A double-robot arm intelligent robot for tower material cutting

Abstract

The present application belongs to the technical field of cutting equipment, and specifically discloses a double-mechanical-arm intelligent robot for cutting tower material, which comprises a vehicle platform and two groups of track assemblies, both of which are located below the vehicle platform, each track assembly comprises a track, two walking gears and a track support body, the track support body is located on the inner side of the track and between the two walking gears, one side of the vehicle platform is connected with two mechanically arms arranged at intervals, and a cutting gun is installed on each of the two mechanically arms; the track support bodies of the two groups of track assemblies are connected with a track telescopic connecting piece capable of horizontal telescopic expansion, the vehicle platform is connected with the track telescopic connecting piece, and a driving unit for driving the telescopic movement of the track telescopic connecting piece is arranged between the two groups of track assemblies. The present application can automatically cut the tower material of a power transmission line and improve the efficiency of demolition work.

Description

Technical Field

[0001] This invention relates to the field of cutting equipment technology, and more specifically to a dual-arm intelligent robot for cutting tower materials. Background Technology

[0002] Transmission towers play a vital role in power transmission networks. Over time, these towers may need to be dismantled due to aging, damage, technological upgrades, or line replacements. Traditional transmission towers are typically constructed using steel and concrete. With increasing service life, the towers gradually experience corrosion, fatigue, and damage, which can affect their stability and safety. To maintain the safety and stability of the power transmission system, it is necessary to periodically dismantle these aging transmission towers.

[0003] Transmission line towers are mostly built in mountainous areas, where roads are rugged. The main methods of dismantling tower materials rely on manual cutting and the use of simple mechanical equipment. Manual operation is inefficient and labor costs are high when cutting and dismantling transmission tower materials.

[0004] With the increasing maintenance and replacement of transmission towers, traditional manual and mechanical dismantling methods can no longer meet the demands for efficiency, safety, and low risk. Summary of the Invention

[0005] This invention provides a dual-arm intelligent robot for tower cutting, which aims to automatically cut transmission line tower materials and improve dismantling efficiency.

[0006] The present invention is achieved through the following technical solution: a dual-arm intelligent robot for tower material cutting, comprising a vehicle platform and two sets of track assemblies, both sets of track assemblies being located below the vehicle platform, each track assembly comprising a track, two traveling gears and a track support, the track support being located inside the track and between the two traveling gears, and two spaced-apart robotic arms connected to one side of the vehicle platform, each robotic arm being equipped with a cutting gun;

[0007] A horizontally retractable track telescopic connector is connected between the track supports of the two sets of track assemblies. The vehicle platform is connected to the track telescopic connector, and a drive unit for driving the track telescopic connector to retract is provided between the two sets of track assemblies.

[0008] In this solution, two sets of tracked components can drive the entire robot to move, and the two sets of tracked components serve as the mobile chassis of the entire robot, making it suitable for use on rugged mountain roads. When the two robotic arms are working, they can drive the cutting gun to automatically cut the tower material, eliminating the need for manual cutting and dismantling, thereby effectively improving the efficiency of dismantling work.

[0009] Furthermore, the robot in this solution is a dual-arm system, with both arms located on the same side, enabling it to cut the diagonal supports on both sides of the tower material. This reduces the need for the robot to frequently move and adjust its posture, thereby improving the overall operating efficiency of the machine.

[0010] In addition, this solution places two robotic arms on one side of the vehicle platform. This allows the robotic arms to extend outwards sufficiently during operation, resulting in a larger cutting range. However, having two robotic arms on the same side can cause the overall weight of the vehicle to become unbalanced during movement, making it prone to tipping over. To address this issue, this solution incorporates a horizontally retractable track telescopic connector between the track supports of the two track assemblies. When the robot is moving, the drive unit extends the track telescopic connector, increasing the distance between the two track assemblies and thus increasing the width of the vehicle. This balances the weight of the entire vehicle platform and effectively prevents tipping over.

[0011] When the robot is performing a cutting operation, the track assembly can be retracted to reduce the distance between the two sets of track assemblies, thereby reducing the space occupied and making the cutting operation easier.

[0012] Furthermore, the track telescopic connector includes a fixed part and a telescopic part, with at least one telescopic part. The telescopic part and the fixed part are telescopically engaged, and the vehicle platform is connected to the fixed part.

[0013] Beneficial effects: In this solution, the vehicle platform is connected to the fixed part of the track telescopic connector, which can ensure the stable connection of the vehicle platform and the normal telescopic movement between the telescopic part and the fixed part.

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

[0015] Beneficial effects: The two track telescopic connectors in this solution can improve the support stability of the vehicle platform. At the same time, the setting of the support blocks makes it easier to connect with the vehicle platform. The top of the two support blocks is located above the track, which can prevent interference between the installation of the track and the vehicle platform.

[0016] Furthermore, the track telescopic connector has two telescopic parts, which are telescopically engaged with the fixed part in opposite directions. The ends of the two telescopic parts away from the fixed part are respectively connected to the two track supports.

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

[0018] Beneficial effects: The telescopic connector in this solution has two telescopic parts, which allows both sets of track components to move. This allows the distance between the two sets of track components to 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 platform, and two robotic arms are respectively installed on both sides of the lifting platform; a 7-shaped fixing plate is connected to one side of the vehicle platform, and a lifting column is connected to the fixing plate, with the output end of the lifting column connected to the lifting platform.

[0020] Beneficial effects: In this solution, the robotic arm is mounted on a lifting platform, and the lifting column can drive the lifting platform to produce lifting motion. In this solution, the lifting column can control the height of the lifting platform and thus control the height of the robotic arm. When the robot is walking, the track assembly extends, thereby expanding the entire walking width to accommodate the weight of the entire vehicle platform. Therefore, it is necessary to raise the robotic arm as a whole to prevent interference with the extension of the track assembly.

[0021] Simultaneously, raising the robotic arm while it moves can prevent it from colliding with objects on the ground and causing unnecessary damage. When the robot begins cutting operations, the lifting column can adjust the height of the robotic arm, ensuring it is at a suitable working height.

[0022] Furthermore, it also includes four telescopic outriggers, each telescopic outrigger comprising a fixed outrigger portion and a telescopic outrigger portion, wherein the telescopic outrigger portion and the fixed outrigger portion are telescopically engaged.

[0023] Each of the telescopic outriggers is connected to a vertical telescopic cylinder that drives its vertical telescopic movement; two of the four telescopic outriggers form a group, and the two groups of telescopic outriggers are located on the front and rear sides of the vehicle platform, respectively; the two telescopic outriggers in the same group are symmetrically arranged on the left and sides of the vehicle platform; a lateral telescopic cylinder that drives the two telescopic outriggers to move laterally is connected between the two telescopic outriggers in the same group.

[0024] Beneficial effects: Before cutting, the robot extends its telescopic outriggers to lift the entire robot off the ground. This is similar to how a heavy crane deploys its outriggers in advance during hoisting operations, providing stability to the entire work platform and preventing the robot from tipping over.

[0025] Meanwhile, the two telescopic outriggers in the same group are connected by a lateral telescopic cylinder that drives the two telescopic outriggers to move laterally. This provides more stable support during cutting operations, while the lateral telescopic cylinder retracts the telescopic outriggers during walking, thereby reducing their size and facilitating movement.

[0026] Furthermore, there are two sets of lateral telescopic cylinders between the two telescopic outriggers in the same group. The telescopic ends of the two sets of lateral telescopic cylinders are respectively connected to the outrigger fixing parts of the two telescopic outriggers, and the fixing parts of the two sets of lateral telescopic cylinders are connected to the vehicle platform.

[0027] Beneficial effects: The two sets of lateral telescopic cylinders in this solution can extend or retract the telescopic outriggers located on both sides of the vehicle platform, thereby facilitating flexible adjustment of the position of the telescopic outriggers on both sides of the vehicle platform according to the actual situation, making it more suitable for flexibly adjusting the robot's cutting posture during the cutting operation.

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

[0029] Beneficial Effects: This solution combines an inertial navigation unit with four telescopic outriggers. When outriggers need to extend, the inertial unit feeds back the real-time measured vehicle tilt angle attitude data to the four outriggers. An attitude adjustment algorithm, combined with the robot's physical length, converts the attitude data into the corresponding extension / retraction amount for each outrigger, thus adjusting the platform's level. This approach ensures that the robotic arm base plane is parallel to the tower base plane during operation, and both robotic arms are at the same horizontal height relative to the tower, facilitating attitude adjustment and reducing algorithm complexity.

[0030] Furthermore, a lidar is provided between the two robotic arms, and a wired scanner is installed on the robotic arm near the cutting gun.

[0031] Beneficial effects: This solution incorporates a LiDAR system between the two robotic arms, enabling precise scanning and mapping of the surrounding environment to determine the robot's position relative to the tower material. A wired scanner is positioned at the end of the robotic arm, near the cutting torch, to accurately determine the distance between the cutting torch and the tower material, allowing for real-time adjustment of the cutting torch's cutting posture.

[0032] Furthermore, the vehicle platform is provided with multiple gas cylinders, and a gas cylinder bracket is connected to the vehicle platform. One end of the gas cylinder bracket has multiple through holes, and the ends of the multiple gas cylinders pass through the multiple through holes on the gas cylinder bracket in sequence.

[0033] Beneficial effects: Since this robot is used in remote mountainous areas, it is very inconvenient to refill the gas cylinders. The robot in this solution is designed to carry a gas cylinder group with multiple gas cylinders, providing sufficient cutting power for the robot's cutting operation. The gas cylinder bracket and the through holes set on the gas cylinder bracket can limit the position of the gas cylinders, ensuring the stability of the gas cylinder installation. Attached Figure Description

[0034] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0035] Figure 1 This is a perspective view of the working state of a dual-arm intelligent robot for tower material cutting according to an embodiment of the present invention;

[0036] Figure 2 This is a front view of a dual-arm intelligent robot for tower material cutting in its working state, as described in an embodiment of the present invention.

[0037] Figure 3 This is a perspective view of a dual-arm intelligent robot for tower material cutting in its walking state, as described in an embodiment of the present invention.

[0038] Figure 4 This is a front view of a dual-arm intelligent robot for tower material cutting in its walking state, as described in an embodiment of the present invention.

[0039] Figure 5 This is a perspective view of the connection between two sets of track components and support blocks, track telescopic connectors and chassis telescopic cylinders in an embodiment of a dual-arm intelligent robot for tower material cutting according to the present invention.

[0040] Figure 6 This is a perspective view from another direction of an embodiment of a dual-arm intelligent robot for tower material cutting according to the present invention, showing the connection between the two sets of track components and the support block, the track telescopic connector and the chassis telescopic cylinder.

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

[0042] Figure 8 This is a schematic diagram illustrating the state of a dual-arm intelligent robot for tower material cutting, according to the present invention.

[0043] The attached diagram shows the markings and corresponding component names:

[0044] Vehicle platform 1, track 2, track support 201, lifting platform 3, fixed plate 4, lifting column 5, robotic arm 6, cutting gun 7, line scanner 8, lidar 9, gas cylinder bracket 10, gas cylinder 11, inertial navigation unit 12, telescopic outrigger 13, vertical telescopic cylinder 14, lateral telescopic support rod 15, lateral telescopic cylinder 16, track 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 Implementation

[0045] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0046] like Figures 1-2 As shown, this embodiment provides a dual-arm intelligent robot for tower material cutting, including a vehicle platform 1 and two sets of track assemblies 2. Both sets of track assemblies 2 are located below the vehicle platform 1. Each track assembly 2 includes a track 2, two traveling gears, and a track support 201. The track support 201 is located inside the track 2 and between the two traveling gears. The two sets of track assemblies 2 form the mobile chassis of the entire vehicle platform 1. The track assemblies 2 are existing technology and are suitable for mountainous mobile transportation.

[0047] Two spaced-apart robotic arms 6 are connected to one side of the vehicle platform 1. Each robotic arm 6 is equipped with a cutting gun 7. In this embodiment, the cutting gun 7 is a flame cutting gun 7. The robotic arm 6 has six degrees of freedom, enabling it to drive the cutting gun 7 to cut the tower material in various directions. In this invention, a single robotic arm 6 requires frequent movement of the robot's track 2 to move its base during operation, significantly reducing the robot's work efficiency, in order to ensure the cutting gun 7's position and orientation meet the cutting requirements. This invention provides a dual-robotic arm 6 system, with the robotic arms 6 arranged on the same side. During use, the two six-degree-of-freedom robotic arms 6 independently handle the cutting of the diagonal supports on both sides of the tower material, reducing the robot's frequent movement and posture adjustments, thereby improving the overall work efficiency.

[0048] Combination Figure 2 As shown, a horizontally retractable track telescopic connector 17 is connected between the track support bodies 201 of the two track assemblies 2.

[0049] The vehicle platform 1 is connected to the track telescopic connector 17. A drive unit for driving the telescopic movement of the track telescopic connector 17 is provided between the two sets of track 2 assemblies. Specifically: [The text abruptly ends here, likely due to an incomplete sentence or missing information.] Figure 4As shown, the track telescopic connector 17 includes a fixed part 170 and a telescopic part 171. The telescopic part 171 is provided at least once. The telescopic part 171 and the fixed part 170 are telescopically engaged. The vehicle platform 1 is connected to the fixed part 170.

[0050] Combination Figure 5 and Figure 6 As shown, in this embodiment, there are two track telescopic connectors 17, which are arranged horizontally relative to each other. Two parallel support blocks 18 are connected to each track telescopic connector 17. The support blocks 18 span across the two track telescopic connectors 17, and the top of the support blocks 18 is located above the track 2. The vehicle platform 1 is connected to the support blocks 18. In this embodiment, the vehicle 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 track 2, interference between the vehicle platform 1 and the track 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 track telescopic connectors 17. The connecting plate 22 connects the two track 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 realizing the connection and fixation between them and the two track telescopic connectors 17.

[0052] Combination Figure 4 As shown, in this embodiment, the track telescopic connector 17 has two telescopic parts 171. The two telescopic parts 171 are telescopically engaged with the fixed part 170 in opposite directions. The ends of the two telescopic parts 171 in the track telescopic connector 17 that are away from the fixed part 170 are respectively connected to the two track supports 201 by bolts or welding.

[0053] Combination Figure 5 and Figure 6 As shown, in this embodiment, the drive unit is a chassis telescopic cylinder 19. Two chassis telescopic cylinders 19 are provided, with their output shafts connected to two track supports 201 respectively. One end of the cylinder body of each chassis telescopic cylinder 19 is connected to two support blocks 18 respectively. In this embodiment, ear plates 21 are welded and fixed to both the track supports 201 and the support blocks 18 connected to the output shafts and cylinder bodies of the chassis telescopic cylinders 19. The ear plates 21 on the track supports 201 and support blocks 18, respectively connected to the output shafts and cylinder bodies of the chassis telescopic cylinders 19, are rotatably connected via a rotating shaft. This makes the connection of the chassis telescopic cylinders 19 a flexible connection with a certain swing amplitude, thus adapting to the swinging or shaking of the track 2 during movement.

[0054] In another embodiment, the track telescopic connector 17 has a telescopic part 171, which is connected to the track support 201 near the robotic arm 6, thereby facilitating the drive of the track support 201 and the track 2 near the robotic arm 6 to extend outward, thereby maintaining the balance of the entire vehicle body.

[0055] like Figure 6 As shown in this embodiment, two parallel vertical plates 20 are also connected between the two track telescopic connectors 17. The vertical plates 20 are perpendicular to the connecting plate 22. The two ends of the two vertical plates 20 are welded and fixed to the opposite sides of the two track telescopic connectors 17. Both vertical plates 20 have through holes. The cylinder bodies of the two chassis telescopic cylinders 19 pass through the through holes of the two vertical plates 20 respectively. In this way, the two vertical plates 20 can support the cylinder bodies of the two chassis telescopic cylinders 19 respectively, ensuring the stability of the entire installation structure.

[0056] Furthermore, in another embodiment, such as Figure 1 and Figure 2 As shown, a lifting platform 3 is provided on one side of the vehicle platform 1, and two robotic 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 platform 1. In this embodiment, the fixing plate 4 is welded or bolted to the left side of the vehicle platform 1. A lifting column 5 is connected to the fixing plate 4. 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 the DGHT07 type lifting column 5.

[0057] When the robot walks, the track 2 components extend to increase the width between the two track 2 components, thereby keeping the weight of the entire robot balanced and effectively preventing tipping over; when the robot is performing a cutting operation, the track 2 components retract to provide space for the lifting of the robotic arm 6 and the lifting platform 3.

[0058] Furthermore, in another embodiment, such as Figure 1 As shown, a dual-arm intelligent robot for tower material cutting also includes four telescopic legs 13. Each telescopic leg 13 includes a leg fixing part 170 and a leg telescopic part 171. The leg telescopic part 171 and the leg fixing part 170 telescopically cooperate with each other. In the telescopic structure of the present invention, the fixing part 170 is the part that keeps fixed, while the telescopic part 171 is the part that can generate telescopic movement.

[0059] Each telescopic outrigger 13 is connected to a vertical telescopic cylinder 14 that drives its vertical telescopic movement; two telescopic outriggers 13 form a group of four, and the two groups of telescopic outriggers 13 are located on the front and rear sides of the vehicle platform 1, respectively; the two telescopic outriggers 13 in the same group are symmetrically arranged on the left and sides of the vehicle platform 1; a lateral telescopic cylinder 16 that drives the two telescopic outriggers 13 to move laterally is connected between the two telescopic outriggers 13 in the same group.

[0060] Two sets of transverse telescopic cylinders 16 are provided between the two telescopic outriggers 13 in the same group. The telescopic ends of the two sets of transverse telescopic cylinders 16 are respectively connected to the outrigger fixing parts 170 of the two telescopic outriggers 13. The fixing parts 170 of the two sets of transverse telescopic cylinders 16 are connected to the vehicle platform 1. In this way, the horizontal position of the telescopic outriggers 13 located on both sides of the vehicle platform 1 can be adjusted, making it more flexible and convenient to use.

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

[0062] In this invention, the vertical telescopic cylinder 14, the horizontal 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, during the cutting operation, the robot extends its telescopic outriggers 13 to lift the entire robot off the ground. This function is similar to how a heavy crane deploys its outriggers in advance during hoisting operations to provide stability to the entire work platform and prevent the robot from tipping over.

[0064] Furthermore, in another embodiment, a LiDAR 9 is provided between the two robotic arms 6, and a wired scanner 8 is installed on the robotic arm 6 near the cutting gun 7. In this embodiment, the LiDAR 9 provided between the two robotic arms 6 is a 32-line LiDAR 9, which can accurately scan and map the surrounding environment to determine the position of the robot relative to the tower material. The wired scanner 8 installed on the robotic arm 6 near the cutting gun 7 (i.e., the wired scanner 8 is arranged near the cutting gun 7 at the end of the robotic arm 6) 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. The inertial navigation unit 12 can be any inertial navigation module in the prior art. This invention employs a combination of the inertial navigation unit 12 and four telescopic outriggers 13. When the telescopic outriggers 13 need to extend, the inertial navigation unit 12 feeds back the real-time measured tilt angle attitude data of the vehicle platform 1 to the four telescopic outriggers 13. Through an attitude adjustment algorithm combined with the robot's physical length, the attitude data is converted into the corresponding extension and retraction amounts of each telescopic outrigger 13, achieving the purpose of adjusting the platform's levelness. The advantage of this approach is that during operation, the base plane of the robotic arm 6 is parallel to the base plane of the tower material, and the two robotic arms 6 are at the same horizontal height relative to the tower material, facilitating attitude adjustment of the two robotic arms 6 and reducing the complexity of the algorithm.

[0066] Furthermore, combined with Figure 1 As shown, in another embodiment, four gas cylinders 11 are provided on the vehicle platform 1, and a gas cylinder bracket 10 is connected to the vehicle platform 1. In this embodiment, the gas cylinder bracket 10 is connected to the vehicle platform 1 by bolts. One end of the gas cylinder bracket 10 has four through holes. The four gas cylinders 11 are located inside 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 connection end of the gas cylinder 11 is located outside the gas cylinder bracket 10, which facilitates the 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 cylinders 11, making the installation of the gas cylinders 11 more stable and firm.

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

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

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

[0070] like Figure 1 As shown, the lifting column 5 is located on one side of the vehicle body, and its function is to control the height of the lifting platform 3, thereby controlling the height of the robotic arm 6. Combined with... Figure 3 and Figure 4As shown, when the robot is walking, the left track 2 component extends out through the track telescopic connector 17 and is located directly below the lifting platform 3. Therefore, it is necessary to raise the robotic arm 6 and the lifting platform 3 as a whole to prevent them from interfering with each other. At the same time, raising the robotic arm 6 during walking can also prevent the robotic arm 6 from colliding with objects on the ground and causing unnecessary damage.

[0071] like Figure 1 As shown, when the robot starts cutting, the telescopic legs 13 extend downwards, raising the robot as a whole away from the ground. This causes the robotic arm 6 to rise higher and higher. Since the area of ​​the tower material to be cut is close to the ground, the lifting column 5 needs to lower the height of the lifting platform 3 so that the base of the robotic arm 6 is at a suitable working height. At this time, the track telescopic connector 17 retracts the track 2 assembly on the left side, providing space for the lifting of the robotic arm 6 and the lifting platform 3.

[0072] Combination Figure 7 and Figure 8 As shown, the three sides of the tower are marked as points A, B, and C respectively. The robot starts working by manually controlling the robot to pass through the three points A, B, and C around the tower in sequence. Points A and C are the approximate positions corresponding to the side diagonal bracing, and point B is the approximate working position of the robot.

[0073] During manual operation, the LiDAR 9 starts working, and the robot scans and maps using the SLAM algorithm. After reaching point C, the robot autonomously navigates to point B to begin work. At this time, the four telescopic legs 13 extend accordingly based on the data returned by the inertial navigation unit 12, adjusting the robot platform to be parallel to the tower material ground.

[0074] After the robot is raised as a whole by the telescopic outriggers 13, the track assembly 2 begins to retract. Then, the lifting column 5 controls the lifting platform 3 to begin to descend until it reaches a suitable height for the robotic arms 6 to operate. Then, the two robotic arms 6 begin to move, and based on the positions of points A and C on the map, the robotic arms 6 on both sides extend diagonally to support the robot.

[0075] During this process, the robot activates 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. Once the distance meets the cutting distance requirements, the gas cylinder 11 is opened, and the cutting gun 7 begins flame cutting the tower material. When the line scanner can no longer detect the distance information between the tower material and the cutting gun 7, it indicates that the diagonal supports on both sides have been completely cut. At this point, the robotic arms 6 on both sides begin to move towards the center to cut the central support. After the central support is completely cut, the robot is then operated by a worker to move to the next location for cutting.

[0076] It should be noted that the above description of the disclosed embodiments enables those skilled in the art to implement or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0077] In the description of this invention, it should be noted that the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0078] In the description of this document, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the attached drawings. They are only used to describe the relative positional relationship between the components or parts and do not specifically limit the specific installation orientation of each component or part.

[0079] In the description of this document, some terms may be used to indicate not only orientation or positional relationship, but also other meanings. For example, the term "above" may also be used in some cases to indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances.

[0080] In the description of this document, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0081] The structures, proportions, sizes, etc., drawn in the accompanying drawings of this application are only used to complement the content disclosed in this technical solution, so that those skilled in the art can understand and read them. They are not intended to limit the conditions under which this application can be implemented, and therefore have no substantial technical significance. Any modification to the structure, change in the proportional relationship, or adjustment of the size shall still fall within the scope of the technical content disclosed in this application, provided that it does not affect the effect and purpose that this application can produce.

[0082] The terminology used in this document is that which is currently widely used in the art in consideration of the functionality of this disclosure; however, these terms may vary depending on the intent, precedent, or new technology of those skilled in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of this disclosure. Therefore, the terminology used in this document should not be construed as simple names, but rather based on the meaning of the terms and the overall description of this disclosure.

[0083] This document uses flowcharts or text to illustrate the operational steps performed according to embodiments of this application. It should be understood that the operational steps in the embodiments of this application are not necessarily performed precisely in the order described. Instead, as needed, various steps can be processed in reverse order or simultaneously. Furthermore, other operations can be added to these processes, or one or more operations can be removed from these processes.

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

Claims

1. A dual-arm intelligent robot for cutting tower materials, comprising a vehicle platform and two sets of track assemblies, both sets of track assemblies being located below the vehicle platform, each track assembly comprising a track, two traveling gears, and a track support, wherein the track support is located inside the track and between the two traveling gears, characterized in that... Two spaced-apart robotic arms are connected to one side of the vehicle platform, and each robotic arm is equipped with a cutting gun. A horizontally retractable track telescopic connector is connected between the track supports of the two sets of track assemblies. The vehicle platform is connected to the track telescopic connector. A drive unit for driving the track telescopic connector to retract is provided between the two sets of track assemblies. The track telescopic connector includes a fixed part and a telescopic part, and at least one telescopic part is provided. The telescopic part and the fixed part telescopically cooperate with each other, and the vehicle platform is connected to the fixed part. The track telescopic connector is provided in two parts, which are arranged horizontally relative to each other. Two parallel support blocks are connected to each track telescopic connector. The top of the support blocks is located above the track. The vehicle platform is connected to the support blocks. The track telescopic connector has two telescopic parts, which are telescopically engaged with the fixed part in opposite directions. The ends of the two telescopic parts away from the fixed part are respectively connected to the two track supports. The drive unit is a chassis telescopic cylinder. There are two chassis telescopic cylinders. The output shafts of the two chassis telescopic cylinders are respectively connected to the two track supports. One end of the cylinder body of the two chassis telescopic cylinders is respectively connected to the two support blocks. A lifting platform is provided on one side of the vehicle platform, and two robotic arms are respectively installed on both sides of the lifting platform; a 7-shaped fixing plate is connected to one side of the vehicle platform, and a lifting column is connected to the fixing plate, with the output end of the lifting column connected to the lifting platform.

2. The dual-arm intelligent robot for tower material cutting according to claim 1, characterized in that, It also includes four telescopic outriggers, each telescopic outrigger comprising a fixed outrigger portion and a telescopic outrigger portion, wherein the telescopic outrigger portion and the fixed outrigger portion are telescopically engaged; Each of the telescopic outriggers is connected to a vertical telescopic cylinder that drives its vertical telescopic movement; two of the four telescopic outriggers form a group, and the two groups of telescopic outriggers are located on the front and rear sides of the vehicle platform, respectively; the two telescopic outriggers in the same group are symmetrically arranged on the left and sides of the vehicle platform; a lateral telescopic cylinder that drives the two telescopic outriggers to move laterally is connected between the two telescopic outriggers in the same group.

3. The dual-arm intelligent robot for tower material cutting according to claim 2, characterized in that, Two sets of lateral telescopic cylinders are provided between the two telescopic outriggers in the same group. The telescopic ends of the two sets of lateral telescopic cylinders are respectively connected to the outrigger fixing parts of the two telescopic outriggers, and the fixing parts of the two sets of lateral telescopic cylinders are connected to the vehicle platform.

4. The dual-arm intelligent robot for tower material cutting according to claim 2, characterized in that, An inertial navigation unit is installed on the vehicle platform.

5. A dual-arm intelligent robot for tower material cutting according to claim 1, characterized in that, A lidar is provided between the two robotic arms, and a wired scanner is installed on each robotic arm near the cutting gun.

6. A dual-arm intelligent robot for tower material cutting according to claim 1, characterized in that, The vehicle platform is equipped with multiple gas cylinders, and a gas cylinder bracket is connected to the vehicle platform. One end of the gas cylinder bracket has multiple through holes, and the ends of the multiple gas cylinders pass through the multiple through holes on the gas cylinder bracket in sequence.

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