A demolition robot applied to a strong radiation environment and a control method thereof

Abstract

The application relates to the technical field of demolition robots, in particular to a demolition robot applied to a strong radiation environment and a control method thereof. The demolition robot comprises a demolition device and a control device. The demolition device comprises a base, a swing arm and an execution element. The swing arm is hinged to the top end of the base, and the execution element is arranged at the tail end of the swing arm. The swing arm has multiple joints. Swing arm oil cylinders are arranged between the base and the swing arm joints hinged to the base and between any two adjacent joints of the swing arm. The control device comprises a joystick, a hydraulic pipeline, a pushing assembly, a triggering assembly and an adjusting assembly. The application uses a set of hydraulic control systems to replace the electrical control system of the existing demolition robot, avoids the problem that the electrical control system of the demolition robot fails when working in a strong radiation environment, effectively improves the reliability of the demolition robot when working in a strong radiation environment, and prolongs the service life of the demolition robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of demolition robots, in particular to a demolition robot applied to a strong radiation environment and a control method thereof. BACKGROUND

[0002] The demolition robot is an industrial robot developed to adapt to a harsh environment such as dust, high temperature, high radiation, high noise, etc., and is widely used in the industries of building demolition, rescue, metallurgy, nuclear power, rail transit, etc. With the decommissioning of some nuclear power plants and other facilities in China, the demolition robot applied to a high nuclear radiation environment will have a broad application prospect. The demolition tools of the demolition robot mainly include a hydraulic breaking hammer, a hydraulic shear and a shovel.

[0003] The main structures of the existing demolition robots on the market are similar, including a tracked walking mechanism, a stabilizing mechanism, a frame, a hydraulic arm mechanism, a terminal demolition mechanism, a power system, an electrical control system, a hydraulic system and a remote control system. Manufacturers have differentiated the robots for different working environments, but the research on the demolition robots working in a strong nuclear radiation environment is still insufficient in China.

[0004] The invention patent CN104084943 A proposes an anti-nuclear reinforcement device for protecting the electrical control system of the demolition robot in a high nuclear radiation environment: two lead shielding covers are additionally installed outside the electrical control system and the control module of the robot, and the electrical control system is protected by using the characteristic of lead that can shield radiation.

[0005] The above prior art can shield certain radiation, but still has the following defects: first, the lead shielding cover used for reinforcement is very heavy, which increases the weight of the robot and makes it inconvenient to move, and the maneuverability is reduced; second, the lead shielding cover in the above invention patent cannot completely protect the robot from radiation damage, for example, the demolition robot needs to complete the work through remote control, and its communication device cannot be placed in the shielding cover and can only be exposed to radiation, which will cause the communication system to fail after a long time. SUMMARY

[0006] The present application is aimed at providing a technical solution to solve the above problems.

[0007] The application discloses a demolition robot applied to a strong radiation environment, which comprises a demolition device and a control device, the demolition device comprises a base, a swing arm and an execution element, the swing arm is hinged to the top end of the base, the execution element is arranged at the tail end of the swing arm, the swing arm has a plurality of joints, swing arm oil cylinders are arranged between the base and the swing arm joints hinged to the base and between any two adjacent joints of the swing arm, the control device comprises a plurality of control rods, a hydraulic pipeline, a plurality of push assemblies, a trigger assembly and an adjusting assembly, the control rods are arranged at the top end of the base, the number of the control rods matches the number of the swing arm oil cylinders, the hydraulic pipeline is arranged in the base, one end of the hydraulic pipeline is connected with the control rods, the other end of the hydraulic pipeline is connected with the swing arm oil cylinders, the push assemblies are arranged at the top end of the base, the number of the push assemblies matches the number of the control rods, the output ends of the push assemblies are connected with the control rods, the adjusting assembly is arranged above the demolition device, and the trigger assembly is arranged on the movable end of the adjusting assembly.

[0008] As a further scheme of the application, the trigger assembly comprises a laser, an optical fiber and a laser emission head, and the laser is connected with the laser emission head through the optical fiber.

[0009] As a further scheme of the application, the adjusting assembly comprises six winches, and the steel wires of three winches are connected with the upper end of the laser emission head, and the steel wires of the other three winches are connected with the lower end of the laser emission head.

[0010] As a further scheme of the application, the push assembly comprises two boxes, the two boxes are arranged at the two sides of the control rod respectively, the two boxes are made of glass, heating blocks are arranged in the two boxes, pressure transmission pipes are arranged on the opposite sides of the two boxes, driving rods are arranged in the two pressure transmission pipes, and the two driving rods are connected with the two sides of the control rod respectively.

[0011] As a further scheme of the application, the heating block is made of foamed aluminum.

[0012] As a further scheme of the application, the surface of the heating block is coated with a carbon black coating.

[0013] The application further provides a control method of the demolition robot applied to the strong radiation environment.

[0014] During the operation of the demolition device, when the execution element needs to move to a certain position, the trigger assembly is first controlled by the adjusting assembly to move above the corresponding push assembly, the trigger assembly sends a signal to the corresponding push assembly, the push assembly pushes the corresponding control rod after receiving the signal sent by the trigger assembly, the hydraulic energy is distributed to the corresponding swing arm oil cylinder through the hydraulic pipeline, the swing arm is driven to swing and the execution element is moved.

[0015] Compared with the prior art, the present application has the beneficial effects that: the present application controls the change of the swing arm posture through the cooperation of the joystick, the hydraulic pipeline, the pushing assembly, the triggering assembly and the adjusting assembly, thereby driving the execution element to move for demolition work, through the use of a set of hydraulic control system instead of the existing demolition robot electric control system, the problem of failure of the electric control system of the demolition robot working in a strong radiation environment is avoided, the reliability of the demolition robot working in a strong radiation environment is effectively improved, and the working life of the demolition robot is increased.

[0016] Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following description and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description only show some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0018] Figure 1 is a structural schematic diagram of the swing arm part of the present application.

[0019] Figure 2 is a principle diagram of the hydraulic pipeline of the present application.

[0020] Figure 3 is a structural schematic diagram of the laser part of the present application.

[0021] Figure 4 is a structural schematic diagram of the winch part of the present application.

[0022] Figure 5 is a structural schematic diagram of the box part of the present application.

[0023] Figure 6 is a structural schematic diagram of the joystick part of the present application.

[0024] In the figure: 1, base, 2, swing arm, 3, execution element, 4, swing arm oil cylinder, 5, operating rod, 6, oil tank, 7, engine, 8, hydraulic pump, 9, pilot control valve, 10, main control valve, 11, pump control valve group, 12, self pressure reducing valve, 13, hydraulic oil cooler, 14, hydraulic oil return filter, 15, laser, 16, optical fiber, 17, laser emitting head, 18, winch, 19, box, 20, heating block, 21, pressure transmission pipe, 22, driving rod, 201, first joint arm, 202, second joint arm, 203, third joint arm, 204, fourth joint arm, 401, first swing arm oil cylinder, 402, second swing arm oil cylinder, 403, third swing arm oil cylinder, 404, fourth swing arm oil cylinder. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0026] Please refer to Figures 1-6 In the embodiments of the present application, a demolition robot applied to a strong radiation environment is used for demolishing walls in the strong radiation environment, which comprises a demolition device and a control device. The demolition device comprises a base 1, a swing arm 2 and an execution element 3. The swing arm 2 is hinged to the top end of the base 1, and the execution element 3 is arranged at the end of the swing arm 2. The swing arm 2 has multiple joints. Swing arm oil cylinders 4 are arranged between the base 1 and the joints of the swing arm 2 hinged thereto, and between any two adjacent joints of the swing arm 2. The control device comprises operating rods 5, hydraulic pipelines, pushing assemblies, triggering assemblies and adjusting assemblies. The operating rods 5 are arranged at the top end of the base 1. The number of the operating rods 5 matches the number of the swing arm oil cylinders 4. The hydraulic pipelines are arranged in the base 1. One end of the hydraulic pipelines is connected with the multiple operating rods 5 respectively, and the other end of the hydraulic pipelines is connected with the multiple swing arm oil cylinders 4 respectively. The pushing assemblies are arranged at the top end of the base 1. The number of the pushing assemblies matches the number of the operating rods 5. The output ends of the pushing assemblies are connected with the operating rods 5 respectively. The adjusting assemblies are arranged above the demolition device. The triggering assemblies are arranged on the movable end of the adjusting assemblies.

[0027] The swing arm 2 is composed of a first joint arm 201, a second joint arm 202, a third joint arm 203 and a fourth joint arm 204, the top end of the first joint arm 201 is hinged to the top end of the base 1, the end of the first joint arm 201 is hinged to the top end of the second joint arm 202, the end of the second joint arm 202 is hinged to the top end of the third joint arm 203, the end of the third joint arm 203 is hinged to the top end of the fourth joint arm 204, the end of the fourth joint arm 204 is connected to the execution element 3, the swing arm oil cylinder 4 includes a first swing arm oil cylinder 401, a second swing arm oil cylinder 402, a third swing arm oil cylinder 403 and a fourth swing arm oil cylinder 404, the first swing arm oil cylinder 401 is connected between the base 1 and the first joint arm 201, the second swing arm oil cylinder 402 is connected between the base 1 and the second joint arm 202, the third swing arm oil cylinder 403 is connected between the second joint arm 202 and the third joint arm 203, the fourth joint arm 204 oil cylinder is connected between the third swing arm oil cylinder 403 and the fourth swing arm oil cylinder 404, the number of the push assembly of the operating rod 5 is four, in the process of demolition work, the trigger assembly can be moved to the corresponding push assembly under the drive of the adjusting assembly, the corresponding push assembly sends a signal to the corresponding push assembly, the corresponding push assembly receives the signal and pushes the corresponding operating rod 5, controls the first swing arm oil cylinder 401, the second swing arm oil cylinder 402, the third swing arm oil cylinder 403 and the fourth swing arm oil cylinder 404 to operate, so that the first joint arm 201, the second joint arm 202, the third joint arm 203 and the fourth joint arm 204 swing, realizing the posture control of the swing arm 2.

[0028] Further as Figure 2 shown, the hydraulic pipeline includes an oil tank 6, an engine 7, a hydraulic pump 8, a pilot control valve 9, a main control valve 10 and a pump control valve group 11, the output shaft of the engine 7 is connected with the input shaft of the hydraulic pump 8, the oil inlet of the hydraulic pump 8 is communicated with the oil tank 6, the first oil outlet of the hydraulic pump 8 is communicated with the oil inlet of the pilot control valve 9, the pilot control valve 9 is provided with a valve core matched with the number of the operating rod 5, each operating rod 5 is connected with the valve core of each pilot control valve 9, the oil outlet of the pilot control valve 9 is communicated with the first oil inlet of the main control valve 10, the second oil inlet of the main control valve 10 is communicated with the second oil outlet of the hydraulic pump 8, the first oil outlet of the main control valve 10 is respectively communicated with the oil port of each swing arm oil cylinder 4, the second oil outlet of the main control valve 10 is communicated with the oil inlet of the pump control valve group 11, the oil outlet of the pump control valve group 11 is communicated with the displacement control port of the hydraulic pump 8, the mechanical energy is converted into hydraulic energy by driving the hydraulic pump 8 to operate by the engine 7, and then the hydraulic energy is distributed to each swing arm oil cylinder 4 through each part of the hydraulic pipeline.

[0029] Further as Figure 2As shown, the hydraulic circuit further comprises a pressure reducing valve 12, a hydraulic oil cooler 13 and a hydraulic oil return filter 14. The first oil outlet of the hydraulic pump 8 is in communication with the oil inlet of the pressure reducing valve 12. The oil outlet of the pressure reducing valve 12 is in communication with the oil inlet of the PPC valve. The oil inlet of the hydraulic oil cooler 13 is in communication with the third oil outlet of the main control valve 10. The oil outlet of the hydraulic oil cooler 13 is in communication with the oil inlet of the hydraulic oil return filter 14. The oil outlet of the hydraulic oil return filter 14 is in communication with the oil tank 6. The pressure reducing valve 12 is arranged to form a lower and more stable pressure in the hydraulic circuit. The hydraulic oil cooler 13 is arranged to cool the hydraulic oil and keep the oil temperature within a suitable working range. The hydraulic oil return filter 14 is arranged to filter out the generated or invaded contaminants before returning to the oil tank 6, so as to keep the oil tank 6 clean.

[0030] Further as shown in Figure 3 The trigger assembly comprises a laser 15, an optical fiber 16 and a laser emitting head 17. The laser 15 is connected to the laser emitting head 17 through the optical fiber 16. During the demolition operation, the laser 15 generates laser light which is transmitted to the working area of the demolition device through the optical fiber 16 and then emitted by the laser emitting head 17 to the pushing assembly.

[0031] Further as shown in Figure 3 and Figure 4 The adjustment assembly comprises six winches 18 which are arranged in a ring around the demolition device. The steel wire ropes of three winches 18 are connected to the upper end of the laser emitting head 17, and the steel wire ropes of the other three winches 18 are connected to the lower end of the laser emitting head 17. During the demolition operation, the length of the steel wire ropes is adjusted by the winches 18 to move the laser emitting head 17, so as to adjust the position and angle of the laser emitting head 17, and then emit laser light to the corresponding pushing assembly.

[0032] Further as shown in Figure 5 and Figure 6 The pushing assembly comprises two boxes 19 which are arranged on the two sides of the operating lever 5. The two boxes 19 are made of glass. Each of the two boxes 19 is provided with a heating block 20 and a pressure transmission pipe 21 on the opposite side. Each of the two pressure transmission pipes 21 is provided with a driving rod 22 which is connected to the two sides of the operating lever 5. During the demolition operation, the laser emitting head 17 is moved to the corresponding box 19 by the winch 18. The laser emitting head 17 emits laser light which is aligned with the heating block 20 in the corresponding box 19, so as to increase the temperature in the corresponding box 19, and then increase the pressure in the cavity of the box 19. The pressure is transmitted to the driving rod 22 through the pressure transmission pipe 21, so as to extend the driving rod 22 and push the operating lever 5, thereby achieving the posture control of the swing arm 2.

[0033] Further, the material of the heating block 20 is foamed aluminum, and the surface of the heating block 20 is coated with a carbon black coating, which can increase the absorption effect of the laser. In addition, due to the porous structure of the heating block 20, the heat can be uniformly distributed and quickly transferred to the surrounding air after being heated by the laser, so that the temperature inside the box 19 can be quickly increased, and the driving rod 22 can be quickly elongated.

[0034] The application further provides a control method of the demolition robot applied to a strong radiation environment, comprising:

[0035] During the operation of the demolition device, when the executing element 3 needs to move to a certain position, first, the trigger assembly is controlled by the adjusting assembly to move above the corresponding push assembly, the trigger assembly sends a signal to the corresponding push assembly, the push assembly pushes the corresponding operating rod 5 after receiving the signal sent by the trigger assembly, and the hydraulic energy is distributed to the corresponding swing arm oil cylinder 4 through the hydraulic pipeline, so that the swing arm 2 is driven to swing and drive the executing element 3 to move.

[0036] It is apparent for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, but can be implemented in other concrete forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all aspects as exemplary and non-restrictive, and the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and range of the equivalent elements of the claims are intended to be embraced in the present application.

Claims

1. A demolition robot for use in a high radiation environment, characterized in that The application relates to a demolition device and a demolition robot. The demolition device comprises a base, a swing arm and an execution element, the swing arm is hinged to the top end of the base, the execution element is arranged at the tail end of the swing arm, the swing arm has multiple joints, swing arm oil cylinders are arranged between the base and the joints of the swing arm hinged thereto and between any two adjacent joints of the swing arm. The control device comprises a plurality of control rods, a hydraulic pipeline, a pushing assembly, a triggering assembly and an adjusting assembly; the control rods are arranged at the top end of the base, the number of the control rods matches the number of the swing arm oil cylinders; the hydraulic pipeline is arranged in the base, one end of the hydraulic pipeline is connected with the control rods, and the other end of the hydraulic pipeline is connected with the swing arm oil cylinders; the pushing assembly is arranged at the top end of the base, the pushing assembly comprises two boxes, the two boxes are arranged at the two sides of the control rods, heating blocks are arranged in the two boxes, pressure transmission pipes are arranged on the opposite sides of the two boxes, driving rods are arranged in the two pressure transmission pipes, the two driving rods are connected with the two sides of the control rods, the number of the pushing assemblies matches the number of the control rods, the output ends of the pushing assemblies are connected with the control rods, the adjusting assembly is arranged above the demolition device, and the triggering assembly is arranged on the movable end of the adjusting assembly. The triggering assembly comprises a laser, an optical fiber and a laser emitting head, the laser is connected with the laser emitting head through the optical fiber; during the demolition operation, the laser generates laser light, the laser light is transmitted to the operation area of the demolition device through the optical fiber, and the laser emitting head emits laser light for the pushing assembly.

2. The demolition robot for use in a high-radiation environment according to claim 1, characterized in that: The adjusting assembly comprises six winches, the six winches are arranged in a ring around the demolition device, the steel wires of three winches are connected with the upper end of the laser emitting head, and the steel wires of the other three winches are connected with the lower end of the laser emitting head.

3. The demolition robot for use in a high-radiation environment according to claim 1, characterized in that: The two boxes are made of glass.

4. The demolition robot for use in a high-radiation environment according to claim 3, characterized in that: The heating blocks are made of foamed aluminum.

5. The demolition robot for use in a high-radiation environment according to claim 3, characterized in that: The surface of the heating blocks is coated with a carbon black coating.

6. A control method of a demolition robot applied to a strong radiation environment, characterized by, The application further discloses a demolition robot applied to a strong radiation environment, and the demolition robot is characterized in that, during the operation of the demolition device, when the execution element needs to move to a certain position, the adjusting assembly is first controlled to move the triggering assembly above the corresponding pushing assembly, the triggering assembly sends a signal to the corresponding pushing assembly, the corresponding pushing assembly drives the corresponding control rod after receiving the signal sent by the triggering assembly, the hydraulic energy is distributed to the corresponding swing arm oil cylinder through the hydraulic pipeline, the swing arm is driven to swing and the execution element is moved.

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