Drilling type device for grabbing irregular objects

Abstract

The utility model provides a drilling type device for grabbing irregular objects, which comprises an induction drilling component, a telescopic cylinder group and a clamping jaw component, a mechanical arm is connected above the induction drilling component, the induction drilling component comprises a manipulator connecting plate connected with the mechanical arm, a drilling motor and a pressure sensor, and the pressure sensor is connected with the telescopic cylinder group. The induction drilling assembly is used for downwards inducing and drilling irregular objects; the telescopic cylinder sets are located at the edge position of the mechanical arm connecting plate and are multiple sets of telescopic cylinder bodies extending downwards, each telescopic cylinder set comprises two telescopic cylinder bodies, and the two telescopic cylinder bodies in the same set are symmetrical about the tangent plane of the axis of the drilling motor. The clamping jaw assembly is connected to the peripheral side of the telescopic cylinder set, the clamping jaw assembly comprises a plurality of picking sets, and objects with irregular outer surfaces and objects with certain plasticity can be drilled and transported through the clamping jaw and the drilling assembly.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arm drilling equipment, in particular to a drilling-type device for grabbing irregular objects. Background Art

[0002] The drilling method of transporting items is usually used with robotic arms and some assembly line operations, and is usually used to drill out whole pieces of material with lower hardness. For example, in the industrial production process of cannon clay, drilling is usually used to take the cannon clay. However, due to the structural properties of the cannon clay itself, the cannon clay will undergo extrusion-type plastic deformation during the transportation and packaging process, causing its surface to have an irregular polyhedral structure. When drilling, it is often impossible to accurately drill its center position, which causes the cannon clay to crack during the drilling process. At the same time, during transportation, it is also easily affected by the weight of the cannon clay itself and its relatively loose structural density, causing cracks and even detachment from the drilling robotic arm conveying structure. The working environment is greatly affected and safety accidents are prone to occur. In addition, the load-bearing limit of drilling is also poor, which is relatively inconvenient.

[0003] To achieve the above objectives, the utility model provides a drilling-type device for grabbing irregular objects, which can solve the problems raised in the above background technology. Utility Model Content

[0004] The utility model adopts the following technical solutions to achieve:

[0005] A drilling device for grabbing irregular objects, comprising an induction drilling assembly, a telescopic cylinder group, and a clamping claw assembly. A mechanical arm is connected above the induction drilling assembly. The induction drilling assembly comprises a manipulator connecting plate connected to the mechanical arm, a drilling motor, and a pressure sensor. The induction drilling assembly is used for downward sensing and drilling irregular objects.

[0006] The telescopic cylinder group is located at the edge of the manipulator connecting plate. The telescopic cylinder group is a plurality of telescopic cylinder bodies extending downward. A single telescopic cylinder group includes two telescopic cylinder bodies, and the two telescopic cylinder bodies in the same group are symmetrical about the axial section of the drilling motor.

[0007] The clamping jaw assembly is connected to the peripheral side of the telescopic cylinder group, the clamping jaw assembly is fixedly connected to the telescopic cylinder body, and the clamping jaw assembly includes a plurality of picking groups, and a single picking group corresponds to a single telescopic cylinder body in one-to-one number and is connected to each other;

[0008] Two groups of picking groups that are symmetrical about the longitudinal section of the drilling motor axis are used to clamp the two side surfaces of an irregular object, and the multiple picking groups can be driven synchronously.

[0009] Preferably, the induction drilling assembly includes a plurality of column support frames installed on the bottom of the manipulator connecting plate, the bottoms of the plurality of column support frames are all connected to the same mounting plate one, a pressure sensor is provided on the peripheral side of one end of a single column support frame close to the mounting plate one, the drilling motor is installed at the geometric center position above the mounting plate one, the output end of the drilling motor is connected to a spiral drill bit, and the peripheral side of the spiral drill bit is provided with spiral steel teeth.

[0010] Preferably, a cylinder push rod is provided at the protruding end of the telescopic cylinder body extending downward, and the bottom of the cylinder push rod is connected to an annular connecting plate, and the annular connecting plate and the axis of the drilling motor are located on the same axis, and the clamping jaw assembly includes a cylinder connecting pile and a secondary movable block, the cylinder connecting pile is connected to the side of the telescopic cylinder body away from the induction drilling assembly, the secondary movable block is installed above the annular connecting plate, and one side of the secondary movable block is connected to an adjusting motor, a support rod frame 1 is connected to the cylinder connecting pile, and a force arm frame 1 is connected to the secondary movable block, the support rod frame 1 is movably connected to the force arm frame 1, and one end of the force arm frame 1 is movably connected to the force arm frame 2, and the force arm frame 2 can be used to shovel irregular objects.

[0011] Preferably, a fixed bracket is provided on one side of the cylinder connection pile, one end of the force arm frame 1 is movably connected to the fixed bracket, a movable slide groove 1 is provided on the force arm frame 1, the upper and lower surfaces of the movable slide groove 1 are large-area hollowed-out, a rotation-adaptive slot is provided on the side of the force arm frame 1 away from the fixed bracket, and a movable connecting column is provided at one end of the rotation-adaptive slot;

[0012] One end of the support rod frame 1 connected to the force arm frame 1 is a rod body with circular limit columns on both sides. The support rod frame 1 has one end of a running circular limit column movably connected to the movable slide groove 1, and the movable connection column is slidably connected to the force arm frame 2.

[0013] Preferably, an endpoint rotating seat and a shovel board buckle seat are respectively provided at both ends of the lever arm frame 2, and a movable slide groove 2 is penetrated through the two side walls of the lever arm frame 2, the movable connecting column is located in the movable slide groove 2 and is slidably connected, one end of the endpoint rotating seat of the lever arm frame 2 is rotatably connected to the lever arm frame 1, and the movable slide groove 2 is a waist-shaped groove in the direction from the endpoint rotating seat to the shovel board buckle seat.

[0014] Preferably, a connecting column is rotatably connected to the end point rotating seat, one end of the connecting column is provided with a disc connecting seat, a main regulating cylinder is provided above the first force arm frame, the output end of the main regulating cylinder is connected to one side of the disc connecting seat, and the length of the rotating adaptation slot is greater than that of the second movable slide slot;

[0015] A wedge-shaped shovel plate is rotatably connected to the shovel plate buckle seat, and a torsion spring is arranged inside the shovel plate buckle seat. The torsion spring is connected to the side wall of the rotating axis cylinder of the wedge-shaped shovel plate. When the torsion spring is in a stationary state, the wedge-shaped shovel plate is perpendicular to the ground.

[0016] Preferably, an auxiliary cylinder is provided at the bottom center point of the manipulator connecting plate, and a telescopic rod is provided at one end of the telescopic cylinder close to the mounting plate one, and both ends of the telescopic rod are respectively connected to the mounting plate one and the column support frame, and the output end of the auxiliary cylinder is downwardly connected to the drilling motor.

[0017] A method for grabbing irregular objects by drilling, comprising the following steps: S1, detecting the position of the object: using a manipulator moving device and continuously moving downward until the spiral drill bit contacts the surface of the object, and the pressure is fed back to the pressure sensor and then the manipulator is lifted, at which time the main regulating cylinder is not extended and the support rod frame is connected to the movable slide slot close to one end of the fixed bracket;

[0018] S2, detecting the edge of the object: driving the adjusting motor and the main adjusting cylinder until the movable end of one side of the support rod frame 1 is located in the movable slide slot 1 and is closest to the end of the arm frame 2, and at the same time, the main adjusting cylinder is extended to the maximum extent until the arm frame 2 clamps inward, and the main adjusting cylinder is gradually retracted at this time, so that when one end of the wedge-shaped shovel plate contacts the edge of the object, the main adjusting cylinder stops retracting when a deflection return signal is obtained;

[0019] S3, separating the block and drilling: driving the adjusting motor to make the movable end of the support rod frame one slide upward, separating the single block, and using the auxiliary cylinder to drive the drilling motor to drill the surface of the object;

[0020] S4. Transporting blocks: After the steel teeth initially fix the device, contract the main adjusting cylinder and drive the adjusting motor to move the movable end of the support rod frame 1 downward to the bottom end of the movable slide slot 1. At this time, push the main adjusting cylinder to the limit position so that the force arm frame 2 can flip upward and inside the device, thereby dragging the bottom or side of the block and using the robot to move and transport it.

[0021] Preferably, in step S1: during the movement of the manipulator, the adjusting motor is synchronously driven to make the clamping jaw assembly expand outward to the extreme position, and then the manipulator moves downward; in step S2: after the completion of step S1, the manipulator needs to be moved upward first and then the support rod frame 1 is flipped, and the horizontal height of the movable end of the support rod frame 1 moves from the upper part of the annular connecting plate to the lower part of the annular connecting plate. After the limit extension position action of the main adjusting cylinder is completed, the manipulator is driven to move downward until the deflection of the wedge-shaped shovel plate is sensed.

[0022] Preferably, in step S2: when a deflection return signal is detected on one side, the main adjusting cylinder on that side is fixed, and the main adjusting cylinder on the other side is adjusted to obtain a deflection return signal, and the adjusting motor is driven to make the movable end of the support rod frame slide toward the upper part of the movable slide groove. At this time, the two main adjusting cylinders simultaneously retract and separate the obstacle objects on both sides, and the objects are returned to the bottom of the drilling motor.

[0023] Compared with the prior art, the beneficial effects of the utility model are:

[0024] The utility model is mainly used for drilling gun mud with certain plasticity and structural density but low overall hardness. The basic motor threaded drilling is used to take the gun mud. At the same time, a telescopic cylinder group that can be telescoped up and down and a clamping claw assembly outside the cylinder group are provided to realize moving the threaded drilling piece to the center of the gun mud. The single-piece gun mud is separated by the clamping claw assembly. At the same time, the position of the drilling center can be adjusted, so that the drilling position can be located at the geometric center point of the gun mud as much as possible, which can improve the success rate of mechanical arm drilling, reduce the probability of automatic damage to the gun mud, and reduce the probability of damage to the gun mud during transportation, thereby reducing a large amount of cleaning work.

[0025] The original specifications of the taphole mud are blocks of different sizes, but due to its own structural characteristics, it will become irregular blocks during the stacking process. The utility model can quickly determine the geometric center of the irregular object and drill it by intelligently controlling the synchronous action between the two adjacent picking groups of the clamping claw assembly and fixing its linkage process, and exert a supporting force on its edge, so that the device can smoothly drill irregular objects, thereby improving the practicality of the equipment;

[0026] The linked jaw assemblies are all controlled by simple sliding and rotating controls, which can be flexibly designed to allow the size of accessories to be changed freely. At the same time, the size space of the linkage can achieve a weight and volume that is much larger than that of the steel teeth of the spiral drill bit itself, effectively reducing the phenomenon of separation and cracking of the drilling position when drilling large irregular objects. At the same time, the peripheral supporting clamping energy of the jaw assembly can disperse part of the load-bearing on the steel teeth of the spiral drill bit, thereby increasing the upper limit of the load-bearing capacity of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In the figure: Figure 1 It is a partial structural schematic diagram of the induction drilling assembly and the telescopic cylinder group of the utility model;

[0028] Figure 2 It is a structural side view of the induction drilling assembly and telescopic cylinder group of the utility model;

[0029] Figure 3 It is a plan view of the structural linkage position of the device in the initial state of the utility model;

[0030] Figure 4 It is a schematic structural diagram of a lever arm frame 1 and a part of a lever arm frame 2 of the utility model;

[0031] Figure 5 It is a schematic diagram of a part of the structure of the lever arm frame of the utility model;

[0032] Figure 6 This is a schematic diagram of the connection structure between the main regulating cylinder and the arm support of the utility model;

[0033] Figure 7 This is a schematic diagram of the second structure of the lever arm frame of the utility model;

[0034] Figure 8 It is a structural schematic diagram of the linkage of the device of the utility model at the extreme linkage position;

[0035] Fig. 9 This is a schematic diagram of the structure linkage of the utility model when detecting the edge position of an object;

[0036] Fig.10 It is a schematic diagram of the structural linkage of the utility model in the initial state of the downward movement of the edge position detection object;

[0037] Fig.11 This is a diagram showing the linkage status of the positions of the components when picking up a single object in the utility model;

[0038] Fig.12 It is a schematic diagram of the structural linkage when the spiral drill bit is used to drill according to the utility model;

[0039] Fig.13 It is a schematic diagram of the structural linkage of the transport and loading action of the utility model.

[0040] In the figure: 1. Induction drilling assembly; 2. Telescopic cylinder assembly; 3. Gripper assembly; 4. Auxiliary cylinder body;

[0041] 101. Manipulator connecting plate; 102. Column support frame; 103. Mounting plate 1; 104. Pressure sensor; 105. Drilling motor; 106. Spiral drill bit;

[0042] 201, telescopic cylinder body; 202, annular connecting plate; 203, cylinder push rod;

[0043] 301, cylinder connecting pile; 302, fixed bracket; 303, arm frame 1; 304, arm frame 2; 305, support rod frame 1; 306, auxiliary movable block; 307, adjusting motor; 308, movable slide 1; 309, movable slide 2; 310, end point rotating seat; 311, connecting rotating column; 312, shovel plate snap seat; 313, wedge-shaped shovel plate; 314, torsion spring; 315, main adjusting cylinder; 316, rotating to adapt to empty slot; 317, disc connecting seat; 318, movable connecting column. DETAILED DESCRIPTION

[0044] In order to facilitate the understanding of the present invention, the present invention will be described in more detail below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings, but the present invention can be implemented in different forms and is not limited to the embodiments described in the text. On the contrary, these embodiments are provided to make the content disclosed in the present invention more thorough and comprehensive.

[0045] It should be noted that when an element is referred to as being "fixed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this article are for illustrative purposes only.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly connected by technicians in the technical field of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in this article includes any and all combinations of one or more related listed items.

[0047] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0048] In one embodiment of the present invention:

[0049] Please refer to the attached Figure 1-13 , including an induction drilling assembly, a telescopic cylinder group, and a clamping claw assembly. A mechanical arm is connected to the top of the induction drilling assembly. The induction drilling assembly includes a manipulator connecting plate connected to the mechanical arm, a drilling motor, and a pressure sensor. The induction drilling assembly is used for downward sensing and drilling irregular objects;

[0050] The telescopic cylinder group is located at the edge of the manipulator connecting plate. The telescopic cylinder group is a plurality of telescopic cylinder bodies extending downward. A single telescopic cylinder group includes two telescopic cylinder bodies, and the two telescopic cylinder bodies in the same group are symmetrical about the axial section of the drilling motor.

[0051] The clamping jaw assembly is connected to the peripheral side of the telescopic cylinder group, the clamping jaw assembly is connected to the peripheral side of the telescopic cylinder group, the clamping jaw assembly is fixedly connected to the telescopic cylinder body, the clamping jaw assembly includes a plurality of picking groups, and the number of a single picking group corresponds to that of a single telescopic cylinder body and they are all connected in pairs; the distribution of the telescopic cylinder groups is based on the actual usage situation, and the telescopic cylinder bodies of a single group are two and act synchronously, and their installation positions and deflection orientations are symmetrically installed in the longitudinal plane according to the axis of the drilling motor. When there are multiple telescopic cylinder groups, the installation point spacing between the two telescopic cylinder bodies inside the telescopic cylinder group of a single group is approximately 180 degrees. When multiple telescopic cylinder groups are installed, the total angle between the installation points of the telescopic cylinder bodies inside is 360 degrees. The annular connecting plate can be selected from a disc, a rectangle, and a polygon. The bottom surface of the annular connecting plate at the position where the secondary movable block is installed is hollowed out to facilitate the rotation of the clamping jaw assembly;

[0052] The two groups of picking groups that are symmetrical about the longitudinal section of the drilling motor axis are used to clamp the two side surfaces of the irregular object. The multiple picking groups are synchronously driven to correspond to the telescopic cylinder groups one by one. The two telescopic cylinder bodies correspond to the two cylinder connecting piles respectively, so that the clamping picking groups can obtain the characteristics of symmetry and non-automatic movement at the same time, so that a single group of picking groups can at least clamp the two sides of the irregular object, and can more accurately locate the center of the foam mud when locating the edge of the irregular object. The picking group can adopt multilateral asynchronous actions for clamping.

[0053] Another extended example in this embodiment is as follows: when the annular connecting plate is installed in a disc shape, the manipulator connecting plate can be simultaneously set as a rotating support plate with a central disc guide rail, that is, the disc connected to the telescopic cylinder body is embedded in the manipulator connecting plate, and can be rotated by the control of the robot arm. At this time, the telescopic cylinder group and the clamping jaw assembly are both rotatable movable parts, which can cope with more irregular geometric clamping, and can more conveniently clamp the edge position of irregular objects without interfering with the original drilling action mentioned above.

[0054] In addition, please refer to Figure 1-3The induction drilling assembly includes a plurality of column support frames installed at the bottom of the manipulator connecting plate, the bottoms of the plurality of column support frames are all connected to the same mounting plate 1, a single column support frame is provided with a pressure sensor on the peripheral side of one end close to the mounting plate 1, the drilling motor is installed at the geometric center position above the mounting plate 1, the output end of the drilling motor is connected to a spiral drill bit, the peripheral side of the spiral drill bit is provided with spiral steel teeth, the bottom center point of the manipulator connecting plate is provided with an auxiliary cylinder body, the end of the telescopic cylinder body close to the mounting plate 1 is provided with a telescopic rod, and the two ends of the telescopic rod are respectively connected to the mounting plate One is connected to the column support frame, and the output end of the auxiliary cylinder is downwardly connected to the drilling motor. The drilling effect of the utility model comes from the excavation of the drilling motor and the propulsion of the auxiliary cylinder. The linkage moving effect of the clamping claw assembly moves the gun mud block to a position where the spiral drill bit is convenient for carrying, so as to facilitate the spiral drill bit to drill. The drilling top pressure effect of the front end of the spiral drill bit is sensed by the pressure sensor. The pressure sensor is located at one end of the column support frame and part of its end side position, and the interior is a small circular channel. The telescopic rod is located at the end axis centerline position of the column support frame and moves in the internal circular channel of the pressure sensor.

[0055] In another embodiment of the present invention:

[0056] Please pay attention to Figure 3-13 The protruding end of the telescopic cylinder body extends downwardly to be provided with a cylinder push rod, the bottom of the cylinder push rod is connected to an annular connecting plate, the annular connecting plate and the axis of the drilling motor are located on the same axis, the clamping jaw assembly includes a cylinder connecting pile and a secondary movable block, the cylinder connecting pile is connected to the side of the telescopic cylinder body away from the induction drilling assembly, the secondary movable block is installed above the annular connecting plate, one side of the secondary movable block is connected to an adjusting motor, a support rod frame 1 is connected to the cylinder connecting pile, a force arm frame 1 is connected to the secondary movable block, the support rod frame 1 is movably connected to the force arm frame 1, one end of the force arm frame 1 is movably connected to the force arm frame 2, and the force arm frame 2 can be used to shovel irregular objects.

[0057] The end of the fixed bracket is a cylindrical rotating end, and its column is connected to a rotating seat provided at one end of the force arm frame, and a rotating space is reserved therebetween, so that the force arm frame can rotate around the fixed bracket at an angle between 180 degrees and 360 degrees, and can adapt to the negative angle rotation of the force arm frame. The rotating end of the support rod frame is located in the slideway of the movable slide groove and slides horizontally, and drives the auxiliary movable block to rotate. The adjusting motor is its driving force end, and the interior of the auxiliary movable block can be conveniently rotated by gear matching or a reducer-type connection rotation method, or directly driven by a motor. The action end can meet the adaptive rotation of the motor to facilitate the rotation requirements of the support rod frame during the unpowered follow-up rotation in the subsequent clamping step.

[0058] Please pay attention to Figure 3 , Figure 4 , Figure 8-13 A fixed bracket is provided on one side of the cylinder connection pile, one end of the force arm frame 1 is movably connected to the fixed bracket, a movable slide groove 1 is provided on the force arm frame 1, and the upper and lower surfaces of the movable slide groove 1 are large-area hollows, and a rotation-adaptive slot is provided on the side of the force arm frame 1 away from the fixed bracket, and a movable connecting column is provided at one end of the rotation-adaptive slot;

[0059] The one end of the support rod frame 1 connected to the force arm frame 1 is a rod body with circular limit columns on both sides. The support rod frame 1 has one end of a running circular limit column movably connected to the movable slide groove 1, and the movable connecting column is slidably connected to the force arm frame 2. The main adjusting cylinder is located above the force arm frame 1, and the extension direction of its output end is parallel to the force arm frame 1. When the force arm frame 2 is dragged to rotate, the end point rotating seat of the force arm frame 2 is dragged, and the length of the rotating adaptation slot is used to adapt to the distance between the end point rotating seat and the movable connecting column. Similarly, when adjusting the flipping limit of the force arm frame 2, the height of the main adjusting cylinder base can be increased, and the horizontal height difference between the end point rotating seat and the movable connecting column can be changed at the same height value. At this time, during the deflection process, one end of the end point rotating seat will be located in the rotation adaptation slot and rotate. Figure 4 As shown, when the movable connecting column moves in the movable sliding groove 2, the outer edge of the lever arm frame 2 also has a certain travel occupation for the space of the rotation adaptation slot.

[0060] Please pay attention to Figure 3-7 The two ends of the lever arm frame two are respectively provided with an end point rotating seat and a shovel plate buckle seat, and the two side walls of the lever arm frame two are penetrated by a movable slide groove two, and the movable connecting column is located in the movable slide groove two and is slidably connected, and one end of the end point rotating seat of the lever arm frame two is rotatably connected with the lever arm frame one, and the movable slide groove two is a waist-shaped groove from the end point rotating seat to the shovel plate buckle seat. The cooperation between the movable slide groove two and the movable slide groove one changes according to the extension and retraction of the main adjusting cylinder. During the retraction of the main adjusting cylinder, the movable connecting column slides inside the movable slide groove two. At this time, the lever arm frame two gradually expands outward, and the deflection angle of the wedge-shaped shovel plate gradually returns to a resistance-free state.

[0061] The end point rotating seat is rotatably connected with a connecting column, one end of which is provided with a disc connecting seat, a main regulating cylinder is provided above the first force arm frame, the output end of the main regulating cylinder is connected with one side of the disc connecting seat, and the length of the rotating adaptation slot is greater than that of the second movable slide slot;

[0062] The shovel board buckle seat is rotatably connected with a wedge-shaped shovel board, and a torsion spring is arranged inside the shovel board buckle seat, and the torsion spring is connected with the side wall of the rotating axis cylinder of the wedge-shaped shovel board. When the torsion spring is in a stationary state, the wedge-shaped shovel board is perpendicular to the ground; the deflection detection instrument is arranged inside the shovel board buckle seat and connected with the upper peripheral side end of the wedge-shaped shovel board. The selection of the wedge-shaped shovel board can be adopted as follows Figure 7 The small shovel shown can also be replaced with a larger shovel or a long shovel according to the needs of loading and transportation, so as to facilitate uniform force on multiple positions at the bottom of the gun mud block.

[0063] In another embodiment of the present invention:

[0064] Please pay attention to Figure 8-11 An auxiliary cylinder is provided at the bottom center point of the manipulator connecting plate, and a telescopic rod is provided at one end of the telescopic cylinder close to the mounting plate one, and both ends of the telescopic rod are respectively connected to the mounting plate one and the column support frame, and the output end of the auxiliary cylinder is downwardly connected to the drilling motor, and the telescopic rod and the auxiliary cylinder participate in the drilling process of the induction drilling assembly, which is mainly used to drive the induction drilling assembly downward to fall after the clamping claw assembly separates the gun mud blocks and irregular objects individually and returns them to their positions, so as to compensate for the large height difference between the original spiral drill bit selection length and the highest bending point of the clamping claw assembly, and thus improve the drilling success rate of the spiral drill bit.

[0065] In another embodiment of the present invention: Figure 8-13 As shown, a method for grabbing irregular objects by drilling, comprising the following steps: S1, detecting the position of the object: using a manipulator moving device and continuously moving downward until the spiral drill bit contacts the surface of the object, and the pressure is fed back to the pressure sensor and then the manipulator is lifted, at which time the main regulating cylinder is not extended and the support rod frame is connected to the movable slide slot close to one end of the fixed bracket;

[0066] S2, detecting the edge of the object: driving the adjusting motor and the main adjusting cylinder until the movable end of one side of the support rod frame 1 is located in the movable slide slot 1 and is closest to the end of the arm frame 2, and at the same time, the main adjusting cylinder is extended to the maximum extent until the arm frame 2 clamps inward, and the main adjusting cylinder is gradually retracted at this time, so that when one end of the wedge-shaped shovel plate contacts the edge of the object, the main adjusting cylinder stops retracting when a deflection return signal is obtained;

[0067] S3, separating the block and drilling: driving the adjusting motor to make the movable end of the support rod frame one slide upward, separating the single block, and using the auxiliary cylinder to drive the drilling motor to drill the surface of the object;

[0068] S4, transporting blocks: After the steel teeth initially fix the device, the main adjusting cylinder is retracted, and the adjusting motor is driven to move the movable end of the support rod frame 1 downward to the bottom end of the movable slide slot 1. At this time, the main adjusting cylinder is pushed out to the limit position, so that the force arm frame 2 can be turned upward to the inside of the device, thereby dragging the bottom or side of the block, and using the manipulator to move and transport;

[0069] In step S1: during the movement of the manipulator, the adjusting motor is synchronously driven to make the clamping claw assembly expand outward to the extreme position, and then the manipulator moves downward; in step S2: after the completion of step S1, the manipulator needs to be moved upward first and then the support rod frame 1 is flipped, and the horizontal height of the movable end of the support rod frame 1 moves from the upper part of the annular connecting plate to the lower part of the annular connecting plate, and after the extreme extension position action of the main adjusting cylinder is completed, the manipulator is driven to move downward until the deflection of the wedge-shaped shovel plate is sensed;

[0070] In step S2: when a deflection return signal is detected on one side, the main adjusting cylinder on that side is fixed, and the main adjusting cylinder on the other side is adjusted to obtain a deflection return signal, and the adjusting motor is driven to make the movable end of the support rod frame slide toward the upper part of the movable slide slot. At this time, the two main adjusting cylinders simultaneously retract and separate the obstacles on both sides, and the objects are returned to the bottom of the drilling motor.

[0071] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0072] The above contents are merely examples and explanations of the structure of the utility model. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the utility model or exceed the scope defined in the claims, they should all fall within the protection scope of the utility model.

Claims

1. A drilling-type device for grabbing irregular objects, characterized in that: It includes an induction drilling assembly, a telescopic cylinder group, and a clamping claw assembly. A mechanical arm is connected to the top of the induction drilling assembly. The induction drilling assembly includes a manipulator connecting plate connected to the mechanical arm, a drilling motor, and a pressure sensor. The induction drilling assembly is used for downward sensing and drilling irregular objects. The telescopic cylinder group is located at the edge of the manipulator connecting plate. The telescopic cylinder group is a plurality of telescopic cylinder bodies extending downward. A single telescopic cylinder group includes two telescopic cylinder bodies, and the two telescopic cylinder bodies in the same group are symmetrical about the axial section of the drilling motor. The clamping jaw assembly is connected to the peripheral side of the telescopic cylinder group, and the clamping jaw assembly is fixedly connected to the telescopic cylinder body.

2. The drilling-type grabbing device for irregular objects according to claim 1, characterized in that: The induction drilling assembly includes a plurality of column support frames installed at the bottom of the manipulator connecting plate, the bottoms of the plurality of column support frames are all connected to the same mounting plate one, a pressure sensor is provided on the peripheral side of one end of a single column support frame close to the mounting plate one, the drilling motor is installed above the mounting plate one, the output end of the drilling motor is connected to a spiral drill bit, and the peripheral side of the spiral drill bit is provided with spiral steel teeth.

3. The drilling-type grabbing device for irregular objects according to claim 1, characterized in that: The protruding end of the telescopic cylinder body extends downward to be provided with a cylinder push rod, and the bottom of the cylinder push rod is connected to an annular connecting plate, and the annular connecting plate and the axis of the drilling motor are located on the same axis; the clamping jaw assembly includes a cylinder connecting pile and a secondary movable block, the cylinder connecting pile is connected to the side of the telescopic cylinder body away from the induction drilling assembly, the secondary movable block is installed above the annular connecting plate, and one side of the secondary movable block is connected to an adjusting motor, a support rod frame 1 is connected to the cylinder connecting pile, and a force arm frame 1 is connected to the secondary movable block, the support rod frame 1 is movably connected to the force arm frame 1, and one end of the force arm frame 1 is movably connected to the force arm frame 2, and the force arm frame 2 is used for shoveling irregular objects.

4. The drilling-type grabbing device for irregular objects according to claim 3 is characterized in that: A fixed bracket is provided on one side of the cylinder connection pile, one end of the force arm frame 1 is movably connected to the fixed bracket, a movable slide groove 1 is provided on the force arm frame 1, a rotation adaptation slot is provided on the side of the force arm frame 1 away from the fixed bracket, and a movable connecting column is provided at one end of the rotation adaptation slot; One end of the support rod frame 1 connected to the force arm frame 1 is a rod body with circular limit columns on both sides. The support rod frame 1 has one end of a running circular limit column movably connected to the movable slide groove 1, and the movable connection column is slidably connected to the force arm frame 2.

5. The drilling-type grabbing device for irregular objects according to claim 4, characterized in that: An endpoint rotating seat and a shovel board buckle seat are respectively provided at both ends of the second lever arm frame; movable slide grooves are penetrated by two side walls of the second lever arm frame; the movable connecting column is located in the second movable slide groove and is slidably connected; one end of the endpoint rotating seat of the second lever arm frame is rotatably connected to the first lever arm frame; the movable slide groove is a waist-shaped groove in the direction from the endpoint rotating seat to the shovel board buckle seat.

6. The drilling-type grabbing device for irregular objects according to claim 5, characterized in that: A connecting column is rotatably connected to the endpoint rotating seat, one end of the connecting column is provided with a disc connecting seat, a main adjusting cylinder is provided above the first force arm frame, the output end of the main adjusting cylinder is connected to one side of the disc connecting seat, and the length of the rotating adaptation slot is greater than that of the second movable slide slot.

7. The drilling-type grabbing device for irregular objects according to claim 5, characterized in that: A wedge-shaped shovel plate is rotatably connected to the shovel plate buckle seat, and a torsion spring is arranged inside the shovel plate buckle seat. The torsion spring is connected to the side wall of the rotating axis cylinder of the wedge-shaped shovel plate. When the torsion spring is in a stationary state, the wedge-shaped shovel plate is perpendicular to the ground.

8. The drilling-type grabbing device for irregular objects according to claim 2, characterized in that: An auxiliary cylinder is provided at the bottom center point of the manipulator connecting plate, and a telescopic rod is provided at one end of the telescopic cylinder close to the mounting plate one. The two ends of the telescopic rod are respectively connected to the mounting plate one and the column support frame, and the output end of the auxiliary cylinder is downwardly connected to the drilling motor.

Images