Double-mechanical-arm intelligent robot for tower material cutting

Abstract

The invention belongs to the technical field of cutting equipment, and particularly discloses a double-mechanical-arm intelligent robot for tower material cutting, which comprises a vehicle body platform and two crawler belt assemblies, the two crawler belt assemblies are both located below the vehicle body platform, and each crawler belt assembly comprises a crawler belt, two walking gears and a crawler belt supporting body. The crawler belt supporting body is located on the inner side of the crawler belt and located between the two walking gears, two mechanical arms arranged in a spaced mode are connected to one side of the vehicle body platform, and cutting guns are installed on the two mechanical arms. A crawler belt telescopic connecting piece capable of horizontally stretching out and drawing back is connected between the crawler belt supporting bodies of the two crawler belt assemblies, the vehicle body platform is connected with the crawler belt telescopic connecting piece, and a driving unit used for driving the crawler belt telescopic connecting piece to stretch out and draw back is arranged between the two crawler belt assemblies. The power transmission line tower material can be automatically cut, and the dismantling work efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cutting equipment, and in particular to a dual-mechanical-arm intelligent robot for tower material cutting. Background Art

[0002] Transmission towers play a vital role in the power transmission network. Over time, the structures of these towers may need to be dismantled due to aging, damage, technology upgrades, or line replacement. Traditional transmission towers are usually built with steel and concrete. As they age, the towers will gradually suffer from corrosion, fatigue, and damage, which may affect their stability and safety. In order to maintain the safety and stability of the power transmission system, these old transmission line towers need to be dismantled regularly.

[0003] However, most transmission line towers are built in mountainous areas with rugged mountain roads. The method of dismantling transmission tower materials mainly relies on manual cutting and the use of simple mechanical equipment. When cutting and dismantling transmission tower materials, manual operation is inefficient and has high labor costs.

[0004] With the increasing maintenance and replacement work on transmission towers, traditional manual and mechanical demolition methods can no longer meet the needs of efficiency, safety and low risk. Summary of the invention

[0005] The present invention provides a dual-mechanical-arm intelligent robot for tower material cutting, which aims to automatically cut tower materials for power transmission lines and improve the efficiency of dismantling work.

[0006] The present invention is implemented by the following technical scheme: a dual-mechanical-arm intelligent robot for tower material cutting, comprising a vehicle body platform and two sets of crawler assemblies, both of which are located below the vehicle body platform, the crawler assemblies comprising crawlers, two traveling gears and crawler support bodies, the crawler support bodies being located on the inner side of the crawlers and between the two traveling gears, one side of the vehicle body platform being connected to two mechanical arms arranged at intervals, both of which are equipped with cutting guns;

[0007] A horizontally retractable crawler telescopic connector is connected between the crawler support bodies of the two sets of crawler assemblies, the vehicle body platform is connected to the crawler telescopic connector, and a driving unit for driving the crawler telescopic connector to retract is provided between the two sets of crawler assemblies.

[0008] In this solution, the two sets of track assemblies can drive the entire robot to move, and the two sets of track assemblies serve as the mobile chassis of the entire robot, which can be adapted to use on rugged mountain roads. In this solution, the two robotic arms can drive the cutting gun to automatically cut the tower materials when working, without the need for manual cutting and dismantling, thereby effectively improving the efficiency of the dismantling work.

[0009] Moreover, the robot in this solution is a dual-arm system, and the two arms are located on the same side, which can cut the diagonal supports on both sides of the tower material, reducing the frequent movement and posture adjustment of the robot and improving the operating efficiency of the whole machine.

[0010] In addition, in this solution, the two robotic arms are arranged on one side of the vehicle body platform, so that when the robot is working, the robotic arms can have sufficient outward extension and a larger cutting range. However, the two robotic arms are located on the same side, which will cause the weight of the entire vehicle body to be unbalanced during the walking of the robot, and it is easy to roll over. To address this problem, in this solution, a horizontally retractable track telescopic connector is connected between the track support bodies of the two sets of track assemblies. In this way, when the robot is walking, the drive unit drives the track telescopic connector to extend to increase the distance between the two sets of track assemblies, thereby increasing the width of the vehicle body, thereby balancing the weight of the entire vehicle body platform and effectively preventing rollover.

[0011] When the robot is cutting, the track assembly can be retracted to reduce the distance between the two sets of track assemblies, reduce the occupied space, and make the cutting operation more convenient.

[0012] Furthermore, the crawler telescopic connection member includes a fixed part and a telescopic part, the telescopic part is provided with at least one, the telescopic part is telescopically matched with the fixed part, and the vehicle body platform is connected to the fixed part.

[0013] Beneficial effects: In this solution, the vehicle body platform is connected to the fixed part of the crawler telescopic connecting member, which can ensure the stable connection of the vehicle body platform and at the same time ensure normal telescopic movement between the telescopic part and the fixed part.

[0014] Furthermore, there are two telescopic track connectors, which are arranged horizontally with each other. Two support blocks arranged parallel to each other are connected to the telescopic track connector, the top of the support block is located above the track, and the vehicle body platform is connected to the support block.

[0015] Beneficial effect: The two crawler telescopic connectors in this solution can improve the support stability of the vehicle body platform. At the same time, the setting of the support blocks makes it more convenient to connect with the vehicle body platform, and the tops of the two support blocks are located above the crawler, which can prevent interference between the crawler and the vehicle body platform.

[0016] Furthermore, the crawler telescopic connection member has two telescopic parts, and the two telescopic parts are respectively telescopically matched with the fixed part in opposite directions, and one end of the two telescopic parts of the crawler telescopic connection member away from the fixed part is respectively connected to the two crawler support bodies;

[0017] The driving unit is a chassis telescopic cylinder, and two chassis telescopic cylinders are provided. The output shafts of the two chassis telescopic cylinders are respectively connected to the two track support bodies, and one end of the cylinder bodies of the two chassis telescopic cylinders are respectively connected to the two support blocks.

[0018] Beneficial effect: In this solution, there are two telescopic parts in the telescopic track connector, so that both sets of track assemblies can move. In this way, the distance between the two sets of track assemblies can be further increased according to actual needs without expanding the vehicle platform, thereby adapting to different environmental requirements.

[0019] Furthermore, a lifting platform is provided on one side of the vehicle body platform, and the two mechanical arms are respectively installed on both sides of the lifting platform; a 7-shaped fixing plate is connected to one side of the vehicle body platform, a lifting column is connected to the fixing plate, and the output end of the lifting column is connected to the lifting platform.

[0020] Beneficial effects: In this solution, the robotic arm is installed on the lifting platform, and the lifting column can drive the lifting platform to produce lifting movement. The lifting column in this solution can control the height of the lifting platform and then control the height of the robotic arm. When the robot is walking, the track assembly extends, thereby expanding the entire walking width to adapt to the weight of the entire vehicle platform. Therefore, the robotic arm needs to be lifted as a whole to prevent interference with the extension of the track assembly.

[0021] At the same time, raising the robot arm while walking can also prevent the robot arm from colliding with objects on the ground and causing unnecessary losses. When the robot starts cutting, the lifting column can adjust the height of the robot arm so that the robot arm is at a suitable working height.

[0022] Furthermore, it also includes four telescopic legs, wherein the telescopic legs include a leg fixing portion and a leg telescopic portion, and the leg telescopic portion and the leg fixing portion are telescopically matched;

[0023] Each of the telescopic legs is connected to a vertical telescopic cylinder for driving its vertical telescopic movement; two of the four telescopic legs form a group, and the two groups of telescopic legs are respectively located on the front and rear sides of the vehicle body platform; the two telescopic legs in the same group are symmetrically arranged on the left and both sides of the vehicle body platform; a transverse telescopic cylinder for driving the two telescopic legs to move transversely is connected between the two telescopic legs in the same group.

[0024] Beneficial effect: Before the cutting operation, the robot extends the telescopic leg part to prop the entire robot off the ground. Its function is similar to that of a heavy crane that unfolds the surrounding legs in advance during lifting operations, providing stability for the entire working platform and preventing the entire vehicle body from tipping over.

[0025] At the same time, a transverse telescopic cylinder is connected between the two telescopic legs in the same group to drive the two telescopic legs to move laterally, so that a more stable support effect can be formed during cutting operations. When walking, the transverse telescopic cylinder retracts the telescopic legs, thereby reducing the volume and facilitating walking and movement.

[0026] Furthermore, two groups of transverse telescopic cylinders are provided between the two telescopic legs in the same group, the telescopic ends of the two groups of transverse telescopic cylinders are respectively connected to the leg fixing parts of the two telescopic legs, and the fixing parts of the two groups of transverse telescopic cylinders are connected to the vehicle body platform.

[0027] Beneficial effect: In this solution, the two sets of transverse telescopic cylinders can respectively extend or retract the telescopic legs on both sides of the vehicle platform, thereby flexibly adjusting the position of the telescopic legs on both sides of the vehicle platform according to actual conditions, which is more suitable for flexibly adjusting the cutting posture of the robot during the cutting operation.

[0028] Furthermore, an inertial navigation unit is installed on the vehicle body platform.

[0029] Beneficial effects: This solution uses an inertial navigation unit combined with four telescopic legs. When the legs need to be extended, the inertial unit will feed back the real-time measured body inclination attitude data to the four telescopic legs. The attitude adjustment algorithm is combined with the robot's own physical length to convert the attitude data into the corresponding extension amount of each telescopic leg, so as to achieve the purpose of adjusting the horizontality of the platform. The advantage of this is that the base plane of the robot arm is parallel to the base plane of the tower material during operation, and the two robot arms are at the same horizontal height relative to the tower material, which facilitates the attitude adjustment of the two robot arms and reduces the complexity of the algorithm.

[0030] Furthermore, a laser radar is provided between the two mechanical arms, and a line scanner is installed on the mechanical arm near the cutting gun.

[0031] Beneficial effects: In this solution, a laser radar is set between the two robotic arms, which can accurately scan and map the surrounding environment and determine the position of the robot relative to the tower material. A wired scanner is arranged at the end of the robotic arm and near the cutting gun, which can accurately know the distance between the cutting gun and the tower material and adjust the cutting posture of the cutting gun in real time.

[0032] Furthermore, a plurality of gas cylinders are arranged on the vehicle body platform, a gas cylinder bracket is connected to the vehicle body platform, a plurality of through holes are opened at one end of the gas cylinder bracket, and the ends of the plurality of gas cylinders pass through the plurality of through holes on the gas cylinder bracket in sequence.

[0033] Beneficial effects: In this solution, since this robot is used for operations in remote mountainous areas, it is inconvenient to refill the gas cylinders. The robot in this solution is designed with a gas cylinder group that can carry multiple gas cylinders to provide sufficient cutting endurance for the robot's cutting operations. The gas cylinder bracket and the through holes set on the gas cylinder bracket in this solution can limit the position of the gas cylinder and ensure the stability of the gas cylinder installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0035] Figure 1 A three-dimensional diagram of an embodiment of a dual-mechanical-arm intelligent robot for tower material cutting in a working state according to the present invention;

[0036] Figure 2 This is a front view of an embodiment of a dual-mechanical-arm intelligent robot for tower material cutting in a working state according to the present invention;

[0037] Figure 3 This is a three-dimensional diagram of an embodiment of a dual-mechanical-arm intelligent robot for tower material cutting in a walking state according to the present invention;

[0038] Figure 4 This is a front view of an embodiment of a dual-mechanical-arm intelligent robot for tower material cutting in a walking state according to the present invention;

[0039] Figure 5 It is a three-dimensional diagram of the connection between two sets of crawler assemblies and support blocks, crawler telescopic connectors and chassis telescopic cylinders in an embodiment of a dual-mechanical-arm intelligent robot for tower material cutting of the present invention;

[0040] Figure 6 It is a three-dimensional view from another direction of the embodiment of a dual-mechanical-arm intelligent robot for tower material cutting of the present invention after two sets of crawler assemblies are connected with a support block, a crawler telescopic connector and a chassis telescopic cylinder;

[0041] Figure 7 It is a partial schematic diagram of tower materials in the prior art;

[0042] Figure 8 The present invention is a schematic diagram of a state in which a dual-mechanical-arm intelligent robot for tower material cutting performs tower material cutting work.

[0043] Marks and corresponding parts names in the attached drawings:

[0044] Vehicle body platform 1, crawler track 2, crawler track support body 201, lifting platform 3, fixed plate 4, lifting column 5, mechanical arm 6, cutting gun 7, line scanner 8, laser radar 9, gas cylinder bracket 10, gas cylinder 11, inertial navigation unit 12, telescopic support leg 13, vertical telescopic cylinder 14, transverse telescopic support rod 15, transverse telescopic cylinder 16, crawler telescopic connector 17, fixed part 170, telescopic part 171, support block 18, chassis telescopic cylinder 19, vertical plate 20, ear plate 21, connecting plate 22. DETAILED DESCRIPTION

[0045] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0046] like Figure 1-Figure 2 As shown, this embodiment provides a dual-arm intelligent robot for tower material cutting, including a vehicle body platform 1 and two sets of crawler 2 components, both of which are located below the vehicle body platform 1. The crawler 2 components include crawler 2, two traveling gears and crawler support body 201, and the crawler support body 201 is located on the inner side of the crawler 2 and between the two traveling gears. The two sets of crawler 2 components form a mobile chassis of the entire vehicle body platform 1. The crawler 2 component belongs to the prior art and can be applied to mountain mobile transportation.

[0047] One side of the vehicle platform 1 is connected to two mechanical arms 6 arranged at intervals, and a cutting gun 7 is installed on both mechanical arms 6. In this embodiment, the cutting gun 7 is a flame cutting gun 7, and the mechanical arm 6 has six degrees of freedom, which can drive the cutting gun 7 in all directions to cut the tower material; in the present invention, in order to make the position and posture of the cutting gun 7 meet the cutting requirements during operation, the single mechanical arm 6 needs to frequently move the robot's crawler 2 mobile base, which greatly reduces the robot's operating efficiency. The present invention is a dual mechanical arm 6 system, and the mechanical arms 6 are arranged on the same side. When in use, the two mechanical arms 6 with six degrees of freedom are responsible for the cutting of the oblique support on both sides of the tower material, which reduces the frequent movement and posture adjustment of the robot, thereby improving the operating efficiency of the whole machine.

[0048] Combination Figure 2 As shown, a track telescopic connector 17 capable of horizontal extension and retraction is connected between the track support bodies 201 of the two sets of track assemblies 2.

[0049] The vehicle body platform 1 is connected to the crawler telescopic connector 17, and a driving unit for driving the crawler telescopic connector 17 to telescope is provided between the two crawler 2 components. Specifically: Figure 4As shown, the crawler telescopic connector 17 includes a fixed portion 170 and a telescopic portion 171 . There is at least one telescopic portion 171 . The telescopic portion 171 is telescopically matched with the fixed portion 170 , and the vehicle body platform 1 is connected to the fixed portion 170 .

[0050] Combination Figure 5 and Figure 6 As shown, in this embodiment, there are two crawler telescopic connecting members 17, and the two crawler telescopic connecting members 17 are horizontally arranged with each other. Two support blocks 18 arranged parallel to each other are connected to the crawler telescopic connecting members 17, and the support blocks 18 span the two crawler telescopic connecting members 17. The top of the support blocks 18 is located above the crawler 2, and the vehicle body platform 1 is connected to the support blocks 18. In this embodiment, the vehicle body platform 1 and the support blocks 18 are connected by screws or bolts. Since the top of the support blocks 18 is located above the crawler 2, interference between the vehicle body platform 1 and the crawler 2 can be avoided.

[0051] like Figure 5 and Figure 6 As shown, in this embodiment, a connecting plate 22 is connected to the top of the two crawler telescopic connectors 17. The connecting plate 22 connects the two crawler telescopic connectors 17 to form a whole. The connecting plate 22 is hollow, that is, the middle of the connecting plate 22 is a rectangular frame structure. The two support blocks 18 are connected to the connecting plate 22 by bolts or screws, thereby achieving connection and fixation with the two crawler telescopic connectors 17.

[0052] Combination Figure 4 As shown, in this embodiment, there are two telescopic parts 171 in the crawler telescopic connection member 17, and the two telescopic parts 171 are respectively telescopically matched with the fixed part 170 in opposite directions, and the ends of the two telescopic parts 171 in the crawler telescopic connection member 17 away from the fixed part 170 are respectively connected to the two crawler support bodies 201 by bolts or welding;

[0053] Combination Figure 5 and Figure 6 As shown, in this embodiment, the driving unit is a chassis telescopic cylinder 19, and two chassis telescopic cylinders 19 are provided. The output shafts of the two chassis telescopic cylinders 19 are respectively connected to the two track support bodies 201, and one end of the cylinder bodies of the two chassis telescopic cylinders 19 is respectively connected to the two support blocks 18. In this embodiment, ear plates 21 are welded and fixed on the track support bodies 201 and the support blocks 18 respectively connected to the output shaft and the cylinder body of the chassis telescopic cylinder 19. The ear plates 21 on the track support bodies 201 and the support blocks 18 respectively connected to the output shaft and the cylinder body of the chassis telescopic cylinder 19 are rotatably connected through a rotating shaft, so that the connection of the chassis telescopic cylinder 19 is a flexible connection with a certain swing amplitude, so as to adapt to the swing or shaking of the track 2 during walking.

[0054] In another embodiment, the telescopic part 171 in the crawler telescopic connection member 17 is provided with one, and the telescopic part 171 is connected to the crawler support body 201 near the robot arm 6, so as to facilitate driving the crawler support body 201 near the robot arm 6 and the crawler 2 to extend outward, thereby maintaining the balance of the entire vehicle body.

[0055] like Figure 6 As shown, back to the present embodiment, two vertical plates 20 parallel to each other are connected between the two crawler telescopic connectors 17, the vertical plates 20 and the connecting plates 22 are vertically arranged, and the two ends of the two vertical plates 20 are respectively welded and fixed to the opposite sides of the two crawler telescopic connectors 17, and through holes are opened on the two vertical plates 20, and the cylinder bodies of the two chassis telescopic cylinders 19 pass through the through holes on the two vertical plates 20 respectively, so that the two vertical plates 20 can respectively support the cylinder bodies of the two chassis telescopic cylinders 19, thereby ensuring the stability of the entire installation structure.

[0056] Further, in another embodiment, Figure 1 and Figure 2 As shown, a lifting platform 3 is provided on one side of the vehicle body platform 1, and two mechanical arms 6 are respectively installed on the front and rear sides of the lifting platform 3; a 7-shaped fixing plate 4 is connected to one side of the vehicle body platform 1, and in this embodiment, the fixing plate 4 is fixed to the left side of the vehicle body platform 1 by welding or bolt connection, and a lifting column 5 is connected to the fixing plate 4, and the output end of the lifting column 5 is connected to the lifting platform 3 by bolts or screws. In this embodiment, the lifting column 5 adopts a DGHT07 type lifting column 5.

[0057] When the robot is walking, the track 2 assembly is extended to increase the width distance between the two track 2 assemblies, so that the weight of the entire robot is kept balanced and rollover is effectively prevented; when the robot is performing cutting operations, the track 2 assembly is retracted to provide space for the lifting of the robot arm 6 and the lifting platform 3.

[0058] Further, in another embodiment, Figure 1 As shown, a dual-arm intelligent robot for tower material cutting also includes four telescopic legs 13, the telescopic legs 13 include a leg fixing portion 170 and a leg telescopic portion 171, the leg telescopic portion 171 and the leg fixing portion 170 telescopically cooperate, in the telescopic structure of the present invention, the fixing portion 170 is a portion that remains fixed, and the telescopic portion 171 is a portion that can generate telescopic movement;

[0059] Each telescopic leg 13 is connected to a vertical telescopic cylinder 14 for driving its vertical telescopic movement; two telescopic legs 13 among the four telescopic legs 13 form a group, and the two groups of telescopic legs 13 are respectively located on the front and rear sides of the vehicle platform 1; the two telescopic legs 13 in the same group are symmetrically arranged on the left and both sides of the vehicle platform 1; a transverse telescopic cylinder 16 is connected between the two telescopic legs 13 in the same group for driving the two telescopic legs 13 to move transversely.

[0060] There are two groups of transverse telescopic cylinders 16 between the two telescopic legs 13 in the same group. The telescopic ends of the two groups of transverse telescopic cylinders 16 are respectively connected to the leg fixing parts 170 of the two telescopic legs 13, and the fixing parts 170 of the two groups of transverse telescopic cylinders 16 are connected to the vehicle body platform 1. In this way, the horizontal positions of the telescopic legs 13 located on both sides of the vehicle body platform 1 can be adjusted, which is more flexible and convenient to use.

[0061] In this embodiment, each group of transverse telescopic cylinders 16 is equipped with a group of transverse telescopic support rods 15, the fixed part 170 of the transverse telescopic support rods 15 is connected to the vehicle body platform 1, the telescopic part 171 of the transverse telescopic support rods 15 is connected to the leg fixing part 170 of the telescopic leg 13, and the transverse telescopic movement of the transverse telescopic support rods 15 is driven by the transverse telescopic cylinders 16. The setting of the transverse telescopic support rods 15 can make the lateral movement of the telescopic leg 13 more stable.

[0062] In the present invention, the vertical telescopic cylinder 14, the transverse telescopic cylinder 16, the lifting column 5, and the chassis telescopic cylinder 19 can be electric cylinders or hydraulic cylinders, but hydraulic cylinders are preferred.

[0063] In this embodiment, the robot extends the telescopic legs 13 during the cutting operation to prop the entire robot off the ground. Its function is similar to that of a heavy crane that needs to unfold the surrounding legs in advance during lifting operations, providing stability for the entire work platform and preventing the vehicle body from tipping over.

[0064] Furthermore, in another embodiment, a laser radar 9 is provided between the two robotic arms 6, and a wire scanner 8 is installed on the robotic arm 6 near the cutting gun 7. In this embodiment, the laser radar 9 provided between the two robotic arms 6 is a 32-line laser radar 9, which can accurately scan and map the surrounding environment and determine the position of the robot relative to the tower material. A wire scanner 8 is installed on the robotic arm 6 near the cutting gun 7 (i.e., a wire scanner 8 is arranged near the cutting gun 7 at the end of the robotic arm 6), which can accurately know the distance between the cutting gun 7 and the tower material and adjust the cutting posture of the cutting gun 7 in real time.

[0065] Furthermore, in another embodiment, an inertial navigation unit 12 is installed on the vehicle platform 1, and the inertial navigation unit 12 can be an inertial navigation module in the prior art; the present invention adopts a method of combining the inertial navigation unit 12 with four telescopic legs 13. When the telescopic legs 13 need to be extended, the inertial navigation unit 12 will feed back the inclination attitude data of the vehicle platform 1 measured in real time to the four telescopic legs 13, and convert the attitude data into the corresponding telescopic amount of each telescopic leg 13 through the attitude adjustment algorithm combined with the physical length of the robot itself, so as to achieve the purpose of adjusting the horizontality of the platform. The advantage of this is that when working, the base plane of the mechanical arm 6 is parallel to the base plane of the tower material, and the two mechanical arms 6 are at the same horizontal height relative to the tower material, which facilitates the attitude adjustment of the two mechanical arms 6 and reduces the complexity of the algorithm.

[0066] Further, combined with Figure 1 As shown, in another embodiment, four gas cylinders 11 are provided on the vehicle body platform 1, and a gas cylinder bracket 10 is connected to the vehicle body platform 1. In this embodiment, the gas cylinder bracket 10 is connected to the vehicle body platform 1 by bolts, and four through holes are opened at one end of the gas cylinder bracket 10. The four gas cylinders 11 are located on the inner side of the gas cylinder bracket 10, and the ends of the four gas cylinders 11 pass through the four through holes on the gas cylinder bracket 10 in sequence, so that the connecting end of the gas cylinder 11 is located on the outer side of the gas cylinder bracket 10, which is convenient for later connection with the cutting gun 7 and provides a gas source for the cutting gun 7. The gas cylinder bracket 10 can effectively limit and fix the position of the gas cylinder 11, so that the installation of the gas cylinder 11 is more stable and firm.

[0067] The cutting method of the present invention is flame cutting, so the robot needs to carry a gas cylinder 11 for operation. However, the robot of the present invention is used for operation in remote mountainous areas, and it is very inconvenient to refill the gas cylinder 11. Therefore, in this embodiment, a gas cylinder 11 group that can carry four gas cylinders 11 is designed for the robot to provide sufficient cutting endurance for the robot's cutting operation.

[0068] In this embodiment, the inertial navigation unit 12 can be installed on the top of the gas cylinder support 10.

[0069] The specific implementation process of the dual-mechanical-arm intelligent robot for tower material cutting of the present invention is as follows:

[0070] like Figure 1 As shown, the lifting column 5 is arranged on one side of the vehicle body, and its function is to control the height of the lifting platform 3 and thus the height of the mechanical arm 6. Figure 3 and Figure 4As shown, when the robot is walking, the left track 2 assembly is extended through the track telescopic connector 17 and is located directly below the lifting platform 3. Therefore, the robot arm 6 and the lifting platform 3 need to be raised as a whole to prevent interference between the two. At the same time, raising the robot arm 6 during walking can also prevent the robot arm 6 from colliding with ground objects and causing unnecessary losses.

[0071] like Figure 1 As shown, when the robot starts cutting, the telescopic leg portion 171 of the telescopic leg 13 extends downward, thereby lifting the entire robot away from the ground, causing the robot arm 6 to become higher and higher, while the place where the tower material needs to be cut is closer to the ground, so the lifting column 5 is needed to lower the height of the lifting platform 3 so that the base of the robot arm 6 is at a suitable working height. At this time, the crawler telescopic connector 17 retracts the crawler track 2 assembly on the left to provide space for the lifting and lowering of the robot arm 6 and the lifting platform 3.

[0072] Combination Figure 7 and Figure 8 As shown, the three sides of the tower material are marked as points A, B, and C respectively. When the robot starts to work, the staff manually controls the robot to pass through the three points A, B, and C around the tower material in turn. Points A and C are the approximate positions corresponding to the side inclined support, and point B is the approximate working position of the robot.

[0073] During manual operation, the laser radar 9 starts working, and the robot scans and builds maps through the SLAM algorithm. After the robot reaches point C, it autonomously navigates to point B and starts working. At this time, the four telescopic legs 13 extend accordingly through the data returned by the inertial navigation unit 12, and adjust the robot platform to be parallel to the tower material ground.

[0074] After the robot is lifted up as a whole by the telescopic legs 13, the crawler 2 assembly begins to retract, and then the lifting column 5 controls the lifting platform 3 to start descending until it reaches a height suitable for the operation of the robot arm 6. Then the two robot arms 6 start to move, and based on the positions of points A and C in the map, the robot arms 6 on both sides are extended to the two sides to support the inclined support closer.

[0075] During this process, the robot turns on the line scanner 8 on the cutting gun 7 to measure the distance between the cutting gun 7 and the tower material in real time. When the distance meets the cutting distance requirement, the gas cylinder 11 is turned on and the cutting gun 7 starts flame cutting the tower material. When the line scan camera can no longer detect the distance information between the tower material and the cutting gun 7, it means that the diagonal supports on both sides are completely cut off. At this time, the mechanical arms 6 on both sides begin to move towards the center to cut the middle support. After the middle support is completely cut, the staff will operate the robot to move to the next point for cutting.

[0076] It should be noted that the above description of the disclosed embodiments enables professionals and technicians in the field to implement or use the present application. Various modifications to these embodiments will be apparent to professionals and technicians in the field, and the general principles defined herein can be implemented in other embodiments without departing from the scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features disclosed herein.

[0077] In the description of the present invention, it should be noted that the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0078] In the description of this document, terms such as "up", "down", "left", "right", "front", "back", "top", "bottom", "inside", "outside", "middle", "vertical", "horizontal", "lateral", and "longitudinal" indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only used to illustrate the relative positional relationships between the various components or components, and do not particularly limit the specific installation orientations of the various components or components.

[0079] In the description of this document, some terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances.

[0080] In the description of this document, the terms "installed", "set", "provided with", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0081] The structures, proportions, sizes, etc. drawn in the drawings in this application are only used to match the contents disclosed in this technical briefing book for technical personnel in this field to understand and read, and are not used to limit the restrictive conditions for the implementation of this application. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in this application without affecting the effects and purposes that can be achieved by this application.

[0082] The terms used in this document are those common terms currently widely used in the art in consideration of the functions of the present disclosure, but these terms may vary according to the intention of a person of ordinary skill in the art, precedents, or new technologies in the art. In addition, specific terms may be selected by the applicant, and in this case, their detailed meanings will be described in the detailed description of the present disclosure. Therefore, the terms used in the document should not be understood as simple names, but rather as an overall description based on the meaning of the terms and the present disclosure.

[0083] Flowcharts or text are used in this document to illustrate the operating steps performed according to the embodiments of the present application. It should be understood that the operating steps in the embodiments of the present application are not necessarily accurately performed in the order of recording. On the contrary, various steps can be processed in reverse order or simultaneously as needed. At the same time, other operations can also be added to these processes, or a certain step or several steps can be removed from these processes.

[0084] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A dual-arm intelligent robot for tower material cutting, comprising a vehicle body platform and two sets of crawler assemblies, both of which are located below the vehicle body platform, the crawler assembly comprising a crawler, two traveling gears and a crawler support body, the crawler support body being located on the inner side of the crawler and between the two traveling gears, characterized in that: One side of the vehicle body platform is connected to two mechanical arms arranged at intervals, and cutting guns are installed on both of the mechanical arms; A horizontally retractable track connecting piece is connected between the track supporting bodies of the two groups of track assemblies, the vehicle body platform is connected to the track retractable connecting piece, and a driving unit for driving the retractable movement of the track retractable connecting piece is provided between the two groups of track assemblies.

2. A dual-arm intelligent robot for tower material cutting according to claim 1, characterized in that: The crawler telescopic connecting member comprises a fixed part and a telescopic part, at least one telescopic part is provided, the telescopic part is telescopically matched with the fixed part, and the vehicle body platform is connected to the fixed part.

3. The dual-arm intelligent robot for tower material cutting according to claim 2, characterized in that: There are two crawler telescopic connecting parts, which are arranged horizontally with each other. Two supporting blocks arranged parallel to each other are connected to the crawler telescopic connecting parts. The top of the supporting block is located above the crawler, and the vehicle body platform is connected to the supporting block.

4. The dual-arm intelligent robot for tower material cutting according to claim 3, characterized in that: The crawler telescopic connection piece has two telescopic parts, and the two telescopic parts are respectively telescopically matched with the fixed part in opposite directions, and one end of the two telescopic parts of the crawler telescopic connection piece away from the fixed part is respectively connected to the two crawler support bodies; The driving unit is a chassis telescopic cylinder, and two chassis telescopic cylinders are provided. The output shafts of the two chassis telescopic cylinders are respectively connected to the two track support bodies, and one end of the cylinder bodies of the two chassis telescopic cylinders are respectively connected to the two support blocks.

5. A dual-arm intelligent robot for tower material cutting according to any one of claims 1 to 4, characterized in that: A lifting platform is provided on one side of the vehicle body platform, and the two mechanical arms are respectively installed on both sides of the lifting platform; a 7-shaped fixing plate is connected to one side of the vehicle body platform, a lifting column is connected to the fixing plate, and the output end of the lifting column is connected to the lifting platform.

6. A dual-arm intelligent robot for tower material cutting according to any one of claims 1 to 4, characterized in that: It also includes four telescopic legs, wherein the telescopic legs include a leg fixing portion and a leg telescopic portion, and the leg telescopic portion and the leg fixing portion are telescopically matched; Each of the telescopic legs is connected to a vertical telescopic cylinder for driving its vertical telescopic movement; two of the four telescopic legs form a group, and the two groups of telescopic legs are respectively located on the front and rear sides of the vehicle body platform; the two telescopic legs in the same group are symmetrically arranged on the left and both sides of the vehicle body platform; a transverse telescopic cylinder for driving the two telescopic legs to move transversely is connected between the two telescopic legs in the same group.

7. The dual-arm intelligent robot for tower material cutting according to claim 6, characterized in that: There are two groups of transverse telescopic cylinders between the two telescopic legs in the same group, the telescopic ends of the two groups of transverse telescopic cylinders are respectively connected to the leg fixing parts of the two telescopic legs, and the fixing parts of the two groups of transverse telescopic cylinders are connected to the vehicle body platform.

8. The dual-arm intelligent robot for tower material cutting according to claim 6, characterized in that: An inertial navigation unit is installed on the vehicle body platform.

9. A dual-arm intelligent robot for tower material cutting according to any one of claims 1 to 4, characterized in that: A laser radar is arranged between the two mechanical arms, and a line scanner is installed on the mechanical arms near the cutting gun.

10. A dual-arm intelligent robot for tower material cutting according to any one of claims 1 to 4, characterized in that: The vehicle body platform is provided with a plurality of gas cylinders, and a gas cylinder bracket is connected to the vehicle body platform. One end of the gas cylinder bracket is provided with a plurality of through holes, and the ends of the plurality of gas cylinders pass through the plurality of through holes on the gas cylinder bracket in sequence.

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