A tracked emergency work robot

Abstract

This application discloses a tracked emergency robot, comprising: a working arm mounted on a body; a quick-change mechanism installed at the end of the working arm; an attachment connected below the quick-change mechanism; and a clamping mechanism below the quick-change mechanism. The quick-change mechanism consists of a base plate, a connecting shaft, a movable hook, a fixed hook, and a hydraulic rod. Two base plates are arranged overlapping each other and connected by the connecting shaft. A movable hook is positioned between the two base plates, and a fixed hook is located inside each base plate. A hydraulic rod is located to the right of the movable hook. By using the clamping mechanism, this invention applies a clamping force to the quick-change mechanism and the attachment after they are connected, thereby generating fixing forces in different directions between the movable hook of the quick-change mechanism and the clamping rod of the attachment. These forces disperse the reverse pressure exerted by the movable hook on the hydraulic rod, thus increasing the service life of the quick-change mechanism.

Description

Technical Field

[0001] This application relates to the field of special engineering equipment technology, and in particular to a tracked hazardous work robot. Background Technology

[0002] Dangerous sections refer to sections of dikes that may be dangerous under the designed operating conditions. In order to ensure the safety of construction workers, dangerous section robots are usually used to complete the construction of these dikes.

[0003] Some existing hazardous work robots mainly consist of a body, a working arm, a quick-change mechanism, and attachments. During operation, the robot is remotely controlled to enter the construction area. The body then controls the working arm, which in turn moves the attachments to perform the work. Depending on the construction environment, the working arm uses the quick-change mechanism to change attachments, thus completing different construction operations. Specifically, during the quick-change mechanism's operation, the working arm drives the mechanism's fixed hook to engage with one side of the attachment's locking bar. Then, the quick-change mechanism tilts towards the other side of the attachment's locking bar, causing the movable hook to approach that side. Next, the quick-change mechanism's hydraulic rod extends, causing the movable hook to deflect and engage with the other side of the attachment's locking bar. Through these actions, the attachment is installed. However, because the hydraulic rod drives the movable hook to contact the other side of the attachment's locking bar, the attachment exerts a significant force on the hydraulic rod through the movable hook during on-site operations. This prolonged stress on the hydraulic rod can easily cause damage, thus affecting the lifespan of the quick-change mechanism. Summary of the Invention

[0004] This application proposes a tracked emergency robot that has the advantages of distributing the force on the hydraulic rod and improving the service life of the quick-change mechanism, in order to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this application adopts the following technical solution: a tracked hazardous worker robot, comprising: a working arm, the working arm being mounted on the body, a quick-change mechanism being installed at the end of the working arm, an attachment being connected below the quick-change mechanism, and a clamping mechanism being provided below the quick-change mechanism to increase the fixing force between the quick-change mechanism and the attachment.

[0006] Furthermore, the quick-change mechanism consists of a base plate, a connecting shaft, a movable hook, a fixed hook, and a hydraulic rod. The two base plates are arranged in a front-to-back overlapping manner and are fixedly connected by the connecting shaft. The working arm is connected to the connecting shaft. A movable hook is provided between the two base plates for connecting the attachment. A fixed hook is provided on the lower right side inside the base plate for connecting the attachment first. A hydraulic rod is provided on the right side of the movable hook for driving the movable hook to connect the attachment.

[0007] Furthermore, the clamping mechanism comprises a main body, a sealing element, a first elastic element, a pressure-bearing element, and a second elastic element. The main body is connected to the base plate. A sealing element is disposed in the inner cavity of the main body. The upper side of the sealing element and the inner cavity of the main body together form a liquid cavity. A first elastic element is disposed in the liquid cavity to connect the upper side of the sealing element with the upper side of the inner cavity of the main body. A pressure-bearing element is disposed in the inner cavity of the main body below the sealing element. The lower end of the pressure-bearing element extends out of the main body to contact the attachment. The lower end of the sealing element extends into the interior of the pressure-bearing element. A second elastic element is disposed inside the pressure-bearing element to connect the sealing element and the pressure-bearing element.

[0008] Furthermore, a deflector is provided on the right side of the movable hook, the deflector is connected to the base plate, a fixing rod is provided in the inner cavity of the deflector, the piston end of the fixing rod is slidably connected to the inner wall of the deflector, the lower end of the fixing rod is connected to the right side of the movable hook, a liquid bladder is provided in the inner cavity of the deflector above the fixing rod for contacting the fixing rod, a liquid guiding hole is provided inside the base plate for communication between the liquid cavity and the liquid bladder, and the elastic force of the second elastic element is greater than that of the first elastic element.

[0009] Furthermore, the cavity in which the liquid chamber, the liquid guide hole, and the liquid bladder are connected is filled with a liquid medium.

[0010] Furthermore, a magnet is provided inside the piston end of the fixed rod, and a magnet is provided inside the deflector located below the piston end of the fixed rod, which attracts the magnet.

[0011] Furthermore, the fixing rod is composed of a plate, a force-applying block, and a rod body, which are connected in sequence. The lower end of the rod body is connected to the right side of the movable hook. The first magnet is disposed inside the plate body. The force-applying block has a conical structure. A contact block is disposed inside the deflector located below the second magnet. The conical end of the force-applying block faces away from the contact block.

[0012] Furthermore, the contact block and the interior of the deflector are movably connected. Inside the deflector, a lever is rotatably installed on the side of the contact block facing away from the fixed rod. The lever is divided into a long arm above the rotation point and a short arm below the rotation point. A connector is provided between the short arm and the contact block to connect the short arm and the contact block. The second magnet is movably connected to the interior of the deflector. A pull rope is connected to the side of the second magnet facing away from the fixed rod, and the other end of the pull rope is connected to the long arm.

[0013] This application provides a tracked emergency robot. By setting a clamping mechanism, after the quick-change mechanism and the attachment are connected, the clamping mechanism will apply a clamping force to both of them. This will cause the movable hook of the quick-change mechanism and the locking rod of the attachment to generate fixing forces in different directions. Through the above forces, the reverse pressure applied by the movable hook to the hydraulic rod will be dispersed, thereby increasing the service life of the quick-change mechanism.

[0014] By using a fixed rod and a liquid bladder, during the process of the hydraulic rod driving the movable hook to engage with the clamping rod of the attachment, the liquid medium inside the clamping mechanism causes the liquid bladder to expand. The expanded liquid bladder then abuts against the fixed rod, causing the fixed rod to apply a supporting force to the movable hook. Subsequently, when the movable hook applies reverse pressure to the hydraulic rod, some of the pressure is transmitted through the liquid bladder to the clamping mechanism, further increasing the fixing forces in different directions between the movable hook and the clamping rod of the attachment. This further disperses the reverse pressure applied by the movable hook to the hydraulic rod, thereby increasing the service life of the quick-change mechanism. Attached Figure Description

[0015] The accompanying drawings, which form part of this specification, illustrate embodiments disclosed in this application and, together with the specification, serve to explain the principles disclosed in this application.

[0016] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0017] Figure 1 This is a schematic diagram of the connection state of a partial structure of the present invention;

[0018] Figure 2 This is a schematic diagram of the internal structure of the quick-change mechanism in Embodiment 1 of the present invention;

[0019] Figure 3 For the present invention Figure 2 Enlarged view of a portion of the structure at point A;

[0020] Figure 4 For the present invention Figure 2 Enlarged schematic diagram of the structure at point B in the middle;

[0021] Figure 5 This is a schematic diagram of the internal structure of the deflector in Embodiment 2 of the present invention;

[0022] Figure 6 For the present invention Figure 5 Enlarged schematic diagram of the structure at point C;

[0023] Figure 7 For the present invention Figure 5 A magnified schematic diagram of the structure at point D.

[0024] Figure label:

[0025] 1. Working arm; 2. Quick-change mechanism; 20. Base plate; 21. Connecting shaft; 22. Movable hook; 23. Fixed hook; 24. Hydraulic rod; 3. Fixture; 4. Clamping mechanism; 40. Main body; 41. Seal; 42. Elastic element No. 1; 43. Pressure-bearing element; 44. Elastic element No. 2; 5. Deflecting element; 6. Fixed rod; 60. Plate; 61. Force-applying block; 62. Rod body; 7. Liquid bladder; 8. Liquid guide hole; 9. Contact block; 10. Lever; 11. Pull rope. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0027] Example 1

[0028] Please see Figure 1 , Figure 2 and Figure 4A tracked emergency robot includes a working arm 1 hinged to a body. The body includes a chassis, a rotating platform, a hydraulic system, a power system, a cover, a walking system, outriggers, and hydraulic actuators. The outriggers are mounted on the left and right sides of the chassis. An electronic level is mounted on the chassis, which automatically levels itself based on ground unevenness during operation, ensuring the robot is level with the ground. The rotating platform is mounted above the chassis, and the walking system is mounted on the front and rear sides of the chassis. Both the hydraulic and power systems are mounted on the rotating platform. The power system provides power to the entire robot, while the hydraulic system uses hydraulic oil as a medium to transmit power to the walking system and various hydraulic actuators, thereby enabling actions including rotation and walking. A cover is mounted above the hydraulic and power systems. The cover contains a remote control device for controlling the machine's operation. A hydraulic actuator is installed on the working arm 1 to drive it to perform tilting and other movements. A quick-change mechanism 2 is hinged to the end of the working arm 1. An attachment 3 (such as a breaker hammer or bucket) is connected below the quick-change mechanism. The quick-change mechanism 2 consists of a base plate 20, a connecting shaft 21, a movable hook 22, a fixed hook 23, and a hydraulic rod 24. The two base plates 20 are arranged overlapping each other. Two connecting shafts 21 are arranged sequentially from left to right between the two base plates 20, forming a fixed connection between the two base plates 20. The end of the working arm 1 is hinged to the connecting shaft 21 on the right side, and the connecting shaft 21 on the left side is connected to the working arm 1 via a connecting rod. The hydraulic actuator is hinged to the connecting rod. A movable hook 22 is hinged between the two base plates 20. A fixed hook 23 is located on the lower right side inside the base plate 20. A hydraulic rod 24 is located to the right of the movable hook 22. The right end of the hydraulic rod 24 is hinged to the opposite side of the two base plates 20, and the left end of the hydraulic rod 24 is hinged to the movable hook 22. The hydraulic rod 24 is powered by a hydraulic system. A clamping mechanism 4 is located below the hydraulic rod 24. The clamping mechanism 4 consists of a main body 40, a seal 41, a first elastic element 42, a pressure-bearing element 43, and a second elastic element 44. The main body 40 is welded to the opposite side of the two base plates 20. A seal 41 is slidably installed in the inner cavity of the main body 40 (this connection is similar to that in the prior art). (The connection between the hydraulic cylinder and the piston during the operation) The upper side of the seal 41 and the inner cavity of the main body 40 together form a liquid cavity. A first elastic element 42 is installed in the liquid cavity. The first elastic element 42 connects the upper side of the seal 41 and the upper side of the inner cavity of the main body 40. A pressure-bearing element 43 is slidably installed in the inner cavity of the main body 40 below the seal 41. The lower end of the pressure-bearing element 43 extends out of the main body 40, and the lower end of the seal 41 extends into the interior of the pressure-bearing element 43. A second elastic element 44 is installed inside the pressure-bearing element 43. The second elastic element 44 connects the lower end of the seal 41 and the interior of the pressure-bearing element 43. The elastic force of the second elastic element 44 is greater than that of the first elastic element 42. During the connection of the attachment 3, the working arm 1 first moves the base plate 20 closer to the attachment 3.The fixed hook 23 engages with one side of the latch of the attachment 3. Then, the working arm 1 tilts the base plate 20 towards the other side of the latch of the attachment 3. During this process, the base plate 20 causes the pressure-bearing member 43 to contact the attachment 3, allowing the attachment 3 to overcome the elastic force of the first elastic member 42 and causing the pressure-bearing member 43 to retract into the inner cavity of the main body 40. During this process, the pressure-bearing member 43, through the second elastic member 44, causes the sealing member 41 to move upward and press against the first elastic member 42. Through these actions, after the movable hook 22 connects with the other side of the latch of the attachment 3, the first elastic member 42, through the pressure-bearing member 43, applies a clamping force to the attachment 3 and the base plate 20. This creates a fixing force between the movable hook 22 and the latch of the attachment 3 that is different from the fixing force applied by the hydraulic rod 24. This force disperses the reverse pressure applied by the movable hook 22 to the hydraulic rod 24, increasing the service life of the quick-change mechanism 2.

[0029] Please see Figures 2-4 A deflector 5 is provided on the right side of the movable hook 22. The deflector 5 is welded to the opposite sides of the two base plates 20. A fixing rod 6 is provided in the inner cavity of the deflector 5. The piston end of the fixing rod 6 is slidably connected to the inner wall of the deflector 5. The lower end of the fixing rod 6 is welded to the right side of the movable hook 22. A liquid bladder 7 is provided in the inner cavity of the deflector 5 above the fixing rod 6. The upper end of the liquid bladder 7 is connected to the upper side wall of the inner cavity of the deflector 5. The lower end of the first elastic element 42 contacts the fixed rod 6. A liquid guiding hole 8 is provided inside the substrate 20. The upper end of the liquid guiding hole 8 communicates with the liquid bladder 7, and the lower end of the liquid guiding hole 8 communicates with the liquid cavity. The cavity, the liquid guiding hole 8, and the liquid bladder 7 are filled with a liquid medium (such as hydraulic oil). During the process of the sealing element 41 pressing the first elastic element 42, because the liquid bladder 7 contacts the fixed rod 6, and the hydraulic rod 24 does not drive the movable hook 22 to deflect at this time, the first elastic element 42 does not undergo compression. The shrinkage deformation causes the seal 41 and the pressure-bearing component 43 to jointly compress the second elastic element 44. Then, when the hydraulic rod 24 drives the movable hook 22 to move towards the other side of the clamping rod of the attachment 3, the elastic force of the second elastic element 44 overcomes the elastic force of the first elastic element 42, causing the seal 41 to be pushed upward. This pushes the liquid medium in the liquid cavity through the liquid guide hole 8 and into the liquid bladder 7, causing the liquid bladder 7 to expand. The expanded liquid bladder 7 then abuts against the fixed rod 6, ultimately causing the fixed rod 6 to apply a supporting force to the movable hook 22. Afterward, when the movable hook 22 applies reverse pressure to the hydraulic rod 24, some of the pressure will be transmitted to the second elastic element 44 through the liquid medium inside the liquid bladder 7. Through the above actions, the fixing force between the movable hook 22 and the clamping rod of the attachment 3, which is different from that applied by the hydraulic rod 24, is further increased, thereby further dispersing the reverse pressure applied by the movable hook 22 to the hydraulic rod 24, thus increasing the service life of the quick-change mechanism 2.

[0030] A magnet (not shown in the figure) is installed inside the piston end of the fixed rod 6. A magnet (magnetic atom) is installed inside the deflector 5 at the lower side of the piston end of the fixed rod 6, which attracts the magnet. With the above structure, when the movable hook 22 is engaged with the other side of the latch 3, the movable hook 22 will drive the piston end of the fixed rod 6 to move to the position corresponding to the magnet, so that the magnet attracts the magnet. Through this attraction, the reverse pressure of the movable hook 22 is further dispersed. When it is necessary to separate the quick-change mechanism 2 and the attachment 3, the hydraulic system drives the hydraulic rod 24 to overcome the elastic force of the second elastic element 44, so that the liquid medium entering the liquid bladder 7 returns to the liquid chamber, thereby causing the movable hook 22 to disengage from the attachment 3. Finally, the fixed hook 23 disengages from the attachment 3.

[0031] Example 2

[0032] Please see Figures 5-7 This embodiment is a further improvement on Embodiment 1. The improvement is that the fixed rod 6 is composed of a plate 60, a force-applying block 61, and a rod 62. The plate 60, the force-applying block 61, and the rod 62 are sequentially connected in a sliding engagement. The lower end of the rod 62 is connected to the right side of the movable hook 22. Magnet 1 is disposed inside the plate 60. The force-applying block 61 has a conical structure. A contact block 9 is slidably installed inside the deflector 5 at the lower side of magnet 2. The conical end of the force-applying block 61 faces away from the contact block 9. A lever 10 is rotatably installed inside the deflector 5 at the side of the contact block 9 facing away from the fixed rod 6. The lever 10 is divided into a long arm above the rotation point and a short arm below the rotation point. A connecting member is provided between the short arm and the contact block 9. One end of the component is hinged to the short arm, and the other end of the connecting component is hinged to the contact block 9. The second magnet is slidably engaged with the inside of the deflector 5. The side of the second magnet facing away from the fixed rod 6 is connected to the pull rope 11, and the other end of the pull rope 11 is connected to the long arm. When the movable hook 22 is engaged with the other side of the attachment 3, the first magnet attracts the second magnet, causing the second magnet to exert a pulling force on the long arm of the lever component 10 through the pull rope 11, causing the lever component 10 to deflect. This causes the short arm to exert an extension force on the contact block 9 through the connecting rod. Since the arc-shaped end of the contact block 9 contacts the force-applying block 61 at this time, the force-applying block 61 exerts an expansion force on the plate 60 and the rod 62. Through this force, the reverse pressure applied by the movable hook 22 is further dispersed.

Claims

1. A tracked hazardous work machine robot comprising: The utility model provides a quick change mechanism (2) is installed to the end of work arm (1), the lower side of quick change mechanism (2) is connected with the accessory (3), it is characterized by, the lower side of quick change mechanism (2) is provided with the abutting mechanism (4) to increase the fixing force between quick change mechanism (2) and accessory (3); The utility model discloses a quick change mechanism (2) is installed to the end of work arm (1), the lower side of quick change mechanism (2) is connected with the accessory (3), it is characterized by, the lower side of quick change mechanism (2) is provided with the abutting mechanism (4) to increase the fixing force between quick change mechanism (2) and accessory (3); The utility model discloses a quick change mechanism (2) is installed to the end of work arm (1), the lower side of quick change mechanism (2) is connected with the accessory (3), it is characterized by, the lower side of quick change mechanism (2) is provided with the abutting mechanism (4) to increase the fixing force between quick change mechanism (2) and accessory (3); 2. The tracked hazardous work machine robot of claim 1, wherein, The right side of the movable hook (22) is provided with a deflection piece (5), the deflection piece (5) is connected with the base plate (20), a fixed rod (6) is arranged in the inner cavity of the deflection piece (5), the piston end of the fixed rod (6) is slidably connected with the inner wall of the deflection piece (5), the lower end of the fixed rod (6) is connected with the right side of the movable hook (22), a liquid capsule (7) is arranged in the inner cavity of the deflection piece (5) and located at the upper side of the fixed rod (6), so as to contact the fixed rod (6), a liquid guide hole (8) is formed in the inner part of the base plate (20), so as to realize the communication between the liquid cavity and the liquid capsule (7), and the elastic force of the second elastic member (44) is greater than the elastic force of the first elastic member (42).

3. The tracked hazardous work machine robot of claim 2, wherein, The inner part of the piston end of the fixed rod (6) is provided with a magnet one, and the inner part of the deflection piece (5) and located at the lower side of the piston end of the fixed rod (6) is provided with a magnet two which is mutually attracted with the magnet one.

4. The tracked hazardous work machine robot of claim 2, wherein, The inner part of the piston end of the fixed rod (6) is provided with a magnet one, and the inner part of the deflection piece (5) and located at the lower side of the piston end of the fixed rod (6) is provided with a magnet two which is mutually attracted with the magnet one.

5. The tracked hazardous work machine robot of claim 4, wherein, Said fixed rod (6) is composed of a plate body (60), a force applying block (61) and a rod body (62), the plate body (60), the force applying block (61) and the rod body (62) are connected in sequence, the lower end of the rod body (62) is connected with the right side of the movable hook (22), the magnet one is arranged inside the plate body (60), the force applying block (61) is arranged in a conical structure, the inside of the deflector (5) is provided with a contact block (9) at the lower side of the magnet two, the conical end of the force applying block (61) faces away from the contact block (9).

6. The tracked hazardous job site robot of claim 5, wherein, Said contact block (9) and the inside of the deflector (5) are movably connected, a lever (10) is rotatably installed at the position of the deflector (5) inside, which is on the side of the contact block (9) away from the fixed rod (6), the lever (10) is divided into a long arm above the rotation point and a short arm below the rotation point, a connecting piece is arranged between the short arm and the contact block (9) to connect the short arm and the contact block (9), the magnet two and the inside of the deflector (5) are movably connected, the side of the magnet two away from the fixed rod (6) is connected with a pull rope (11), the other end of the pull rope (11) is connected with the long arm.

Images