Electric drill adjusting structure and bestriding type side wall punching robot

Abstract

The embodiment of the utility model discloses an electric drill adjusting structure and bestriding type side wall punching robot, the electric drill adjusting structure comprises a moving module, a lifting module, a drilling module, a first sensor, a reflecting piece, a second sensor and a third sensor, the moving module is connected with the lifting module and is used for driving the lifting module to move, and the drilling module is connected with the first sensor. The lifting module is connected with the drilling module and used for driving the drilling module to ascend and descend, the reflecting part is installed at one end of the cable trench, the first sensor is installed on the moving module and used for sensing the reflecting part so as to adjust the position of the drilling module in the first direction, and the second sensor is installed on the drilling module and used for sensing the wall so as to adjust the position of the drilling module in the second direction. The first sensor is installed on the drilling module and used for sensing a wall body to adjust the position of the drilling module in the second direction, and the third sensor is installed on the drilling module and used for sensing the wall body to adjust the position of the drilling module in the third direction through the lifting module, so that the position of the drilling module can be adjusted in three directions, and the hole forming position accuracy and the hole forming quality are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of cable trench drilling, in particular to a drill adjusting structure and a straddle - type side - wall drilling robot. Background Technique

[0002] With the development needs of production automation, robots have been more and more widely used in all walks of life. With the continuous development of scientific and technological progress and power grid technology, the degree of automation of the power system has been greatly improved. Combining robot technology with power applications, based on the robot mobile platform, it has become possible to use a drilling robot based on artificial intelligence technology to replace manual drilling, and the construction of substation cable trenches has gradually tended to be unmanned or less - manned construction. However, how to find an accurate position in the cable trench wall is still a challenging topic.

[0003] Since the cable trench is not completely flat and the ground flatness is also limited, the problem of reference plane selection is related to the final hole - forming position accuracy and hole - forming quality, resulting in problems such as a large hole - forming position deviation and poor hole - forming quality. Content of the Utility Model

[0004] Based on this, it is necessary to provide a drill adjusting structure and a straddle - type side - wall drilling robot, aiming to solve the problems that the cable trench is not completely flat and the ground flatness is also limited, and the problem of reference plane selection is related to the final hole - forming position accuracy and hole - forming quality, resulting in a large hole - forming position deviation and poor hole - forming quality.

[0005] In a first aspect, the utility model provides a drill adjusting structure. The drill adjusting structure includes a moving module, a lifting module, a drilling module, a first sensor, a reflector, a second sensor, and a third sensor. The moving module is connected to the lifting module and is used to drive the lifting module to move. The lifting module is connected to the drilling module and is used to drive the drilling module to lift. The reflector is installed at one end of the cable trench. The first sensor is installed on the moving module and is used to sense the reflector to adjust the position of the drilling module in the first direction. The second sensor is installed on the drilling module and is used to sense the wall to adjust the position of the drilling module in the second direction. The third sensor is installed on the drilling module and is used to sense the wall to adjust the position of the drilling module in the third direction through the lifting module. The first direction, the second direction, and the third direction are arranged at an included angle.

[0006] In one of the embodiments, the moving module includes a moving body and a driving wheel connected to the moving body. The driving wheel can drive the moving body to move.

[0007] In one embodiment, the moving module further includes driven wheels. There are two driving wheels, which are respectively arranged at the diagonals of the moving body. There are two driven wheels, which are respectively arranged at the diagonals of the moving body.

[0008] In one embodiment, the driving wheel includes a seat body, a first driving motor and a wheel body. The seat body is mounted on the moving body, the wheel body is mounted on the seat body, and the first driving motor is connected to the wheel body and used to drive the wheel body to rotate.

[0009] In one embodiment, the driving wheel further includes a second driving motor, a first gear and a second gear. The first gear is rotatably connected to the seat body and connected to the wheel body. The first gear is in transmission connection with the second gear. The second driving motor is connected to the second gear and used to drive the first gear to drive the second gear to rotate.

[0010] In one embodiment, the lifting module includes a mounting plate, a third driving motor and a guiding member. The guiding member is mounted on the moving module. The third driving motor is connected to the mounting plate and used to drive the mounting plate to move along the extending direction of the guiding member. The mounting plate is connected to the drilling module.

[0011] In one embodiment, the lifting module further includes a photoelectric switch. The photoelectric switch is mounted on the guiding member and used to limit the position of the drilling module.

[0012] In one embodiment, the drilling module includes a fourth driving motor and a drilling assembly. The fourth driving motor is connected to the drilling assembly and used to drive the drilling assembly to move.

[0013] In one embodiment, the electric drill adjusting structure further includes a depth camera. The depth camera is mounted on the moving module and used to navigate the moving module to a predetermined position.

[0014] In a second aspect, the present invention further provides a straddle-type sidewall drilling robot, which includes the electric drill adjusting structure of any of the above embodiments.

[0015] Implementing the embodiments of the present invention will have the following beneficial effects:

[0016] The electric drill adjustment structure and the straddle - type side - wall drilling robot of the present utility model are adopted. The moving module of the electric drill adjustment structure is connected to the lifting module and is used to drive the lifting module to move. The lifting module is connected to the drilling module and is used to drive the drilling module to lift. The reflecting member is installed at one end of the cable trench. The first sensor is installed on the moving module and is used to sense the reflecting member to adjust the position of the drilling module in the first direction. The second sensor is installed on the drilling module and is used to sense the wall to adjust the position of the drilling module in the second direction. The third sensor is installed on the drilling module and is used to sense the wall to adjust the position of the drilling module in the third direction through the lifting module, so that the drilling module can adjust its position in three directions, thereby improving the position accuracy and hole - forming quality of the formed hole. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Among them:

[0019] Figure 1 Is an isometric schematic diagram of the electric drill adjustment structure in an embodiment.

[0020] Figure 2 Is Figure 1 A schematic diagram of the moving module, lifting module, drilling module and second sensor in the shown electric drill adjustment structure.

[0021] Figure 3 Is Figure 2 A partially enlarged schematic diagram of part A in the shown electric drill adjustment structure.

[0022] Figure 4 Is Figure 2 A schematic diagram of the lifting module in the shown electric drill adjustment structure.

[0023] Reference numerals:

[0024] 1. Moving module; 11. Moving body; 12. Driving wheel; 121. Seat body; 122. First driving motor; 123. Wheel body; 124. Second driving motor; 125. First gear; 126. Second gear; 13. Driven wheel;

[0025] 2. Lifting module; 21. Mounting plate; 22. Third driving motor; 23. Guide member; 24. Photoelectric switch;

[0026] 3. Drilling module; 4. First sensor; 5. Reflective part; 6. Second sensor; 7. Depth camera; 100. Cable trench. Detailed implementation manners

[0027] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part rather than all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0028] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0029] In the description of the present invention, it should be noted that if terms such as "upper", "lower", "inner", "outer", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship when the product of the present invention is normally placed. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0030] In addition, terms such as "first" and "second" are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0031] It should be noted that the features in the embodiments of the present invention can be combined with each other without conflict.

[0032] Please refer to Figures 1 to 4, the electric drill adjustment structure provided by the present utility model will be described. The electric drill adjustment structure is used in a straddle-type sidewall drilling robot. The electric drill adjustment structure includes a moving module 1, a lifting module 2, a drilling module 3, a first sensor 4, a reflecting member 5, a second sensor 6, and a third sensor. The moving module 1 is connected to the lifting module 2 and is used to drive the lifting module 2 to move. The lifting module 2 is connected to the drilling module 3 and is used to drive the drilling module 3 to lift. The reflecting member 5 is installed at one end of the cable trench 100. The first sensor 4 is installed on the moving module 1 and is used to sense the reflecting member 5 to adjust the position of the drilling module 3 in the first direction. The second sensor 6 is installed on the drilling module 3 and is used to sense the wall to adjust the position of the drilling module 3 in the second direction. The third sensor is installed on the drilling module 3 and is used to sense the wall to adjust the position of the drilling module 3 in the third direction through the lifting module 2. The first direction, the second direction, and the third direction are arranged at an angle.

[0033] It can be understood that the moving module 1 of the electric drill adjustment structure is connected to the lifting module 2 and is used to drive the lifting module 2 to move. The lifting module 2 is connected to the drilling module 3 and is used to drive the drilling module 3 to lift. The reflecting member 5 is installed at one end of the cable trench 100. The first sensor 4 is installed on the moving module 1 and is used to sense the reflecting member 5 to adjust the position of the drilling module 3 in the first direction. The second sensor 6 is installed on the drilling module 3 and is used to sense the wall to adjust the position of the drilling module 3 in the second direction. The third sensor is installed on the drilling module 3 and is used to sense the wall to adjust the position of the drilling module 3 in the third direction through the lifting module 2, so that the drilling module 3 can adjust its position in three directions, thereby improving the position accuracy and hole forming quality of the hole.

[0034] It should be noted that according to the placement position of the electric drill adjustment structure, the first direction can be a horizontal direction or a vertical direction. For the convenience of understanding, in the relevant embodiments, the first direction is the horizontal direction, and the second direction and the third direction are both perpendicular to the first direction.

[0035] It should be added that the first sensor 4, the second sensor 6, and the third sensor are all laser range sensors. After the first sensor 4 senses the reflecting member 5, the moving module 1 drives the drilling module 3 to move in the first direction to adjust the distance. After the second sensor 6 senses the wall, the moving module 1 drives the drilling module 3 to move in the second direction to adjust the distance. After the third sensor senses the wall, the moving module 1 drives the drilling module 3 to move in the third direction to adjust the distance.

[0036] In this embodiment, the moving module 1 includes a moving body 11 and a driving wheel 12 connected to the moving body 11. The driving wheel 12 can drive the moving body 11 to move. By providing the driving wheel 12, the moving body 11 can move under the drive of the driving wheel 12, so that the moving body 11 can drive the drilling module 3 to move in the first direction and the second direction.

[0037] Furthermore, the moving module 1 further includes driven wheels 13. There are two driving wheels 12, which are respectively arranged at the diagonals of the moving body 11. There are two driven wheels 13, which are respectively arranged at the diagonals of the moving body 11. In this way, the power distribution of the moving body 11 is uniform, so that the movement of the moving body 11 is more flexible.

[0038] In one embodiment, as Figure 2 and Figure 3 shown, the driving wheel 12 includes a seat body 121, a first driving motor 122 and a wheel body 123. The seat body 121 is installed on the moving body 11, the wheel body 123 is installed on the seat body 121, and the first driving motor 122 is connected to the wheel body 123 and is used to drive the wheel body 123 to rotate. The first driving motor 122 drives the wheel body 123 to rotate. The wheel body 123 frictions with the ground and moves, and drives the seat body 121 to move, and the seat body 121 drives the moving body 11 to move.

[0039] In this embodiment, the driving wheel 12 further includes a second driving motor 124, a first gear 125 and a second gear 126. The first gear 125 is rotatably connected to the seat body 121 and is connected to the wheel body 123. The first gear 125 is in transmission connection with the second gear 126. The second driving motor 124 is connected to the second gear 126 and is used to drive the first gear 125 to drive the second gear 126 to rotate. The second driving motor 124 drives the first gear 125 to rotate. The first gear 125 drives the second gear 126 to rotate. The second gear 126 drives the first driving motor 122 and the wheel body 123 to rotate, so as to be able to steer the moving body 11.

[0040] In one embodiment, as Figures 2 to 4 shown, the lifting module 2 includes a mounting plate 21, a third driving motor 22 and a guiding member 23. The guiding member 23 is installed on the moving module 1. The third driving motor 22 is connected to the mounting plate 21 and is used to drive the mounting plate 21 to move along the extending direction of the guiding member 23. The mounting plate 21 is connected to the drilling module 3. The third driving motor 22 drives the mounting plate to move. The mounting plate 21 moves along the extending direction of the guiding member 23. The mounting plate 21 drives the drilling module 3 to move, so as to adjust the position of the drilling module 3 in the third direction.

[0041] In this embodiment, the lifting module 2 further includes a photoelectric switch 24. The photoelectric switch 24 is installed on the guide member 23 and is used to limit the position of the drilling module 3. By providing the photoelectric switch 24, the drilling module 3 can move within a preset stroke, thereby preventing the drilling module 3 from colliding with other components.

[0042] During implementation, there are two photoelectric switches 24, which are respectively arranged at two extreme positions where the drilling module 3 moves on the guide member 23.

[0043] In one embodiment, as Figure 2 shown, the drilling module 3 includes a fourth driving motor and a drilling component. The fourth driving motor is connected to the drilling component and is used to drive the drilling component to move. The fourth driving motor drives the drilling component to move, so as to be able to perform drilling operations.

[0044] In one embodiment, as Figure 1 shown, the electric drill adjustment structure further includes a depth camera 7. The depth camera 7 is installed on the moving module 1 and is used to navigate the moving module 1 to a predetermined position. By providing the depth camera 7, the moving module 1 has a relatively high degree of automation and can autonomously move to a preset position.

[0045] The present utility model also provides a straddle - type side - wall drilling robot, and the straddle - type side - wall drilling robot includes the electric drill adjustment structure of any of the above - mentioned embodiments.

[0046] It can be understood that the straddle - type side - wall drilling robot of the present utility model uses the above - mentioned electric drill adjustment structure, such that the moving module 1 of the electric drill adjustment structure is connected to the lifting module 2 and is used to drive the lifting module 2 to move. The lifting module 2 is connected to the drilling module 3 and is used to drive the drilling module 3 to lift. The reflecting member 5 is installed at one end of the cable trench 100, the first sensor 4 is installed on the moving module 1 and is used to sense the reflecting member 5 to adjust the position of the drilling module 3 in the first direction. The second sensor 6 is installed on the drilling module 3 and is used to sense the wall to adjust the position of the drilling module 3 in the second direction. The third sensor is installed on the drilling module 3 and is used to sense the wall to adjust the position of the drilling module 3 in the third direction through the lifting module 2, so that the drilling module 3 can adjust its position in three directions, thereby improving the position accuracy of the formed hole and the hole - forming quality.

[0047] The technical features of the above - described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above - mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0048] The above-disclosed is only the preferred embodiment of the present utility model, and of course, the scope of rights of the present utility model cannot be limited thereby. Therefore, equivalent changes made according to the claims of the present utility model still fall within the scope covered by the present utility model.

Claims

1. An electric drill adjustment structure, characterized in that: The electric drill adjustment structure includes a moving module, a lifting module, a drilling module, a first sensor, a reflector, a second sensor and a third sensor. The moving module is connected to the lifting module and is used to drive the lifting module to move. The lifting module is connected to the drilling module and is used to drive the drilling module to lift and lower. The reflector is installed at one end of the cable trench. The first sensor is installed on the moving module and is used to sense the reflector to adjust the position of the drilling module in a first direction. The second sensor is installed on the drilling module and is used to sense the wall to adjust the position of the drilling module in a second direction. The third sensor is installed on the drilling module and is used to sense the wall to adjust the position of the drilling module in a third direction through the lifting module. The first direction, the second direction and the third direction are set at an angle.

2. The electric drill adjustment structure according to claim 1, characterized in that: The mobile module includes a mobile body and a power wheel connected to the mobile body, and the power wheel can drive the mobile body to move.

3. The electric drill adjustment structure according to claim 2, characterized in that: The mobile module also includes a driven wheel. The power wheels are provided with two and are respectively arranged at the diagonal positions of the mobile body. The driven wheels are provided with two and are respectively arranged at the diagonal positions of the mobile body.

4. The electric drill adjustment structure according to claim 2 or 3, characterized in that: The power wheel includes a seat, a first drive motor and a wheel body. The seat is mounted on the mobile body, the wheel body is mounted on the seat, and the first drive motor is connected to the wheel body and is used to drive the wheel body to rotate.

5. The electric drill adjustment structure according to claim 4, characterized in that: The power wheel also includes a second drive motor, a first gear and a second gear. The first gear is rotatably connected to the seat body and is connected to the wheel body. The first gear is transmission-connected to the second gear. The second drive motor is connected to the second gear and is used to drive the first gear to drive the second gear to rotate.

6. The electric drill adjustment structure according to claim 1, characterized in that: The lifting module includes a mounting plate, a third driving motor and a guide member, the guide member is installed on the moving module, the third driving motor is connected to the mounting plate and is used to drive the mounting plate to move along the extension direction of the guide member, and the mounting plate is connected to the drilling module.

7. The electric drill adjustment structure according to claim 6, characterized in that: The lifting module also includes a photoelectric switch, which is installed on the guide member and is used to limit the position of the drilling module.

8. The electric drill adjustment structure according to claim 1, characterized in that: The drilling module includes a fourth driving motor and a drilling assembly. The fourth driving motor is connected to the drilling assembly and is used to drive the drilling assembly to move.

9. The electric drill adjustment structure according to claim 1, characterized in that: The electric drill adjustment structure also includes a depth camera, which is installed on the mobile module and is used to navigate the mobile module to a predetermined position.

10. A straddle-type sidewall drilling robot, characterized in that: The straddle-type sidewall drilling robot comprises the electric drill adjustment structure as described in any one of claims 1-9.

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