Hole exploration robot

Abstract

The utility model discloses a hole exploration robot which comprises a mounting seat, a plurality of walking mechanisms and a grabbing mechanism, the plurality of walking mechanisms are arranged at intervals along the circumferential direction of the mounting seat, each walking mechanism comprises a walking foot and a telescopic mechanism, the telescopic mechanism is arranged below the mounting seat and horizontally extends, the walking foot is arranged at the driving end of the telescopic mechanism, and the grabbing mechanism is arranged at the driving end of the telescopic mechanism. Each walking foot comprises a first supporting part located at the bottom of the walking foot, a second supporting part located on the periphery of the hole exploration robot, a first driving structure driving the first supporting part and the second supporting part to move up and down, and a second driving structure driving the first supporting part and the second supporting part to horizontally swing along the up-down axis. The walking mechanisms are arranged on the mounting base so that the walking mechanisms can have a horizontal walking state and a vertical walking state, and the grabbing mechanism is rotationally arranged at the upper end of the mounting base and used for grabbing objects around the hole exploration robot. By means of the arrangement, the hole exploration robot can work in various environments, and the probability that related operators are in danger is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of exploration robots, in particular to a hole exploration robot. Background Art

[0002] In the process of exploring and constructing protected areas such as forest parks and wetland parks, many unknown caves will be surveyed and developed, and our demand for geological surveys has also changed from extensive to precise services. If traditional methods are used to explore and develop unknown caves, it will be extremely difficult and risky, and there will be many potential safety hazards for relevant operators, such as: 1. The risk of getting lost; 2. The risk of dangerous creatures; 3. The risk of suffocation due to lack of oxygen; 4. The risk of cave collapse, etc.

[0003] In order to reduce the risk of people exploring unknown holes, robots can be used to replace people to complete the work in dangerous working areas that may threaten the personal safety of operators.

[0004] However, existing robots are unable to operate in vertical holes, so vertical hole exploration still threatens the safety of relevant operators. Utility Model Content

[0005] The main purpose of the utility model is to provide a hole exploration robot, aiming to solve the problem that the existing robots cannot operate in vertical holes.

[0006] In order to achieve the above-mentioned purpose, the utility model proposes a hole exploration robot, comprising:

[0007] Mounting seat;

[0008] A plurality of walking mechanisms are arranged at intervals along the circumference of the mounting seat, each of the walking mechanisms includes a walking foot and a telescopic mechanism, the telescopic mechanism is installed below the mounting seat and extends horizontally, the walking foot is installed at the driving end of the telescopic mechanism, and the walking foot includes a first support portion located at the bottom thereof, a second support portion located at the periphery of the hole exploration robot, a first driving structure for driving the first supporting portion and the second supporting portion to move up and down, and a second driving structure for driving both of them to swing horizontally along an up and down axis, so that each of the walking mechanisms has a horizontal walking state in which the first driving structure cooperates with the second driving structure to drive the first supporting portion to move horizontally, and a vertical walking state in which the telescopic mechanism cooperates with the first driving structure to drive the second supporting portion to move up and down; and,

[0009] A grasping mechanism is rotatably arranged on the upper end of the mounting seat, and the grasping mechanism is used to grasp objects around the hole exploring robot.

[0010] Optionally, the first driving structure includes:

[0011] A first leg, one end of which is rotatably connected to a driving end of the second driving structure through a first driving part, wherein the first driving part can drive the first leg to rotate along an axis extending horizontally; and

[0012] A second leg, one end of which is rotatably connected to the middle portion of the first leg through a second driving structure, and the second driving structure can drive the second leg to rotate along an axis extending horizontally;

[0013] The first support portion is disposed at the lower portion of the second leg portion;

[0014] The second supporting portion is disposed on a side portion of the second leg portion.

[0015] Optionally, the second supporting portion includes a bending rod, and the bending rod is bent from top to bottom in a direction close to the mounting seat.

[0016] Optionally, a connecting rod is provided on the first leg, one end of the connecting rod is rotatably connected to the other end of the first leg, and the other end of the connecting rod is slidably connected to the flexion rod.

[0017] Optionally, the gripping mechanism comprises:

[0018] A seat body, arranged at the upper end of the mounting seat;

[0019] A mechanical arm, the mechanical arm comprising a rotating disk and a plurality of arm segments, the rotating disk being disposed at the upper end of the base body and being rotatable along an axis extending in an up-and-down direction, one of the arm segments being rotatably mounted on the rotating disk, the plurality of arm segments being connected by a rotating steering gear, and each of the arm segments being able to swing in an up-and-down direction; and,

[0020] A grabbing structure is arranged on the arm section away from the seat body.

[0021] Optionally, the seat body has an inner cavity, a worm gear mechanism is arranged in the inner cavity, the worm of the worm gear mechanism is connected to a first motor, and the first motor is used to drive the worm of the worm gear mechanism to rotate;

[0022] The rotating disk and the worm wheel of the worm gear mechanism rotate coaxially.

[0023] Optionally, the grabbing structure comprises:

[0024] A base, disposed on the arm segment;

[0025] A clamping claw structure, comprising a claw seat and three clamping claws arranged at intervals along the circumference of the claw seat, wherein the claw seat is arranged on the base and has a gear ring arranged on the circumference thereof, and the ends of the three clamping claws away from the base can move in a direction of approaching or moving away from each other;

[0026] A driving structure is disposed at one end of the base away from the clamping jaw structure, the driving structure being drivingly connected to the three clamping jaws; and

[0027] The rotating structure includes a second motor and a transmission gear. The second motor is arranged on the base and avoids the claw seat. The transmission gear is arranged on the main shaft of the second motor to rotate coaxially with the second motor. The transmission gear is meshed with the gear ring.

[0028] Optionally, each of the clamping jaws comprises:

[0029] a first connecting rod, one end of which is rotatably connected to the claw seat;

[0030] A second connecting rod is disposed on the claw seat and is located on a side of the first connecting rod close to the center of the base;

[0031] a third connecting rod, one end of which is rotatably connected to the driving structure, and a middle portion of which is rotatably connected to the other end of the second connecting rod; and

[0032] A claw portion, one end of which is rotatably connected to the other end of the first connecting rod, and a middle portion is rotatably connected to the other end of the third connecting rod; wherein,

[0033] The first connecting rod, the second connecting rod, the third connecting rod and the claw portion can all move toward or away from the center of the claw seat.

[0034] Optionally, the base has an inner cavity, and a through hole communicating with the inner cavity is provided on a side close to the claw seat;

[0035] The claw seat is provided with a matching hole corresponding to the through hole;

[0036] The driving structure comprises:

[0037] a push rod, one end of which passes through the matching hole and the through hole in sequence, is movably inserted into the inner cavity of the base, and is rotatably connected to the plurality of third connecting rods; and,

[0038] The planetary gear set is arranged in the inner cavity of the base and is drivingly connected with the push rod to drive the push rod to move outside or inside the inner cavity of the base.

[0039] Optionally, the hole exploration robot further includes:

[0040] A camera, disposed on the grasping structure, for collecting environmental information in the hole; and

[0041] The lighting lamp is arranged on the grabbing structure and avoids the camera.

[0042] In the technical solution provided by the utility model, when the hole exploration robot needs to perform exploration work in a vertical hole, the telescopic mechanism of part of the walking mechanism extends toward the outside of the mounting seat to make the corresponding second support part abut against the hole wall of the vertical hole, so that the hole exploration robot is fixed on the hole wall of the vertical hole, and then, the first drive of the remaining walking mechanism can drive the second support part to move up and down to adjust the corresponding second support part's up and down position. After the adjustment of the second support part's up and down position is completed, the corresponding telescopic mechanism extends toward the outside of the mounting seat to make the corresponding second support part and The hole wall of the vertical hole is abutted. At this time, the telescopic mechanism of some of the walking mechanisms can be retracted toward the inner side of the mounting seat to cancel the abutment between the corresponding second support part and the hole wall of the vertical hole, and then the corresponding first driving structure drives the second support part to move in the up and down direction to adjust the position of the corresponding second support part in the up and down direction, thereby realizing the movement of the hole exploration robot in the vertical hole; when the hole exploration robot needs to perform exploration work on a plane, the second driving structures of multiple walking structures can drive the corresponding first support part and the corresponding second support part to swing in the horizontal direction, thereby realizing the walking of the hole exploration robot. With such a configuration, the hole exploration robot has two walking modes of moving in a vertical hole and walking on a plane, so that the hole exploration robot can operate in a variety of environments, expand the working space of the hole exploration robot, and reduce the probability of related operators being in danger. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0044] Figure 1 A three-dimensional schematic diagram of an embodiment of a hole exploration robot provided by the utility model;

[0045] Figure 2 for Figure 1 A three-dimensional schematic diagram of the walking mechanism in FIG.

[0046] Figure 3 for Figure 1 A three-dimensional schematic diagram of the hole exploration robot (the other direction);

[0047] Figure 4 for Figure 1 A three-dimensional schematic diagram of a gripping mechanism in FIG.

[0048] Figure 5 for Figure 4 A three-dimensional schematic diagram of the grasping structure in FIG.

[0049] Figure 6 for Figure 5 A three-dimensional schematic diagram of the clamping jaws.

[0050] Description of Figure Numbers:

[0051] Label name Label name 100 Hole Exploration Robot 323 Servo 1 Mounting Block 33 Grab structure 2 Traveling mechanism 331 Base 21 Telescopic mechanism 332 Gripper structure 22 Second drive structure 3321 Claw seat 23 First support part 3322 Gripper 24 Second support part 3322a First connecting rod 25 First leg 3322b Second connecting rod 26 First drive unit 3322c Third Link 27 Second leg 3322d claws 28 Second drive unit 3323 Ring gear 29 Connecting rod 333 Rotation structure 3 Grasping mechanism 3331 Transmission gear 31 base body 34 Worm gear mechanism 32 Robotic Arm 4 Camera 321 Rotating disk 5 lighting 322 Arm segment

[0052] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0054] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0055] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0056] At present, commonly used hole exploration robots can only perform exploration work on planes, but cannot perform exploration work in vertical holes, which poses a serious problem.

[0057] In order to solve the above problems, the utility model provides a hole exploration robot 100. Figures 1 to 6 This is a specific embodiment of the hole exploration robot provided by the utility model.

[0058] See also Figures 1 to 3 The hole exploration robot 100 includes a mounting seat 1, a plurality of walking mechanisms 2 and a grasping mechanism 3, wherein the plurality of walking mechanisms 2 are arranged at intervals along the circumference of the mounting seat 1, each of the walking mechanisms 2 includes a walking foot and a telescopic mechanism 21, the telescopic mechanism 21 is installed below the mounting seat 1 and extends horizontally, the walking foot is installed at the driving end of the telescopic mechanism 21, and the walking foot includes a first support portion 23 located at the bottom thereof, a second support portion 24 located outside the hole exploration robot 100, a first driving structure for driving the first support portion 23 and the second support portion 24 to move up and down, and a second driving structure 22 for driving both of them to swing horizontally along an up and down axis, so that each of the walking mechanisms 2 has a horizontal walking state in which the first driving structure cooperates with the second driving structure 22 to drive the first support portion 23 to move horizontally, and a vertical walking state in which the telescopic mechanism 21 cooperates with the first driving structure to drive the second support portion 24 to move up and down, and the grasping mechanism 3 can be rotatably arranged at the upper end of the mounting seat 1, and the grasping mechanism 3 is used to grasp objects around the hole exploration robot 100.

[0059] In the technical solution provided by the present invention, when the hole exploration robot 100 needs to perform exploration work in the vertical hole, the telescopic mechanism 21 of part of the walking mechanism 2 extends toward the outside of the mounting seat 1 to make the corresponding second support part 24 abut against the hole wall of the vertical hole, so that the hole exploration robot 100 is fixed on the hole wall of the vertical hole, and then, the first drive of the remaining walking mechanism 2 can drive the second support part 24 to move up and down to adjust the corresponding second support part 24 in the up and down position. After the adjustment of the up and down position of the second support part 24 is completed, the corresponding telescopic mechanism 21 extends toward the outside of the mounting seat 1 to make the corresponding second support part 24 and the vertical The hole wall of the vertical hole is abutted. At this time, the telescopic mechanism 21 of some of the walking mechanisms 2 can be retracted toward the inner side of the mounting seat 1, so that the corresponding second support part 24 and the hole wall of the vertical hole are no longer abutted, and then the corresponding first driving structure drives the second support part 24 to move in the up and down direction to adjust the position of the corresponding second support part 24 in the up and down direction, so as to realize the movement of the hole exploration robot 100 in the vertical hole; when the hole exploration robot 100 needs to perform exploration work on a plane, the second driving structures 22 of the plurality of walking structures can drive the corresponding first support part 23 and the corresponding second support part 24 to swing in the horizontal direction, thereby realizing the walking of the hole exploration robot 100. In this way, the hole exploration robot 100 has two walking modes of moving in a vertical hole and walking on a plane, so that the hole exploration robot 100 can operate in a variety of environments, expand the working space of the hole exploration robot 100, and reduce the probability of the relevant operators being in danger.

[0060] It should be noted that when the hole exploration robot 100 moves in a vertical hole, when part of the first driving structure drives the corresponding second supporting part 24 to move up and down, the remaining first driving structure should also drive the corresponding second supporting part 24 to move up and down to complete the position adjustment of the hole exploration robot 100.

[0061] It can be understood that during the exploration work of the hole exploring robot 100, there are usually various obstacles on the activity path of the hole exploring robot 100, which will affect the smooth progress of the exploration work of the hole exploring robot 100. Therefore, the grasping mechanism 3 can grasp objects around the hole exploring robot 100 when the hole exploring robot 100 is performing exploration work.

[0062] Further, the first driving structure includes a first leg 25 and a second leg 27, one end of the first leg 25 is rotatably connected to the driving end of the second driving structure 22 through the first driving part 26, and the first driving part 26 can drive the first leg 25 to rotate along an axis extending horizontally, one end of the second leg 27 is rotatably connected to the middle part of the first leg 25 through the second driving structure, and the second driving structure can drive the second leg 27 to rotate along an axis extending horizontally, the first support part 23 is arranged at the lower part of the second leg 27, and the second support part 24 is arranged at the side of the second leg 27. In this way, the second driving structure includes a second driving part 28. When the hole exploration robot 100 needs to perform exploration work in a hole, the first driving part 26 can drive the first leg 25 to rotate along the axis extending horizontally, so that the second leg 27 and the second driving part 28 can move up and down. The second driving part 28 can drive the second leg 27 to rotate along the axis extending horizontally, and then can adjust the posture of the second leg 27 during the up and down movement, so that the first support part 23 can always face the wall of the vertical hole, so as to ensure the stability of the hole exploration robot 100 walking in the vertical hole.

[0063] Similarly, when the hole exploring robot 100 walks on a plane, the first driving unit 26 can drive the first leg 25 to rotate along an axis extending horizontally, so that the second leg 27 and the second driving unit 28 can move up and down, and the second driving unit 28 can drive the second leg 27 to rotate along an axis extending horizontally, and then can adjust the posture of the second leg 27 during the up and down movement, so that the second support unit 24 is always set toward the plane below, so as to ensure the stability of the hole exploring robot 100 walking on the plane.

[0064] Furthermore, in order to ensure that the first support portion 23 can always face the wall of the vertical hole, in one embodiment of the utility model, the second support portion 24 includes a bending rod, and the bending rod is bent from top to bottom in a direction close to the mounting seat 1, so that the bending rod is arranged in an arc shape on one side facing the wall of the vertical hole. Even when the extension angle of the second leg 27 deviates, at least a part of the arc-shaped side of the bending rod can still be arranged toward the wall of the vertical hole, thereby ensuring the stability of the hole exploration robot 100 in the vertical hole.

[0065] Of course, in other embodiments of the present invention, the first support portion 23 can also be configured as a support ball, or other structural forms, which can be selected according to actual needs during actual configuration, and the present invention does not impose any restrictions on this.

[0066] It should be noted that, in order to improve the stability of the bending rod and avoid deformation of the bending rod when the bending rod abuts against the hole wall of the vertical hole, a connecting rod 29 is provided on the first leg 25, one end of the connecting rod 29 is rotatably connected to the other end of the first leg 25, and the other end of the connecting rod 29 is slidably connected to the bending rod. With such a configuration, when the bending rod abuts against the hole wall of the vertical hole, the second leg 27 and the connecting rod 29 can jointly support the bending rod to increase the supporting points on the bending rod, improve the structural strength of the bending rod, and ensure the stability of the abutment. At the same time, since one end of the connecting rod 29 is slidably connected to the bending rod, when the second leg 27 drives the bending rod to rotate along the axis extending horizontally, one end of the connecting rod 29 can slide on the bending rod to change its connection position with the bending rod, thereby ensuring the connection and matching between the connecting rod 29 and the bending rod.

[0067] In addition, in order to ensure the grasping ability of the hole exploration robot 100, the grasping mechanism 3 includes a base body 31, a mechanical arm 32 and a grasping structure 33. The base body 31 is arranged at the upper end of the mounting base 1, and the mechanical arm 32 includes a rotating disk 321 and multiple arm segments 322. The rotating disk 321 is arranged at the upper end of the base body 31 and can rotate along an axis extending in the up and down directions. One of the arm segments 322 is rotatably installed on the rotating disk 321, and multiple arm segments 322 are connected by a rotating servo 323. Each arm segment 322 can swing in the up and down directions. The grasping structure 33 is arranged on the arm segment 322 away from the base body 31. In an embodiment of the utility model, the rotating disk 321 can adjust the extension direction of the robotic arm 32. The robotic arm 32 includes a multi-axis robotic arm 32. The multiple rotating servos 323 of the robotic arm 32 cooperate with each other to adjust the extension direction of each arm segment 322, thereby jointly adjusting the position of the grasping structure 33, so that the grasping structure 33 can accurately move to the obstacle and grasp the obstacle.

[0068] It should be noted that the present invention does not limit the driving form of the rotating disk 321. For example, in one embodiment of the present invention, the base body 31 has an inner cavity, and a worm gear mechanism 34 is provided in the inner cavity. The worm of the worm gear mechanism 34 is connected to a first motor, and the first motor is used to drive the worm of the worm gear mechanism 34 to rotate. The rotating disk 321 and the worm wheel of the worm gear mechanism 34 rotate coaxially. When it is necessary to adjust the extension direction of the mechanical arm 32, the first motor can drive the worm of the worm gear mechanism 34 to rotate, so as to drive the worm wheel of the worm gear mechanism 34 to rotate, and then drive the rotating disk 321 to rotate, so as to achieve the purpose of adjusting the extension direction of the mechanical arm 32.

[0069] In another embodiment of the utility model, the seat body 31 has an inner cavity, and a transmission gear 3331 is provided in the inner cavity and rotates coaxially with the rotating disk 321. The transmission gear 3331 is connected to a motor, and the motor is used to drive the transmission gear 3331 to rotate. In this way, when the extension direction of the mechanical arm 32 needs to be adjusted, the motor can drive the transmission gear 3331 to rotate, and then drive the rotating disk 321 to rotate, so as to achieve the purpose of adjusting the extension direction of the mechanical arm 32.

[0070] In other embodiments of the present invention, the rotating disk 321 can also be driven to rotate by other driving modes, and the present invention does not impose any limitation on this.

[0071] Furthermore, the grasping structure 33 includes a base 331, a clamping claw structure 332, a driving structure and a rotating structure 333. The base 331 is arranged on the grasping structure 3, and the clamping claw structure 332 includes a claw seat 3321 and three clamping claws 3322 arranged at intervals along the circumference of the claw seat 3321. The claw seat 3321 is arranged on the base 331, and a gear ring 3323 is arranged on the circumferential side. The ends of the three clamping claws 3322 away from the base 331 can be close to each other or away from each other. The driving structure is arranged at one end of the base 331 away from the clamping claw structure 332, and the driving structure is connected to the three clamping claws 3322. The rotating structure 333 includes a second motor and a transmission gear 3331. The second motor is arranged on the base 331 and avoids the claw seat 3321. The transmission gear 3331 is arranged on the main shaft of the second motor to rotate coaxially with the second motor. The transmission gear 3331 is meshed with the ring gear 3323.

[0072] In this embodiment, when the grasping structure 33 moves to the obstacle and needs to grasp the obstacle, the second motor can drive the transmission gear 3331 to rotate, so as to drive the Akainu to rotate and adjust the angle of the clamping structure 332, so that the clamping structure 332 can grasp the obstacle more conveniently. When the angle of the clamping structure 332 is adjusted, the driving structure can drive the two clamping jaws 3322 to move in a direction approaching each other, and the three clamping jaw structures 332 can cooperate with each other to clamp the obstacle together.

[0073] Furthermore, each of the clamping jaws 3322 includes a first link 3322a, a second link 3322b, a third link 3322c, and a claw portion 3322d, one end of the first link 3322a is rotatably connected to the claw seat 3321, the second link 3322b is arranged on the claw seat 3321, and is located on the side of the first link 3322a close to the center of the base 331, one end of the third link 3322c is rotatably connected to the driving structure, and the middle part is rotatably connected to the other end of the second link 3322b, one end of the claw portion 3322d is rotatably connected to the other end of the first link 3322a, and the middle part is rotatably connected to the other end of the third link 3322c, and the first link 3322a, the second link 3322b, the third link 3322c, and the claw portion 3322d can all move in a direction close to or away from the center of the claw seat 3321. Such a configuration can make the clamping claw 3322 have a stronger and more stable grasping force, so that the clamping claw structure 332 can grasp obstacles smoothly and firmly, ensuring the grasping ability of the hole exploration robot 100.

[0074] It should be noted that, in an embodiment of the present invention, the circumferential side of the claw portion 3322d is arranged in a concave-convex manner, so that when the clamping claw structure 332 grabs an obstacle, the claw portion 3322d can hold the obstacle more stably.

[0075] In another embodiment of the present invention, the circumference of the third connecting rod 3322c is concave-convex, which can also increase the holding force of the clamping claw structure 332.

[0076] Specifically, the base 331 has an inner cavity, and a through hole connecting to its inner cavity is penetrated on one side close to the claw seat 3321, and a matching hole is penetrated corresponding to the through hole. The driving structure includes a push rod and a planetary gear set. One end of the push rod passes through the matching hole and the through hole in sequence, and is movably inserted in the inner cavity of the base 331, and is rotatably connected with the plurality of third connecting rods 3322c. The planetary gear set is disposed in the inner cavity of the base 331, and is drivingly connected to the push rod to drive the push rod to move outside or inside the inner cavity of the base 331. When the clamping claw structure 332 needs to clamp an obstacle, the planetary gear set works to drive the push rod to move toward the inner side of the base 331, and the push rod can drive one end of the plurality of third connecting rods 3322c to move toward the direction of the base 331, so that each of the third connecting rods 3322c drives the corresponding first connecting rod 3322a, and the second connecting rod 3322b and at least part of the tip move toward the direction of the base 331, so that the plurality of clamping claws 3322 are close to each other and cooperate with each other to complete the clamping of the obstacle; When the clamping claw structure 332 needs to release the obstacle, the planetary gear set works to drive the push rod to move toward the outside of the base 331, and the push rod can drive one end of multiple third connecting rods 3322c to move in the direction away from the base 331, thereby making each third connecting rod 3322c drive the corresponding first connecting rod 3322a, the second connecting rod 3322b and at least part of the tip to move in the direction away from the base 331, so that the multiple clamping claws 3322 move away from each other, thereby canceling the clamping of the obstacle.

[0077] In addition, in order to enable the hole exploration robot 100 to accurately identify the situation inside the hole, the hole exploration robot 100 also includes a camera 4 and a lighting lamp 5. The camera 4 is arranged on the grasping structure, and the camera 4 is used to collect environmental information inside the hole. The lighting lamp 5 is arranged on the grasping structure and avoids the camera 4.

[0078] The above description is only a preferred embodiment of the utility model, and does not limit the patent scope of the utility model. All equivalent structural changes made by using the contents of the utility model specification and drawings under the concept of the utility model, or directly / indirectly used in other related technical fields are included in the patent protection scope of the utility model.

Claims

1. A hole exploration robot, characterized in that: include: Mounting seat; A plurality of walking mechanisms are arranged at intervals along the circumference of the mounting seat, each of the walking mechanisms includes a walking foot and a telescopic mechanism, the telescopic mechanism is installed below the mounting seat and extends horizontally, the walking foot is installed at the driving end of the telescopic mechanism, and the walking foot includes a first support portion located at the bottom thereof, a second support portion located at the periphery of the hole exploration robot, a first driving structure for driving the first supporting portion and the second supporting portion to move up and down, and a second driving structure for driving both of them to swing horizontally along an up and down axis, so that each of the walking mechanisms has a horizontal walking state in which the first driving structure cooperates with the second driving structure to drive the first supporting portion to move horizontally, and a vertical walking state in which the telescopic mechanism cooperates with the first driving structure to drive the second supporting portion to move up and down; and, A grasping mechanism is rotatably arranged on the upper end of the mounting seat, and the grasping mechanism is used to grasp objects around the hole exploring robot.

2. The hole exploration robot according to claim 1, characterized in that: The first driving structure comprises: A first leg, one end of which is rotatably connected to a driving end of the second driving structure through a first driving part, wherein the first driving part can drive the first leg to rotate along an axis extending horizontally; and A second leg, one end of which is rotatably connected to the middle portion of the first leg through a second driving structure, and the second driving structure can drive the second leg to rotate along an axis extending horizontally; The first support portion is disposed at the lower portion of the second leg portion; The second supporting portion is disposed on a side portion of the second leg portion.

3. The hole exploration robot according to claim 2, characterized in that: The second supporting portion includes a bending rod, and the bending rod is bent from top to bottom in a direction close to the mounting seat.

4. The hole exploration robot according to claim 3, characterized in that: The first leg is provided with a connecting rod, one end of the connecting rod is rotatably connected to the other end of the first leg, and the other end of the connecting rod is slidably connected to the bending rod.

5. The hole exploration robot according to claim 1, characterized in that: The grabbing mechanism comprises: A seat body, arranged at the upper end of the mounting seat; A mechanical arm, the mechanical arm comprising a rotating disk and a plurality of arm segments, the rotating disk being disposed at the upper end of the base body and being rotatable along an axis extending in an up-and-down direction, one of the arm segments being rotatably mounted on the rotating disk, the plurality of arm segments being connected by a rotating steering gear, and each of the arm segments being able to swing in an up-and-down direction; and, A grabbing structure is arranged on the arm section away from the seat body.

6. The hole exploration robot according to claim 5, characterized in that: The seat body has an inner cavity, a worm gear mechanism is arranged in the inner cavity, the worm of the worm gear mechanism is connected to a first motor, and the first motor is used to drive the worm of the worm gear mechanism to rotate; The rotating disk and the worm wheel of the worm gear mechanism rotate coaxially.

7. The hole exploration robot according to claim 5, characterized in that: The grabbing structure comprises: A base, disposed on the arm segment; A clamping claw structure, comprising a claw seat and three clamping claws arranged at intervals along the circumference of the claw seat, wherein the claw seat is arranged on the base and has a gear ring arranged on the circumference thereof, and the ends of the three clamping claws away from the base can move in a direction of approaching or moving away from each other; A driving structure is disposed at one end of the base away from the clamping jaw structure, the driving structure being drivingly connected to the three clamping jaws; and The rotating structure includes a second motor and a transmission gear. The second motor is arranged on the base and avoids the claw seat. The transmission gear is arranged on the main shaft of the second motor to rotate coaxially with the second motor. The transmission gear is meshed with the gear ring.

8. The hole exploration robot according to claim 7, characterized in that: Each of the clamping jaws comprises: a first connecting rod, one end of which is rotatably connected to the claw seat; A second connecting rod is disposed on the claw seat and is located on a side of the first connecting rod close to the center of the base; a third connecting rod, one end of which is rotatably connected to the driving structure, and a middle portion of which is rotatably connected to the other end of the second connecting rod; and A claw portion, one end of which is rotatably connected to the other end of the first connecting rod, and a middle portion is rotatably connected to the other end of the third connecting rod; wherein, The first connecting rod, the second connecting rod, the third connecting rod and the claw portion can all move toward or away from the center of the claw seat.

9. The hole exploring robot according to claim 8, characterized in that: The base has an inner cavity, and a through hole communicating with the inner cavity is formed on one side close to the claw seat; The claw seat is provided with a matching hole corresponding to the through hole; The driving structure comprises: a push rod, one end of which passes through the matching hole and the through hole in sequence, is movably inserted into the inner cavity of the base, and is rotatably connected to the plurality of third connecting rods; and, The planetary gear set is arranged in the inner cavity of the base and is drivingly connected with the push rod to drive the push rod to move outside or inside the inner cavity of the base.

10. The hole exploration robot according to claim 1, characterized in that: The hole exploration robot also includes: A camera, disposed on the grasping mechanism, the camera being used to collect environmental information in the hole; and The lighting lamp is arranged on the grasping mechanism and avoids the camera.

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