both ends of the support rod 541. The locking groove 543 is formed by combining two 120° arc-shaped grooves of different diameters, allowing the two locking pins 542 to slide and connect within the inner cavities at both ends of the locking groove 543. Multiple locking pins 542 slide within the inner cavities of the locking groove 543. A pulling assembly 505 is installed at the bottom of the multiple locking pins 542, connecting... Ring 544 is fixed to the middle of the locking post 542. Compression spring 545 is sleeved on the outer wall of locking post 542 and fixed between connecting ring 544 and support rod 541. Through the elasticity of compression spring 545, the connecting ring 544 is elastically supported, so that locking post 542 remains inserted into the inner cavity of locking groove 543 without the pulling component 505. Guide post 546 is inserted into the top of the inner wall of movable groove 435 through bearing rotation. Guide wheel 547 is inserted into one side of the inner wall of movable groove 435 through bearing rotation. Guide post 546 and guide wheel 547 are used to guide the first pull rope 551 and the second pull rope 552 on the pulling component 505.

[0104] More specifically, the pulling assembly 505 includes a first pull rope 551, a second pull rope 552, a winding reel 553, and a servo motor 554. The first pull rope 551 is fixedly connected to the bottom of one of the locking pins 542. The first pull rope 551 is slidably connected to the outer wall of the sleeve 502. By pulling the first pull rope 551, its support rod 541 rotates clockwise, facilitating the replacement of the flat part 513 by the protrusion 514 to maintain a flush position with the clamping surface of the gripping rod 432. The second pull rope 552 is connected to the other locking pin 552. The bottom of 42 is fixedly connected, and the second pull rope 552 is slidably connected to the outer wall of the sleeve 502. By pulling the first pull rope 551, one of its locking pins 542 slides out of the inner cavity of the slot 543, which facilitates the counterclockwise rotation of the support rod 541. This keeps the position of the flexible part 515 replacing the flat part 513 flush with the clamping surface of the gripping rod 432. Moreover, one of the locking pins 542 can only move 120° through the slot 543, which facilitates the stable flipping of the adjusting block 501. Pull rope 551 and pull rope 552 are respectively slidably connected to the outer wall of the adjacent guide post 546. Both pull rope 551 and pull rope 552 are slidably connected to the outer wall of the guide wheel 547. The first pull rope 551 and the second pull rope 552 are slidably inserted into the outer wall of the gripping rod 432. The take-up reel 553 is rotatably inserted into the inner wall of the movable block 443 through a bearing. The first pull rope 551 and the second pull rope 552 are wound in opposite directions around the outer wall of the take-up reel 553. The servo motor 554 is fixed to the bottom of the outer wall of the movable block 443. The output end of the servo motor 554 is connected to one end of the take-up reel 553. The servo motor 554 is electrically connected to an external power supply through an external controller, so that when the servo motor 554 is driven, the take-up reel 553 can rotate, so that the first pull rope 551 and the second pull rope 552 can perform take-up and unwinding actions respectively, making it easy to flip the adjustment block 501, so that the end clamping surface of the gripping rod 432 can stably grip different materials, and the change of the clamping surface is convenient, improving the convenience of mechanical gripping of the mechanical claw mechanism 400.

[0105] In Example 2, based on Example 1, a drill bit 600 and a striking head 700 are also installed at the other end of multiple second electric telescopic rods 300. This allows the drill bit 600 and the striking head 700 to perform drilling and tapping sampling operations on the geology respectively, by assembling and disassembling the fixed cylinder 401 with the second electric telescopic rod 300 and installing the drill bit 600 and the striking head 700 with the end of the second electric telescopic rod 300, when the terrain material does not need to be clamped. This improves the versatility of the robot's use.

[0106] Working principle of this invention:

[0107] The tracked walking assembly 102 drives the explosion-proof box 101 to move, and adjusts the angle of the camera 105 through the first mounting plate 103 and the second mounting plate 104, so as to realize the acquisition of terrain images under different angles and lighting conditions in conjunction with the lighting ring light 106.

[0108] The cylinder 204 controls the lifting and lowering of the rectangular frame 201, and drives the gear 202 to mesh or disengage with the rotating gear 206, thereby fixing or rotating the robotic arm at the rotating joint 207. The first electric telescopic rod 208 and the second electric telescopic rod 300 cooperate with the rotating joint 207 to complete the multi-angle extension and positioning of the robotic arm.

[0109] The eccentric wheel 444 is driven by the shaft motor 445, which in turn moves the moving rod 441 and the movable ring 442, controlling the opening and closing of the gripping rod 432 to grasp ordinary geological objects. When the material is flexible or fragile, the adjustment mechanism 500 uses the servo motor 554 to extend or retract the first pull rope 551 or the second pull rope 552, controlling the position of the locking post 542 in the locking groove 543, and causing the adjustment block 501 to flip, making it easy to switch the flat part 513 to the raised part 514 or the flexible part 515 to adapt to the gripping needs of different objects. The air pump 406 facilitates the suction and blowing of the inner cavity of the annular groove 151 or the circular groove 141, while the water pump box 407 can sample the liquid in contact with the water passage 405, supporting the collection and storage of liquid samples.

[0110] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An all-terrain explosion-proof robot, characterized in that, include: Walking mechanism (100); A robotic arm mechanism (200) is mounted on top of a walking mechanism (100); The second electric telescopic rod (300) is installed on both sides of the robotic arm mechanism (200), and the robotic arm mechanism (200) is used for the position movement of the second electric telescopic rod (300); A mechanical claw mechanism (400) is installed at one end of a second electric telescopic rod (300) and is used for sampling materials of various shapes. An adjustment mechanism (500) is mounted on a mechanical gripper mechanism (400), and the adjustment mechanism (500) is used by the mechanical gripper mechanism (400) to grip different solid materials; The mechanical gripper mechanism (400) includes: A fixed cylinder (401) is threadedly connected to the end of the second electric telescopic rod (300); Mounting ring (402), the mounting ring (402) is fixed to one end of the fixing cylinder (401); A gripping component (403) is provided, wherein a plurality of gripping components (403) are arranged in a ring array and rotated through the outer wall of the mounting ring (402), and the plurality of gripping components (403) are used for gripping the item; A telescopic assembly (404) is installed between a plurality of gripping assemblies (403) and a fixed cylinder (401), the telescopic assembly (404) being used to drive the movement of the gripping assemblies (403); A water passage (405) is provided in the middle of the telescopic assembly (404); An air pump (406) is installed at one end of the inner cavity of the fixed cylinder (401); A water pump box (407) is installed at the other end of the inner cavity of the fixed cylinder (401); The grasping component (403) includes: Movable rods (431), a plurality of said movable rods (431) are arranged in a ring array and rotate through the outer wall of the mounting ring (402); A gripping lever (432) is rotatably inserted through one end of a movable lever (431); Ventilation tube (433) is inserted into the inner cavity of the gripping rod (432), and multiple ventilation tubes (433) are connected to the inlet and outlet of the air pump (406) through solenoid valves; Positioning groove (434), the positioning groove (434) is formed on the gripping surface of the gripping rod (432); The movable groove (435) is opened at one end of the positioning groove (434), and the adjustment mechanism (500) is disposed in the inner cavity of the positioning groove (434) and the adjacent movable groove (435); The telescopic component (404) includes: A movable rod (441) is slidably inserted through one end of a fixed cylinder (401); The movable ring (442) is fixed to one end of the moving rod (441). Multiple gripping rods (432) are rotatably connected to the outer wall of the movable ring (442) through pins. The water passage hole (405) is opened in the middle of the movable ring (442) and the moving rod (441). The water passage hole (405) is connected to the inlet and outlet of the water pump box (407) through a pipe. Movable block (443), which is rotatably inserted through the other end of movable rod (441); Eccentric wheel (444), the movable block (443) is fixedly connected to the eccentric surface of the eccentric wheel (444); A shaft motor (445) is mounted on the bottom of the shaft of the eccentric wheel (444) and fixed to the inner wall of the fixed cylinder (401); The adjustment mechanism (500) includes: Adjustment block (501), the adjustment block (501) includes a triangular block (511), the triangular block (511) is rotatably connected to the inner cavity of the positioning groove (434); The sleeve (502) is fixed to the end of the adjusting block (501), and the sleeve (502) is rotatably inserted and connected to the two ends of the inner wall of the positioning groove (434) through the bearing; A torsion assembly (503) is sleeved on one end of a tube sleeve (502). The torsion assembly (503) includes a torsion spring (531) and a fixing ring (532). The torsion spring (531) is sleeved on the outer wall of the tube sleeve (502). One end of the torsion spring (531) is fixed to the outer wall of the movable groove (435), and the other end of the torsion spring (531) is fixedly connected to the outer wall of the fixing ring (532). The fixing ring (532) is fixed to the outer wall of the tube sleeve (502). A limiting component (504) is disposed between the inner wall of the sleeve (502) and the movable groove (435), and the limiting component (504) is used to limit the rotation of the sleeve (502); A pull assembly (505) is installed between a limit assembly (504) and a movable block (443).

2. The all-terrain explosion-proof robot according to claim 1, characterized in that, The walking mechanism (100) includes: An explosion-proof box (101) is provided, and the robotic arm mechanism (200) is mounted on the top of the explosion-proof box (101). Tracked walking assembly (102), the tracked walking assembly (102) is installed at the bottom of the explosion-proof box (101), the tracked walking assembly (102) is used for the mechanical movement of the explosion-proof box (101); The first mounting plate (103) is mounted on one end of the explosion-proof box (101) by locking bolts; The second mounting plate (104) is mounted on one end of the first mounting plate (103) by locking bolts. The first mounting plate (103) and the second mounting plate (104) can be angled by locking bolts. Cameras (105), a plurality of said cameras (105) are respectively fixed to the front of the first mounting plate (103) and the second mounting plate (104); An illumination ring light (106) is fitted onto the outer wall of the camera (105) and is used to assist the camera (105) in shooting illumination.

3. The all-terrain explosion-proof robot according to claim 2, characterized in that, The robotic arm mechanism (200) includes: A rectangular frame (201) slides on the top of the inner cavity of the explosion-proof box (101); A drive gear (202) is driven by a motor to rotate and is inserted into the top of the inner cavity of the rectangular frame (201); The limiting tooth (203) is fixed to the bottom of the inner cavity of the rectangular frame (201) by a support column; Cylinder (204), the cylinder (204) is fixed to the bottom of the explosion-proof box (101), the telescopic end of the cylinder (204) is fixedly connected to the bottom of the outer wall of the rectangular frame (201), and the cylinder (204) is used for vertical lifting and lowering of the rectangular frame (201); Mounting brackets (205), two mounting brackets (205) are fixed relative to each other on the top of the inner wall of the explosion-proof box (101), and the rectangular frame (201) is slidably inserted into the inner side of the mounting brackets (205); Rotating gear (206) is inserted into the bottom of mounting bracket (205) via bearings, and driving gear (202) meshes with the outer walls of two adjacent rotating gears (206). Rotating joint (207), said rotating joint (207) is mounted on one end of rotating gear (206); The first electric telescopic rod (208) has its fixed end rotated within the cavity of the rotating joint (207) by a motor. The locking block (209) is fixed to the telescopic end of the first electric telescopic rod (208) and the locking 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 equipped with a drill bit (600) and a striking head (700).

4. The all-terrain explosion-proof robot according to claim 1, characterized in that, The limiting component (504) includes: Support rod (541), said support rod (541) is fixed to the outer wall of sleeve (502); The locking posts (542) are slidably inserted into both ends of the support rod (541); The slot (543) is located at the top of the inner wall of the movable groove (435), and the plurality of the locking posts (542) slide at both ends of the inner cavity of the slot (543). The pulling component (505) is installed at the bottom of the plurality of locking posts (542). A connecting ring (544) is fixed to the middle of the locking post (542); Compression spring (545), the compression spring (545) is sleeved on the outer wall of the locking post (542), and the compression spring (545) is fixed between the connecting ring (544) and the support rod (541); Guide post (546), the guide post (546) is inserted into the top of the inner wall of the movable groove (435) by means of a bearing; The guide wheel (547) is inserted into one side of the inner wall of the movable groove (435) by means of a bearing.

5. The all-terrain explosion-proof robot according to claim 4, characterized in that, The pulling assembly (505) includes: The first pull rope (551) is fixedly connected to the bottom of one of the locking posts (542), and the first pull rope (551) is slidably connected to the outer wall of the sleeve (502). The second pull rope (552) is fixedly connected to the bottom of another locking post (542). The second pull rope (552) is slidably connected to the outer wall of the sleeve (502). The first pull rope (551) and the second pull rope (552) are respectively slidably connected to the outer wall of the adjacent guide post (546). The first pull rope (551) and the second pull rope (552) are both slidably connected to the outer wall of the guide wheel (547). The first pull rope (551) and the second pull rope (552) are slidably interlocked with the outer wall of the gripping rod (432). The winding reel (553) is rotatably connected to the inner wall of the movable block (443) via a bearing, and the first pull rope (551) and the second pull rope (552) are wound in opposite directions around the outer wall of the winding reel (553). A 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 connected to one end of the winding reel (553) for transmission.

6. The all-terrain explosion-proof robot according to claim 5, characterized in that, The adjustment block (501) also includes: A sealing strip (512) is fixed to the corner of the triangular block (511); A leveling part (513) is provided on the first side of the triangular block (511); A protrusion (514) is provided on the second side of the triangular block (511). The protrusion (514) includes a circular groove (141), a protrusion (142) and a rubber membrane (143). The circular groove (141) is opened on the second side of the triangular block (511). A plurality of protrusions (142) are fixed to the inner wall of the circular groove (141). The rubber membrane (143) is fixed to the side of the inner wall of the circular groove (141). A flexible part (515) is disposed on the third side of the triangular block (511). The flexible part (515) includes an annular groove (151) and an airbag ring (152). The annular groove (151) is opened on the third side of the triangular block (511), and the airbag ring (152) is fixed to the inner wall of the annular groove (151). Positioning tube (516) is fixedly inserted into the inner cavity of one of the sleeves (502). The inner cavities of the annular groove (151) and the circular groove (141) are respectively fixedly connected to the inner wall of the positioning tube (516) through the air pipe and the valve body.

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