Working robot

Abstract

The utility model relates to the field of open caisson construction equipment, in particular to an operation robot which comprises a robot rack, a fixing column and a lifting driving mechanism, the robot rack is driven by the lifting driving mechanism and moves along the fixing column in a lifting mode, and the lifting driving mechanism is composed of a transmission component and a lifting driving cylinder. The transmission part comprises a driving gear and a lifting rack, or the lifting driving mechanism is composed of a supporting cross beam and lifting equipment, a guide lifting mechanism is arranged between the robot rack and the fixing column, a lifting guide wheel is arranged on the robot rack, and a lifting locking mechanism is arranged between the robot rack and the fixing column. A machine frame stabilizing mechanism is arranged between the robot machine frame and the fixing column, a robot rotating mechanism is arranged on the robot machine frame, the robot rotating mechanism comprises a rotating frame and a rotating support, and at least one tunneling robot is installed on the rotating frame. Gravity center is stable and operation efficiency is high.

Description

Technical Field

[0001] This utility model relates to the field of caisson construction equipment, specifically to a working robot. Background Technology

[0002] Currently, caissons are mostly operated using tunneling robots. For example, Chinese patent CN 110258699 A discloses an internally supported vertical tunneling and soil-collecting device, comprising: a slewing bearing, which includes an inner ring and an outer ring, which rotate relative to each other via ball bearings; the outer ring of the slewing bearing meshes with a worm gear; the worm gear is coaxially connected to the shaft of a first hydraulic motor; a protective cover, which is cylindrical and coaxially fixed to the upper part of the inner ring of the slewing bearing, with the non-extended ends of multiple retractable support arms horizontally fixed to the outer wall of the protective cover; a support frame, which is fixed to the lower end of the outer ring of the slewing bearing; a robotic arm, which is a retractable mechanism, with the non-extended end of the robotic arm hinged to one side of the support frame; and at least one luffing cylinder, the cylinder body of which is laterally fixed to the side of the support frame away from the robotic arm, the hydraulic cylinder's piston... The end of the stopcock is hinged to the non-extended end of the robotic arm; a soil cutting device includes a second hydraulic motor and a milling cutter; the second hydraulic motor is fixed to the end of the extended end of the robotic arm, and the output shaft of the second hydraulic motor passes horizontally through the middle of the milling cutter; a mud suction hood covers the outside of the milling cutter; a submersible centrifugal pump is located on top of the slewing bearing, the mud inlet of the submersible centrifugal pump is connected to one end of a mud suction hose, the other end of the mud suction hose coaxially passes through the slewing bearing, and the lower end of the mud suction hose extends into the mud suction hood; wherein, the extension and retraction of the piston rod of the luffing cylinder can drive the non-extended end of the robotic arm to rotate in a vertical plane around the hinge point of the robotic arm.

[0003] The shortcomings of the aforementioned patents are as follows: First, the robot in these patents applies pre-pressure to the inner wall of the shaft using multiple support arms, which limits the robot's working range to the depth of the robotic arms, preventing it from performing longitudinal depth operations. Second, when the robot in these patents needs to adjust its height, all support arms must be retracted, and the robot must be out of contact with the inner wall of the shaft before adjusting its height, which is time-consuming, laborious, and inconvenient. Third, the use of multiple support arms in these patents not only increases the cost of use but also requires synchronous extension and retraction. If one support arm fails to extend or retract fully, it will cause the robot's center of gravity to become unstable, requiring repeated adjustments and reducing drilling efficiency. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies and provide a work robot with an ingenious structure, flexible lifting and lowering capabilities, longitudinal locking, horizontal anti-sway, stable center of gravity, high work efficiency, and no blind spots in its operation.

[0005] To achieve the above object, the utility model adopts the technical scheme that is:

[0006] A work robot, comprising a robot frame, characterized by being provided with a fixed column and a lifting driving mechanism, the robot frame is driven by the lifting driving mechanism and moves up and down along the fixed column, so that the fixed column is fixed in a caisson, and the robot frame is driven to move up and down along the fixed column by the lifting driving mechanism installed on the fixed column or the lifting driving mechanism installed on the caisson.

[0007] The lifting driving mechanism can be composed of a transmission component and a lifting driving cylinder, the transmission component is arranged between the robot frame and the fixed column, and the transmission component is driven by the lifting driving cylinder to drive the robot frame to move up and down along the fixed column through the lifting driving cylinder.

[0008] The transmission component comprises a driving gear and a lifting rack, the lifting rack is fixedly arranged on the outer wall of the fixed column in the axial direction, the lifting rack is fixedly connected with the fixed column, and the driving gear is in meshing transmission with the lifting rack, so that the driving gear is driven to rotate by the lifting driving cylinder, the driving gear moves up and down along the lifting rack, and the robot is driven to move up and down along the fixed column.

[0009] The lifting driving mechanism can also be composed of a support beam and a lifting device,

[0010] The support beam is arranged above the robot frame, the lifting device is arranged on the support beam, the lifting device is fixed on the support beam, the robot frame is connected with the lifting device through a wire cable, and the robot frame is slidingly connected with the fixed column, so that the robot frame is retracted and extended by the lifting device, and the robot moves up and down along the fixed column.

[0011] The lifting device is a winch.

[0012] The robot frame and the fixed column are provided with a guide lifting mechanism, the guide lifting mechanism comprises a sliding block and a sliding rail, the sliding block is fixedly arranged on the two sides of the fixed column, the sliding rail is fixedly arranged on the robot frame, or the sliding rail is fixedly arranged on the two sides of the fixed column, and the sliding block is fixedly arranged on the robot frame, the robot frame is slidingly connected with the fixed column through the sliding rail and the sliding block, and the lifting of the robot frame is guided through the sliding block and the sliding rail.

[0013] The robot frame is provided with a lifting guide wheel, the lifting guide wheel is movably installed on the robot frame through a support, and the lifting guide wheel abuts against the outer wall of the fixed column, so that the lifting of the robot frame is guided through the lifting guide wheel.

[0014] The utility model discloses a lifting locking mechanism is arranged between the robot frame and the fixed column, and the lifting locking mechanism includes locking rack and locking drive cylinder,

[0015] One side of the lifting rack is equipped with locking rack, the tooth of locking rack is matched with the tooth groove between the adjacent tooth of lifting rack, locking rack is driven by locking drive cylinder, locking drive cylinder is installed on the robot frame, and locking rack is driven to move to lifting rack through locking drive cylinder, the tooth of locking rack is clamped into the tooth groove of lifting rack, and the position of robot frame is fixed.

[0016] The utility model discloses locking reset parts are equipped on the locking rack, and locking reset parts include guide frame, guide plate, locking block, guide rod, locking spring, spring stop table,

[0017] One side of the locking drive cylinder is equipped with guide frame, and the other side is equipped with guide plate, the cylinder base of locking drive cylinder is hinged with guide frame, and the lower end of the telescopic rod of locking drive cylinder is equipped with locking block, the guide frame is fixedly connected with the robot frame, the guide frame is equipped with guide channel, the guide rod is passed through and equipped on the guide channel, the guide rod is fixedly connected with guide plate through locking spring, guide channel, the guide rod is fixed with spring stop table, one end of locking spring is in abutment with spring stop table, and the other end is in abutment with guide frame, the locking block is hinged with the telescopic rod of locking drive cylinder, the side of locking block is in abutment with guide frame and sets up, and the other side of locking block is in abutment with guide plate and sets up, the guide plate is fixedly connected with locking rack, so that when the telescopic rod of locking drive cylinder is contracted upwards, the telescopic rod moves upwards with locking block, because the position of guide frame does not change, locking block will extrude guide plate after rising, and guide plate moves to lifting rack horizontally, guide plate moves to lifting rack with guide rod, locking rack, guide rod extrudes locking spring, and locking rack is engaged with lifting rack, when the telescopic rod of locking drive cylinder is extended downwards, locking block moves downwards, and guide plate moves to the direction away from lifting rack under the resilience of locking spring, locking rack is separated from lifting rack, and locking is released.

[0018] The utility model discloses the frame stabilizing mechanism is arranged between the robot frame and the fixed column, and the frame stabilizing mechanism includes gate piece and stabilizing drive cylinder,

[0019] At least one gate piece is equipped outside the outer wall of the fixed column, the gate piece is arc-shaped, the gate piece is matched with the shape of the outer wall of the fixed column, the gate piece is driven by stabilizing drive cylinder, and the gate piece is driven to move to the fixed column through stabilizing drive cylinder, and the gate piece holds the fixed column to fix the robot frame with the fixed column.

[0020] The utility model discloses a shutter piece reset part is equipped on the shutter piece, and the shutter piece reset part includes reset support, reset board, reset block, reset rod, reset spring, spring limit station,

[0021] One side of the stable drive cylinder is equipped with a reset support, and the other side is equipped with a reset board, the cylinder base of the stable drive cylinder is hinged with the reset support, the lower end of the telescopic rod of the stable drive cylinder is equipped with a reset block, the reset support is fixedly connected with the robot rack, a guide channel is arranged on the reset support, the reset rod is arranged through the guide channel, the reset rod is fixedly connected with the reset board through the reset spring, a spring limit station is fixedly arranged on the reset rod, one end of the reset spring is abutted with the spring limit station, and the other end is abutted with the reset support, the reset block is hinged with the telescopic rod of the stable drive cylinder, one side of the reset block is abutted with the reset support, and the other side of the reset block is abutted with the reset board, the reset board is fixedly connected with the shutter piece, so that when the telescopic rod of the stable drive cylinder is contracted upwards, the telescopic rod moves upwards with the reset block, the reset block is pressed against the reset board after rising because the position of the reset support is unchanged, the reset board moves horizontally to the fixed column, the reset board moves to the fixed column with the reset rod and the shutter piece, the reset rod presses the reset spring, the shutter piece holds the fixed column, when the telescopic rod of the stable drive cylinder is extended downwards, the reset block moves downwards, the reset board moves to the direction away from the fixed column under the resilience of the reset spring, so that the shutter piece is separated from the fixed column, and the locking is released.

[0022] The utility model discloses a robot rack is equipped with robot slewing mechanism, and the robot slewing mechanism includes rotation frame and slewing bearing,

[0023] The outer side of the robot rack is equipped with the rotation frame, the rotation frame is connected with the robot rack through the slewing bearing, the slewing bearing is driven by the slewing drive cylinder, the slewing drive cylinder drives the slewing bearing to make the rotation frame rotate relative to the robot rack.

[0024] The utility model discloses the slewing bearing outer wall is fixedly equipped with slewing gear ring, one side of the slewing gear ring is equipped with slewing gear, the slewing gear is engaged with slewing gear ring, the slewing gear is driven by slewing drive cylinder, the slewing drive cylinder is fixed on the robot rack, to drive the slewing gear rotation through slewing drive cylinder, slewing gear rotates around slewing gear ring, realizes the rotation frame relative to the robot rack rotation.

[0025] The utility model discloses the rotation frame is equipped with at least one tunneling robot, and the tunneling robot is broken equipment, or the tunneling robot is the screw -suction equipment, so as to be installed according to demand.

[0026] The utility model discloses, due to adopt above -mentioned structure, have clever structure, robot can flexible lifting, robot can longitudinal locking, horizontal prevent sway, barycenter stable, operation efficiency is high, operation dead angleless etc. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is the structural schematic diagram of the utility model.

[0028] Figure 2 It is the enlarged schematic diagram of the lifting drive mechanism in the utility model.

[0029] Figure 3 It is the main view of the utility model Figure 2 .

[0030] Figure 4 It is the front view of the utility model Figure 2 .

[0031] Figure 5 It is the plan view of the utility model Figure 2 .

[0032] Figure 6 It is the A-A section view in the utility model Figure 5 .

[0033] Figure 7 It is one state schematic diagram of lifting locking mechanism and rack horizontal put sway mechanism in the utility model.

[0034] Figure 8 It is the A-A section view in the utility model Figure 7 .

[0035] Figure 9 It is the B-B section view in the utility model Figure 8 .

[0036] Figure 10 It is another state schematic diagram of lifting locking mechanism and rack horizontal put sway mechanism in the utility model.

[0037] Figure 11 It is the A-A section view in the utility model Figure 10 .

[0038] Figure 12 It is the B-B section view in the utility model Figure 11 .

[0039] Figure 13 It is one kind of structural schematic diagram of the tunneling robot in the utility model.

[0040] Figure 14 It is another structural schematic diagram of the tunneling robot in the utility model.

[0041] Reference numerals: 1. Robot frame; 2. Fixed column; 3. Lifting drive mechanism; 4. Transmission component; 5. Lifting drive cylinder; 6. Drive gear; 7. Lifting rack; 8. Support beam; 9. Lifting device; 10. Guide lifting mechanism; 11. Lifting guide wheel; 12. Lifting locking mechanism; 13. Locking rack; 14. Locking drive cylinder; 15. Locking reset component; 16. Guide frame; 17. Guide plate; 18. Locking block; 19. Guide rod; 20. Locking spring; 21. Spring stop; 22. Frame stabilization mechanism; 23. Brake plate; 24. Stabilization drive cylinder; 25. Brake plate reset component; 26. Reset bracket; 27. Reset plate; 28. Reset block; 29. ​​Reset spring; 30. Spring limit platform; 31. Robot rotation mechanism; 32. Rotating frame; 33. Rotation bearing; 34. Rotation gear ring; 35. Rotation gear; 36. Rotation drive cylinder; 37. Tunneling robot; 38. Detailed Implementation

[0042] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings.

[0043] A working robot includes a robot frame 1, characterized in that: it is provided with a fixed column 2 and a lifting drive mechanism 3. The robot frame 1 is driven by the lifting drive mechanism 3 to move up and down along the fixed column 2, so that when in use, the fixed column 2 is fixed in the caisson, and the robot frame 1 is driven to move up and down along the fixed column 2 by the lifting drive mechanism 3 installed on the fixed column 2 or installed on the caisson.

[0044] In this utility model, the lifting drive mechanism 3 can be in three ways:

[0045] The first type: as shown in the appendix Figure 2 and attached Figure 3 The lifting drive mechanism 3 of this utility model can be composed of a transmission component 4 and a lifting drive cylinder 5. The transmission component 4 is provided between the robot frame 1 and the fixed column 2. The transmission component 4 is driven by the lifting drive cylinder 5 so that the robot frame 1 can be lifted and lowered along the fixed column 2 by the transmission component 4 driven by the lifting drive cylinder 5.

[0046] The transmission component 4 of this utility model includes a drive gear 6 and a lifting rack 7. The lifting rack 7 is fixedly provided on both sides of the outer wall of the fixed column 2 along the axial direction. The lifting rack 7 is fixedly connected to the fixed column 2. The drive gear 6 meshes with the lifting rack 7 for transmission, so as to drive the drive gear 6 to rotate through the lifting drive cylinder 5. The drive gear 6 moves up and down along the lifting rack 7, thereby driving the robot to move up and down along the fixed column 2.

[0047] The second type: as shown in the appendix Figure 1The lifting drive mechanism 3 of this utility model can also be composed of a support beam 8 and a lifting device 9. The robot frame 1 is provided with a support beam 8 above it, and the lifting device 9 is provided on the support beam 8. The lifting device 9 is fixed on the support beam 8. The robot frame 1 is connected to the lifting device 9 via a cable. The robot frame 1 is slidably connected to the fixed column 2 so that the robot frame 1 can be raised and lowered by the lifting device 9, so that the robot can move up and down along the fixed column 2.

[0048] The lifting device 9 described in this utility model is a winch.

[0049] The third type: as shown in the appendix Figure 1 -Appendix Figure 3 The lifting drive mechanism 3 of this utility model includes a transmission component 4 and a lifting drive cylinder 5. The transmission component 4 is provided between the robot frame 1 and the fixed column 2. The transmission component 4 is driven by the lifting drive cylinder 5 so that the robot frame 1 can be lifted and lowered along the fixed column 2 by the transmission component 4 driven by the lifting drive cylinder 5.

[0050] The transmission component 4 of this utility model includes a drive gear 6 and a lifting rack 7. The lifting rack 7 is fixedly provided on both sides of the outer wall of the fixed column 2 along the axial direction. The lifting rack 7 is fixedly connected to the fixed column 2. The drive gear 6 meshes with the lifting rack 7 for transmission, so as to drive the drive gear 6 to rotate through the lifting drive cylinder 5. The drive gear 6 moves up and down along the lifting rack 7, thereby driving the robot to move up and down along the fixed column 2.

[0051] The lifting drive mechanism 3 of this utility model also includes a support beam 9 and a lifting device 9. The robot frame 1 is provided with a support beam 8 above it, and the lifting device 9 is provided on the support beam 8. The lifting device 9 is fixed on the support beam 8. The robot frame 1 is connected to the lifting device 9 via a cable. The robot frame 1 is slidably connected to the fixed column 2 so that the robot frame 1 can be raised and lowered by the lifting device 9, so that the robot can move up and down along the fixed column 2.

[0052] The lifting device 9 described in this utility model is a winch.

[0053] The third method is a combination of the first and second methods. You can choose from the above three methods according to your needs.

[0054] The present invention provides a guide lifting mechanism 10 between the robot frame 1 and the fixed column 2. The guide lifting mechanism 10 includes a slider and a slide rail. The slider is fixedly provided on both sides of the fixed column 2, and the slide rail is fixedly provided on the robot frame 1. Alternatively, the slide rail is fixedly provided on both sides of the fixed column 2, and the slider is fixedly provided on the robot frame 1. The robot frame 1 is slidably connected to the fixed column 2 via the slide rail and the slider, so as to guide the lifting and lowering of the robot frame 1 through the slider and the slide rail.

[0055] The utility model discloses a robot frame 1 is equipped with the lift guide wheel 11, lift guide wheel 11 is through the support movable mounting on the robot frame 1, lift guide wheel 11 and fixed column 2 outer wall abut, to through lift guide wheel 11 guide the lift of robot frame.

[0056] The utility model discloses a robot frame 1 and fixed column 2 between being equipped with lift locking mechanism 12, lift locking mechanism 12 includes locking rack 13 and locking drive cylinder 14,

[0057] One side of lift rack 7 is equipped with locking rack 13, and the teeth of locking rack 13 are matched with the tooth slot between the adjacent teeth on lift rack 7, locking rack 13 is driven by locking drive cylinder 14, locking drive cylinder 14 is installed on the robot frame 1, to drive locking rack 13 to move to lift rack 7 through locking drive cylinder 14, and the teeth of locking rack 13 are clamped into the tooth slot of lift rack 7 to fix the position of robot frame 1.

[0058] The utility model discloses a locking rack 13 is equipped with locking reset part 15, and locking reset part 15 includes guide frame 16, guide plate 17, locking block 18, guide rod 19, locking spring 20, spring stop table 21,

[0059] The locking driving cylinder 14 is provided with a guide frame 16 on one side and a guide plate 17 on the other side, the cylinder base of the locking driving cylinder 14 is hinged to the guide frame 16, the lower end of the telescopic rod of the locking driving cylinder 14 is provided with a locking block 18, the guide frame 16 is fixedly connected to the robot rack 1, the guide frame 16 is provided with a guide channel, a guide rod 19 is arranged in the guide channel, the guide rod 19 passes through a locking spring 20 and is fixedly connected to the guide plate 17, the guide rod 19 is slidably connected to the guide frame 16, the guide rod 19 is fixedly provided with a spring stop table 21, one end of the locking spring 20 abuts against the spring stop table 21, and the other end abuts against the guide frame 16, the locking block 18 is hinged to the telescopic rod of the locking driving cylinder 14, the side of the locking block 18 facing the guide frame 16 is inclinedly arranged from top to bottom towards the guide frame 16, one side of the locking block 18 abuts against the guide frame 16, and the other side of the locking block 18 abuts against the guide plate 17, the guide plate 17 is fixedly connected to the locking rack 13, so that when the telescopic rod of the locking driving cylinder 14 is retracted upwards, the telescopic rod moves upwards with the locking block 18, because the position of the guide frame 16 is unchanged, the locking block 18 is pressed after being lifted, the guide plate 17 moves horizontally to the lifting rack 7, the guide plate 17 moves to the lifting rack 7 with the guide rod 19 and the locking rack 13, the guide rod 19 presses the locking spring 20, the locking rack 13 is engaged and clamped with the lifting rack 7, and when the telescopic rod of the locking driving cylinder 14 is extended downwards, the locking block 18 moves downwards, the guide plate 17 moves away from the lifting rack 7 under the elastic force of the locking spring 20, the locking rack 13 is separated from the lifting rack 7, and the locking is released.

[0060] The robot rack 1 and the fixed column 2 are provided with a rack stabilizing mechanism 22, the rack stabilizing mechanism 22 comprises a brake piece 23 and a stabilizing driving cylinder 24,

[0061] At least one brake piece 23 is arranged on the outer wall of the fixed column 2, the brake piece 23 is arc-shaped, the brake piece 23 is arranged in cooperation with the shape of the outer wall of the fixed column 2, the brake piece 23 is driven by the stabilizing driving cylinder 24, the brake piece 23 is moved to the fixed column 2 by the stabilizing driving cylinder 24, and the brake piece 23 holds the fixed column 2 to fix the robot rack 1 and the fixed column 2.

[0062] The brake piece 23 is provided with a brake piece resetting part 25, the brake piece resetting part 25 comprises a resetting support 26, a resetting plate 27, a resetting block 28, a resetting rod 29, a resetting spring 30 and a spring limiting table 31,

[0063] The stable driving cylinder 24 is provided with a reset support 26 on one side and a reset plate 27 on the other side, the cylinder base of the stable driving cylinder 24 is hinged with the reset support 26, the lower end of the telescopic rod of the stable driving cylinder 24 is provided with a reset block 28, the reset support 26 is fixedly connected with the robot rack 1, the reset support 26 is provided with a guide channel, the reset rod 29 is arranged in the guide channel, the reset rod 29 is fixedly connected with the reset plate 27 through the reset spring 30 and the guide channel, the reset rod 29 is slidably connected with the reset support 26, the spring limiting table 31 is fixed on the reset rod 29, one end of the reset spring 30 abuts against the spring limiting table 31, and the other end of the reset spring 30 abuts against the reset support 26, the reset block 28 is hinged with the telescopic rod of the stable driving cylinder 24, one side of the reset block 28 is provided in abutment with the reset support 26, and the other side of the reset block 28 is provided in abutment with the reset plate 27, the reset plate 27 is fixedly connected with the brake pad 23, so that when the telescopic rod of the stable driving cylinder 24 is upwardly retracted, the telescopic rod moves upwardly with the reset block 28, because the position of the reset support 26 is unchanged, the reset block 28 is pressed after being lifted, the reset plate 27 moves horizontally to the fixed column 2, the reset plate 27 moves to the fixed column 2 with the reset rod 29 and the brake pad 23, the reset rod 29 presses the reset spring 30, and the brake pad 23 holds the fixed column 2, when the telescopic rod of the stable driving cylinder 24 is downwardly extended, the reset block 28 moves downwardly, the reset plate 27 moves away from the fixed column 2 under the rebounding force of the reset spring 30, so that the brake pad 23 is separated from the fixed column 2, and the locking is released.

[0064] The robot rack 1 is provided with a robot rotating mechanism 32, the robot rotating mechanism 32 comprises a rotating frame 33 and a slewing bearing 34,

[0065] The robot rack 1 is provided with a rotating frame 33, the rotating frame 33 is connected with the robot rack 1 through the slewing bearing 34, the slewing bearing 34 is driven by a slewing driving cylinder 37, so that the rotating frame 33 rotates relative to the robot rack 1 by driving the slewing driving cylinder 37 to drive the slewing bearing 34.

[0066] The slewing bearing 34 is fixedly provided with a slewing gear ring 35, one side of the slewing gear ring 35 is provided with a slewing gear 36, the slewing gear 36 is engaged with the slewing gear ring 35, the slewing gear 36 is driven by the slewing driving cylinder 37, the slewing driving cylinder 37 is fixed on the robot rack 1, so that the slewing gear 36 is driven to rotate by the slewing driving cylinder 37, the slewing gear 36 rotates around the slewing gear ring 35, and the rotating frame 33 rotates relative to the robot rack 1.

[0067] The utility model discloses a rotating frame 33 is provided with at least one tunneling robot 38, the tunneling robot 38 is broken equipment, or the tunneling robot 38 is the winching equipment, to facilitate installation according to demand.

[0068] As shown in the accompanying drawings Figures 1-14 , the cable of the winch can be connected to the ground control equipment, the control equipment is provided with a PLC control system, the robot rack 1 can be provided with a controller, a power unit, a hydraulic system, a camera group and other existing equipment, these equipment are all controlled by the controller, the controller is like a PLC control system, the lifting drive cylinder 5, the locking drive cylinder 14, the stabilizing drive cylinder 24, the rotary drive cylinder 37 and the tunneling robot 38 are all connected with the controller and controlled by the controller, the controller is connected with the cable end on the lifting equipment 9, the lifting equipment 9 adopts a cable winch, the other end of the cable on the cable winch is connected with the control equipment,

[0069] In use, the fixed column 2 is installed at the center position of the open caisson, the robot rack 1 is sleeved on the fixed column 2, lifting racks 7 are symmetrically arranged on the two sides of the fixed column 2, as shown in the accompanying drawings Figure 2 and the accompanying drawings Figure 3 , the drive gear 6 is driven by a plurality of gear meshes and cooperates with the two lifting racks 7, realizes synchronous driving of one lifting drive cylinder 5 and guides the lifting of the robot rack 1, the two lifting racks 7 on the outer wall of the fixed column 2 can be provided with guiding sliding blocks or sliding rails in the middle, correspondingly, the robot rack 1 is provided with matching sliding rails or sliding blocks, the robot rack 1 is slidingly connected with the fixed column 2 through the sliding blocks and the sliding rails, in addition, a plurality of lifting guide wheels 11 are also installed on the robot rack 1 to further make the robot rack 1 and the fixed column 2 slide smoothly,

[0070] As shown in the accompanying drawings Figures 7-9 , two sets of lifting locking mechanisms 12 and rack stabilizing mechanisms 22 are arranged between the robot rack 1 and the fixed column 2, at this time, the robot rack 1 and the fixed column 2 are in the lifting locking state, the teeth of the locking rack 13 are clamped into the tooth grooves of the lifting rack 7, the height position of the robot rack 1 is fixed, the two brake pads 23 respectively tightly hold the fixed column 2, the horizontal position of the robot rack 1 relative to the fixed column 2 is fixed, in this way, the robot rack 1 is stable in the center of gravity, and the tunneling operation can be started, when the rack 1 needs to be lifted, the locking drive cylinder 14 and the stabilizing drive cylinder 24 are respectively started, as shown in the accompanying drawings Figure 11 , the locking drive cylinder 14 is extended downward, the locking spring 20 is rebounded, the locking rack 13 and the lifting rack 7 are reliably separated, as shown in the accompanying drawings Figure 12 , the stabilizing drive cylinder 24 is extended downward, the reset spring 30 is rebounded, the brake pad 23 and the fixed column 2 are reliably separated, at this time, the lifting drive cylinder 5 and the cable winch are driven, the lifting of the robot rack 1 is realized, as shown in the accompanying drawings Figure 2 , the accompanying drawings Figure 4 - the accompanying drawings Figure 6The utility model discloses a robot rack 1 is provided with robot rotary mechanism 32 on the rack, and the tunneling robot 38 is installed on the rotating frame 33, and the rotating frame 33 rotates and drives the tunneling robot 38 to rotate, so that the tunneling robot 38 can reach any angle work in plane, such as the attached Figure 13 And the attached Figure 14 The rotating frame 33 can be installed with one tunneling robot 38 at one end of the rotating frame 33, and also can be installed with two tunneling robots 38 symmetrically at both sides of the rotating frame 33, and the number can be set according to requirement, when one tunneling robot 38 is installed at one end of the rotating frame 33, in order to balance, the balance weight can be installed at the other end of the rotating frame 33, and the structure of the tunneling robot can adopt the structure of the existing soil taking robot, such as the attached Figure 13 The tunneling robot 38 can be a crushing equipment, that is, the mechanical arm of the tunneling robot 38 is installed with a crushing hammer, such as the attached Figure 14 The tunneling robot 38 can be a reamer, that is, the mechanical arm of the tunneling robot 38 is installed with a reamer head, and the corresponding suction pipe is installed on the mechanical arm, and the robot rack 1 is installed with a slurry pump and a mud discharge pipe, and the specific connection relationship is same with the existing mud discharge equipment, and details are not repeated, the utility model discloses ingenious design, through setting up lifting drive mechanism 3, so that the tunneling robot 38 can work up and down, work flexible, and the adjustment is convenient, through setting up lifting locking mechanism 12, so that the tunneling robot 38 can stay at any height, through setting up rack stabilizing mechanism 22, so that the tunneling robot 38 does not shake in horizontal direction, and the gravity center is stable, and the tunneling efficiency of the tunneling robot 38 is further improved, the utility model also sets up robot rotary mechanism 32, so that the tunneling robot 38 can reach any angle work in plane, and the robot rotary mechanism 32 cooperates with lifting drive mechanism 3, so that the tunneling robot 38 lifting and rotating cooperation is realized, and no dead angle work is realized.

[0071] The utility model discloses due to adopt above -mentioned structure, have structure ingenious, robot can flexible lifting, robot can longitudinal locking, horizontal anti -shaking, gravity center is stable, work efficiency is high, work no dead angle and so on advantage.

Claims

1. A work robot comprising a robot frame (1), characterized in that: The robot rack (1) is driven by the lifting driving mechanism (3) to move up and down along the fixed column (2), the lifting driving mechanism (3) is composed of a transmission part (4) and a lifting driving cylinder (5), the transmission part (4) is driven by the lifting driving cylinder (5), the transmission part (4) includes a driving gear (6) and a lifting rack (7), the fixed column (2) is provided with the lifting rack (7) on both sides of the outer wall in the axial direction, the lifting rack (7) is fixedly connected with the fixed column (2), and the driving gear (6) is in meshing transmission with the lifting rack (7).

2. A service robot according to claim 1, characterized in that The robot rack (1) is provided with a support beam (8) above, the support beam (8) is provided with a lifting device (9), the lifting device (9) is fixed on the support beam (8), the robot rack (1) is connected with the lifting device (9) through a cable, and the robot rack (1) is in sliding connection with the fixed column (2).

3. A work robot according to claim 1 or 2, characterized in that The robot rack (1) and the fixed column (2) are provided with a guide lifting mechanism (10), the robot rack (1) is in sliding connection with the fixed column (2) through the guide lifting mechanism (10), and / or the robot rack (1) is provided with a lifting guide wheel (11), the lifting guide wheel (11) is movably installed on the robot rack (1) through a support, and the lifting guide wheel (11) abuts against the outer wall of the fixed column (2).

4. A work robot according to claim 1 or 2, characterized in that The robot rack (1) and the fixed column (2) are provided with a lifting locking mechanism (12), the lifting locking mechanism (12) includes a locking rack (13) and a locking driving cylinder (14), one side of the lifting rack (7) is provided with the locking rack (13), the teeth of the locking rack (13) are arranged in cooperation with the tooth groove between the adjacent teeth of the lifting rack (7), the locking rack (13) is driven by the locking driving cylinder (14), and the locking driving cylinder (14) is installed on the robot rack (1).

5. A work robot according to claim 4, characterized in that The locking rack (13) is provided with a locking reset component (15), the locking reset component (15) includes a guide frame (16), a guide plate (17), a locking block (18), a guide rod (19), a locking spring (20), a spring stop table (21), one side of the locking drive cylinder (14) is provided with the guide frame (16), the other side is provided with the guide plate (17), the cylinder base of the locking drive cylinder (14) is hinged with the guide frame (16), the lower end of the telescopic rod of the locking drive cylinder (14) is provided with the locking block (18), the guide frame (16) is fixedly connected with the robot rack (1), the guide frame (16) is provided with a guide channel, the guide rod (19) is arranged in the guide channel, the guide rod (19) is fixedly connected with the locking spring (20), the guide channel and the guide plate (17), the spring stop table (21) is fixed on the guide rod (19), one end of the locking spring (20) is abutted with the spring stop table (21), the other end is abutted with the guide frame (16), the locking block (18) is hinged with the telescopic rod of the locking drive cylinder (14), the side of the locking block (18) towards the guide frame (16) is arranged to be inclined from top to bottom to the guide frame (16), one side of the locking block (18) is abutted with the guide frame (16), the other side is abutted with the guide plate (17), and the guide plate (17) is fixedly connected with the locking rack (13).

6. A service robot according to claim 1 or 2 or 5, characterized in that: The robot rack (1) is provided with a robot rotary mechanism (32), the robot rotary mechanism (32) includes a rotating frame (33) and a rotary support (34), the outer side of the robot rack (1) is provided with the rotating frame (33), the rotating frame (33) is connected with the robot rack (1) through the rotary support (34), and the rotary support (34) is driven by a rotary drive cylinder (37).

7. A work robot according to claim 6, characterized in that The rotating frame (33) is provided with at least one tunneling robot (38), and the tunneling robot (38) is a crushing device or the tunneling robot (38) is a reamer.

8. A work robot comprising a robot chassis (1), characterised in that: The robot rack (1) is driven by a lifting driving mechanism (3) and moves up and down along the fixed column (2), the lifting driving mechanism (3) is composed of a support beam (8) and a lifting device (9), the robot rack (1) is provided with the support beam (8) above, the support beam (8) is provided with the lifting device (9), the lifting device (9) is fixed on the support beam (8), the robot rack (1) is connected with the lifting device (9) through a cable, and the robot rack (1) is slidably connected with the fixed column (2).

9. A work robot according to claim 8, characterized in that The robot rack (1) and the fixed column (2) are provided with a guide lifting mechanism (10), the robot rack (1) is slidably connected with the fixed column (2) through the guide lifting mechanism (10), and / or the robot rack (1) is provided with a lifting guide wheel (11), the lifting guide wheel (11) is movably installed on the robot rack (1) through a support, and the lifting guide wheel (11) is abutted with the outer wall of the fixed column (2).

10. A work robot according to claim 8 or 9, characterized in that The robot frame (1) is provided with a robot rotating mechanism (32), the robot rotating mechanism (32) comprises a rotating frame (33) and a slewing bearing (34), the outer side of the robot frame (1) is provided with the rotating frame (33), the rotating frame (33) is connected with the robot frame (1) through the slewing bearing (34), and the slewing bearing (34) is driven by a slewing drive cylinder (37).

11. A work robot according to claim 10, characterized in that The rotating frame (33) is provided with at least one tunneling robot (38), and the tunneling robot (38) is a crushing device or the tunneling robot (38) is a reamer.

12. A work robot comprising a robot chassis (1), characterised in that: The robot frame (1) is driven by the lifting drive mechanism (3) and moves up and down along the fixed column (2), a frame stabilizing mechanism (22) is arranged between the robot frame (1) and the fixed column (2), the frame stabilizing mechanism (22) comprises a brake pad (23) and a stabilizing drive cylinder (24), at least one brake pad (23) is arranged on the outer side of the outer wall of the fixed column (2), the brake pad (23) is arc-shaped, the brake pad (23) is arranged in cooperation with the shape of the outer wall of the fixed column (2), and the brake pad (23) is driven by the stabilizing drive cylinder (24).

13. A work robot according to claim 12, characterized in that The lifting drive mechanism (3) is composed of a transmission component (4) and a lifting drive cylinder (5), and the transmission component (4) is arranged between the robot frame (1) and the fixed column (2) and is driven by the lifting drive cylinder (5).

14. A work robot according to claim 13, characterized in that The transmission component (4) comprises a drive gear (6) and a lifting rack (7), the lifting rack (7) is fixedly arranged on both sides of the outer wall of the fixed column (2) in the axial direction, the lifting rack (7) is fixedly connected with the fixed column (2), and the drive gear (6) is in meshing transmission with the lifting rack (7).

15. The work robot of claim 12, wherein: The lifting drive mechanism (3) is composed of a support cross beam (8) and a lifting device (9), the robot frame (1) is provided with the support cross beam (8) above, the lifting device (9) is arranged on the support cross beam (8), the lifting device (9) is fixed on the support cross beam (8), the robot frame (1) is connected with the lifting device (9) through a cable, and the robot frame (1) is in sliding connection with the fixed column (2).

16. A work robot according to claim 13 or 14, characterized in that The lifting drive mechanism (3) is composed of a support cross beam (8) and a lifting device (9), the robot frame (1) is provided with the support cross beam (8) above, the lifting device (9) is arranged on the support cross beam (8), the lifting device (9) is fixed on the support cross beam (8), the robot frame (1) is connected with the lifting device (9) through a cable, and the robot frame (1) is in sliding connection with the fixed column (2).

17. A service robot according to claim 12 or 13 or 14 or 15, characterized in that The robot frame (1) and the fixed column (2) are provided with a guide lifting mechanism (10), the robot frame (1) is in sliding connection with the fixed column (2) through the guide lifting mechanism (10), and / or the robot frame (1) is provided with a lifting guide wheel (11), the lifting guide wheel (11) is movably arranged on the robot frame (1) through a support, and the lifting guide wheel (11) abuts against the outer wall of the fixed column (2).

18. A work robot according to claim 14, characterized in that The lifting locking mechanism (12) is arranged between the robot rack (1) and the fixed column (2), and comprises a locking rack (13) and a locking drive cylinder (14). One side of the lifting rack (7) is provided with the locking rack (13), the teeth of the locking rack (13) are matched with the tooth groove between the adjacent teeth of the lifting rack (7), the locking rack (13) is driven by the locking drive cylinder (14), and the locking drive cylinder (14) is installed on the robot rack (1).

19. A work robot according to claim 18, characterized in that The locking rack (13) is provided with a locking reset component (15), the locking reset component (15) comprises a guide frame (16), a guide plate (17), a locking block (18), a guide rod (19), a locking spring (20), a spring stop table (21), one side of the locking drive cylinder (14) is provided with the guide frame (16), the other side is provided with the guide plate (17), the cylinder base of the locking drive cylinder (14) is hinged with the guide frame (16), the lower end of the telescopic rod of the locking drive cylinder (14) is provided with the locking block (18), the guide frame (16) is fixedly connected with the robot rack (1), the guide frame (16) is provided with a guide channel, the guide rod (19) is arranged in the guide channel, the guide rod (19) passes through the locking spring (20), the guide channel and is fixedly connected with the guide plate (17), the spring stop table (21) is fixed on the guide rod (19), one end of the locking spring (20) abuts against the spring stop table (21), the other end abuts against the guide frame (16), the locking block (18) is hinged with the telescopic rod of the locking drive cylinder (14), one side of the locking block (18) is obliquely arranged from top to bottom towards the guide frame (16), the locking block (18) is arranged in abutment with the guide frame (16) on one side, and the locking block (18) is arranged in abutment with the guide plate (17) on the other side. The guide plate (17) is fixedly connected with the locking rack (13).

20. A work robot according to claim 12 or 13 or 14 or 15 or 18 or 19, characterized in that: The brake piece (23) is provided with a brake piece reset component (25), the brake piece reset component (25) includes reset support (26), reset plate (27), reset block (28), reset rod (29), reset spring (30), spring limit platform (31), one side of the stabilizing drive cylinder (24) is provided with reset support (26), the other side is provided with reset plate (27), the cylinder base of stabilizing drive cylinder (24) is hinged with reset support (26), the lower end of the telescopic rod of stabilizing drive cylinder (24) is provided with reset block (28), the reset support (26) is fixedly connected with the robot rack (1), the reset support (26) is provided with a guide channel, the reset rod (29) is arranged in the guide channel, the reset rod (29) is fixedly connected with reset plate (27) through reset spring (30) and the guide channel, the reset rod (29) is fixedly provided with spring limit platform (31), one end of reset spring (30) is abutted with spring limit platform (31), the other end is abutted with reset support (26), the reset block (28) is hinged with the telescopic rod of stabilizing drive cylinder (24), one side of reset block (28) is abutted with reset support (26) and is arranged from top to bottom, the reset block (28) is abutted with reset support (26) and is arranged on the other side, the reset plate (27) is fixedly connected with brake piece (23).

21. A service robot according to claim 12 or 13 or 14 or 15 or 18 or 19, characterized by: The robot rack (1) is provided with a robot rotary mechanism (32), the robot rotary mechanism (32) includes a rotating frame (33) and a rotary bearing (34), the outer side of the robot rack (1) is provided with a rotating frame (33), the rotating frame (33) is connected with the robot rack (1) through the rotary bearing (34), and the rotary bearing (34) is driven by a rotary drive cylinder (37).

22. A work robot according to claim 21, characterized in that The rotating frame (33) is provided with at least one tunneling robot (38), and the tunneling robot (38) is a crushing device or a tunneling robot (38) is a reamer device.

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