Multifunctional hydraulic forcible entry robot

Abstract

The invention belongs to the technical field of forcible entry robots, and particularly relates to a multifunctional hydraulic forcible entry robot which comprises a chassis assembly and a mechanical arm, the mechanical arm comprises a fixing base, a first overturning hydraulic arm, a second overturning hydraulic arm, a breaking hammer assembly and a forcible entry clamp assembly, and the fixing base is installed on the chassis assembly; the lower end of the first overturning hydraulic arm is hinged to the fixing base, the upper end of the first overturning hydraulic arm is hinged to the second overturning hydraulic arm, the rotary hydraulic arm is rotationally arranged on the second overturning hydraulic arm, the breaking hammer assembly comprises a hydraulic breaking hammer and an overturning support, the hydraulic breaking hammer and the overturning support are rotationally arranged on the rotary hydraulic arm, and the hydraulic breaking hammer is arranged on the overturning support. The breaking-in clamp assembly comprises a driving clamp and a driven clamp, the driving clamp is rotationally arranged at the rear end of the rotary hydraulic arm, the driven clamp is arranged on the overturning support, and the breaking hammer assembly is matched with the breaking-in clamp assembly, so that automatic switching between the breaking hammer form and the breaking-in clamp form can be completed without disassembling or replacing a tool head.

Description

Technical Field

[0001] The present invention belongs to the technical field of demolition robots, and particularly relates to a multi-functional hydraulic demolition robot. Background Art

[0002] As special operation equipment, hydraulic demolition robots are widely used in fields such as fire rescue, earthquake collapse sites, and building demolition. In recent years, with the progress of hydraulic transmission and intelligent control technologies, demolition robots have gradually developed from single-function to multi-functional integration.

[0003] Traditional demolition equipment usually relies on independent hydraulic breakers or demolition pliers to complete operations. In order to improve efficiency, existing demolition robots usually have the function of tool switching through modular design, and realize function switching by disassembling and installing different tool heads. However, they still require manual intervention to replace components, which not only makes the operation process cumbersome, but also causes operation interruption and low efficiency when replacing tool heads. Especially in emergency rescue scenarios, it may delay the opportunity. In addition, the storage and switching mechanism of modular tool heads occupies a large space, increases the overall weight and complexity of the robot, and affects its mobility and stability. These problems seriously affect the practicability and reliability of demolition robots in dynamic environments.

[0004] Therefore, it is very necessary to study a multi-functional hydraulic demolition robot that realizes the rapid switching and collaborative operation of the functions of a breaker and a demolition plier without replacing any components. Through the cooperation of a rotatable breaker assembly and a linkage demolition plier assembly, the robotic arm can automatically switch between the breaker form and the demolition plier form according to instructions. This design not only solves the problem of low efficiency caused by tool switching in traditional equipment, but also avoids function interference through a compact mechanical structure, significantly improving the adaptability of the robot in narrow spaces and complex working conditions. Summary of the Invention

[0005] In view of the above deficiencies in the prior art, the present invention provides a multi-functional hydraulic demolition robot to solve the problems of cumbersome operation process and low efficiency in the prior art for realizing function switching by disassembling and installing different tool heads.

[0006] To solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A multi-functional hydraulic demolition robot, comprising: a chassis assembly and a robotic arm;

[0008] The chassis assembly includes a vehicle frame, drive tracks, a protective shed, and a rotating platform. The drive tracks are installed on the vehicle frame, and the protective shed is connected to the vehicle frame through the rotating platform;

[0009] The manipulator includes a fixed seat, a first flipping hydraulic arm, a second flipping hydraulic arm, a breaker assembly, and a demolition tongs assembly. The fixed seat is fixedly installed on the protective machine shed. The lower end of the first flipping hydraulic arm is hinged to the fixed seat, and the other end is hinged to the front end of the second flipping hydraulic arm. The rotating hydraulic arm is rotatably arranged at the front end of the second flipping hydraulic arm;

[0010] The breaker assembly includes a hydraulic breaker, a flipping bracket, and a second hydraulic motor. The hydraulic breaker is fixedly installed on the flipping bracket. The flipping bracket is rotatably arranged at the front end of the rotating hydraulic arm. The second hydraulic motor is connected to the flipping bracket;

[0011] The demolition tongs assembly includes a main tong, a third hydraulic motor, and a passive tong. The main tong is rotatably arranged below the rear end of the rotating hydraulic arm. The third hydraulic motor is connected to the main tong. The passive tong is fixedly connected above the flipping bracket. The front end of the main tong is in pressing fit with the flipping bracket. The breaker assembly and the demolition tongs assembly cooperate, and the manipulator can switch between the breaker form and the demolition tongs form.

[0012] Further, the chassis assembly further includes legs, and the legs are fixedly installed on the vehicle frame.

[0013] Further, a first hydraulic rod and a second hydraulic rod are arranged on the first flipping hydraulic arm. One end of the first hydraulic rod is hinged to the lower end of the first flipping hydraulic arm, and the other end of the first hydraulic rod is hinged to the rear end of the second flipping hydraulic arm. One end of the second hydraulic rod is hinged to the fixed seat, and the other end of the second hydraulic rod is hinged to the upper end of the first flipping hydraulic arm.

[0014] Further, a first hydraulic motor is further arranged on the second flipping hydraulic arm. The first hydraulic motor is fixedly connected to the front end of the second flipping hydraulic arm, and the rotating shaft of the first hydraulic motor is connected to the rotating hydraulic arm.

[0015] Further, a smooth rod, a slider, a hinge shaft, and a spring are arranged on the flipping bracket. The smooth rod is fixedly arranged on the side wall of the flipping bracket. The slider is slidably arranged on the smooth rod. The slider is connected to one side of the flipping bracket close to the hammer head of the breaker assembly through a spring. The hinge shaft is fixedly arranged on the slider, and the hinge shaft is hinged to the front end of the rotating hydraulic arm.

[0016] Furthermore, the smooth rod is inclined, and the side of the smooth rod close to the hammer head of the hydraulic breaker is inclined downward.

[0017] Furthermore, a connecting block is further arranged on the hydraulic breaker, and the connecting block is fixedly arranged on the hammer head of the hydraulic breaker.

[0018] Furthermore, a connection groove is provided at the upper end of the rotary hydraulic arm, and the connection groove cooperates with the connection block.

[0019] Furthermore, a clamping groove is provided on the flipping bracket.

[0020] Furthermore, a clamping block is provided at the front end of the active clamp, and the clamping block is in extrusion fit with the clamping groove.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. A multifunctional hydraulic demolition robot disclosed by the present invention, through the cooperation of the breaker assembly and the demolition clamp assembly, combined with a multi-degree-of-freedom hydraulic arm, can automatically switch between the breaker form and the demolition clamp form without disassembling or replacing the tool head during the operation process, significantly shortening the interruption time of the operation cycle, and improving the comprehensive utilization rate of the equipment and the adaptability to working conditions.

[0023] 2. A multifunctional hydraulic demolition robot disclosed by the present invention adopts the cooperative locking mechanism of the clamping groove-clamping block coupling mechanism and the elastic buffer component to ensure the structural stability after function switching. In the breaker form, the clamping block and the clamping groove form a rigid constraint; in the demolition clamp form, the impact kinetic energy of the hydraulic breaker is converted into the reciprocating vibration in a fixed direction of the passive clamp through the cooperation of the connection block and the connection groove, and at the same time, the spring provides dynamic reset, ensuring the mechanical transmission efficiency of the dual-mode operation and the operation reliability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is the structural schematic diagram of the present invention Figure 1 ;

[0025] Figure 2 is the structural schematic diagram of the present invention Figure 2 ;

[0026] Figure 3 is the structural schematic diagram of the manipulator;

[0027] Figure 4 is the structural schematic diagram of the breaker assembly Figure 1 ;

[0028] Figure 5 is the structural schematic diagram of the breaker assembly Figure 2 ;

[0029] Figure 6 is the structural schematic diagram of the rotary hydraulic arm;

[0030] Figure 7 is the structural schematic diagram of the active clamp;

[0031] Figure 8 shows the positional relationship between the breaker assembly and the demolition clamp assembly when in the breaker form;

[0032] Figure 9 For Figure 8 the enlarged structural schematic diagram at position A in the figure;

[0033] Figure 10 It shows the positional relationship between the breaker assembly and the demolition tongs assembly when the demolition tongs are in a form.

[0034] The reference numerals involved in the drawings are as follows:

[0035] 1. Chassis assembly; 11. Frame; 12. Driving track; 13. Outrigger; 14. Protective shed; 15. Rotary platform; 2. Manipulator; 21. Fixed seat; 22. First flipping hydraulic arm; 221. First hydraulic rod; 222. Second hydraulic rod; 23. Second flipping hydraulic arm; 231. First hydraulic motor; 24. Rotary hydraulic arm; 241. Connecting groove; 3. Breaker assembly; 31. Hydraulic breaker; 311. Connecting block; 32. Flipping bracket; 321. Smooth rod; 322. Slide block; 323. Hinge shaft; 324. Spring; 325. Card slot; 33. Second hydraulic motor; 4. Demolition tongs assembly; 41. Active tong; 411. Clamping block; 42. Third hydraulic motor; 43. Passive tong. Specific embodiments

[0036] In order to enable those skilled in the art to better understand the present invention, the technical solution of the present invention will be further described below with reference to the drawings and embodiments.

[0037] In the description of the present application, it should be noted that for orientation terms, such as the terms "center", "horizontal", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., the orientation and positional relationship indicated are based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific protection scope of the present application.

[0038] It should be noted that the terms "first", "second", etc. in the description and claims of the present application are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence.

[0039] Embodiment 1

[0040] In this embodiment, the present invention performs demolition work in the form of a breaker. Please refer to Figures 1 to 9 As shown, a multi-functional hydraulic demolition robot includes a chassis assembly 1 for realizing the movement and fixation of the demolition robot and a manipulator 2 for realizing the functions of a breaker and demolition tongs.

[0041] The chassis assembly 1 includes a frame 11, drive tracks 12, a protective shed 14, and a rotating platform 15. The drive tracks 12 are installed on the frame 11, and the protective shed 14 is connected to the frame 11 through the rotating platform 15. Correspondingly, the chassis assembly 1 further includes outriggers 13, and the outriggers 13 are fixedly installed on the frame 11.

[0042] The manipulator 2 includes a fixed seat 21, a first tilting hydraulic arm 22, a second tilting hydraulic arm 23, a breaker assembly 3, and a demolition tongs assembly 4.

[0043] The fixed seat 21 is fixedly installed on the protective shed 14. The lower end of the first tilting hydraulic arm 22 is hinged to the fixed seat 21, and the other end is hinged to the front end of the second tilting hydraulic arm 23. Specifically, a first hydraulic rod 221 and a second hydraulic rod 222 are provided on the first tilting hydraulic arm 22. One end of the first hydraulic rod 221 is hinged to the lower end of the first tilting hydraulic arm 22, and the other end of the first hydraulic rod 221 is hinged to the rear end of the second tilting hydraulic arm 23. One end of the second hydraulic rod 222 is hinged to the fixed seat 21, and the other end of the second hydraulic rod 222 is hinged to the upper end of the first tilting hydraulic arm 22. It can be understood that the first hydraulic rod 221 can drive the first tilting hydraulic arm 22 to tilt up and down around the hinge point between its lower end and the fixed seat 21, and the second hydraulic rod 222 can drive the second tilting hydraulic arm 23 to tilt up and down around the hinge point between its upper end and the first hydraulic rod 221.

[0044] The rotating hydraulic arm 24 is rotatably arranged at the front end of the second tilting hydraulic arm 23. Specifically, a first hydraulic motor 231 is further provided on the second tilting hydraulic arm 23. The first hydraulic motor 231 is fixedly connected to the front end of the second tilting hydraulic arm 23, and the rotating shaft of the first hydraulic motor 231 is connected to the rotating hydraulic arm 24. It can be understood that the first hydraulic motor 231 can drive the rotating hydraulic arm 24 to rotate synchronously.

[0045] The breaker assembly 3 includes a hydraulic breaker 31, a flipping bracket 32, and a second hydraulic motor 33. The hydraulic breaker 31 is fixedly installed on the flipping bracket 32. The flipping bracket 32 is rotatably arranged at the front end of the rotating hydraulic arm 24. The second hydraulic motor 33 is connected to the flipping bracket 32. It can be understood that the second hydraulic motor 33 can start the flipping bracket 32 and the hydraulic breaker 31 installed on the flipping bracket 32 to flip around the hinge point between the flipping bracket 32 and the front end of the rotating hydraulic arm 24. Specifically, when the manipulator 2 is in the breaker form, the flipping bracket 32 flips forward until the hammer head of the hydraulic breaker 31 faces forward. At this time, the flipping bracket 32 is in extrusion fit with the active clamp 41 to lock the hydraulic breaker 31. When the manipulator 2 is in the demolition clamp form, the flipping bracket 32 flips forward until the hammer head of the hydraulic breaker 31 faces backward. At this time, the hammer head of the hydraulic breaker 31 cooperates with the rotating hydraulic arm 24.

[0046] The demolition clamp assembly 4 includes an active clamp 41, a third hydraulic motor 42, and a passive clamp 43. The active clamp 41 is rotatably arranged below the rear end of the rotating hydraulic arm 24. The third hydraulic motor 42 is connected to the active clamp 41. It can be understood that the third hydraulic motor 42 can drive the active clamp 41 to flip around the hinge point, thereby realizing the opening and closing of the demolition clamp form. The passive clamp 43 is fixedly connected above the flipping bracket 32. It can be understood that the passive clamp 43 can flip together with the flipping bracket 32. The front end of the active clamp 41 is in extrusion fit with the flipping bracket 32. The breaker assembly 3 and the demolition clamp assembly 4 cooperate, and the manipulator 2 can switch between the breaker form and the demolition clamp form.

[0047] It should be noted that a clamping groove 325 is provided on the flipping bracket 32. Correspondingly, a clamping block 411 is provided at the front end of the active clamp 41. The clamping block 411 is in extrusion fit with the clamping groove 325. It can be understood that when the manipulator 2 is in the breaker form, the flipping bracket 32 flips forward until the hammer head of the hydraulic breaker 31 faces forward. The third hydraulic motor 42 drives the active clamp 41 to flip upward until the clamping block 411 at the front end of the active clamp 41 is clamped into the clamping groove 325 of the flipping bracket 32. At this time, the active clamp 41 locks the position of the hydraulic breaker 31, making it unable to flip and slide.

[0048] During operation, the chassis assembly 1 drives the whole robot to move by driving the crawlers 12. When moving to the demolition operation point, the whole chassis assembly 1 is fixed by releasing the outriggers 13.

[0049] The second hydraulic motor 33 drives the tipping bracket 32 to tip forward until the hammer head of the hydraulic breaker 31 faces forward. The third hydraulic motor 42 drives the active clamp 41 to tip upward until the latch 411 at the front end of the active clamp 41 is at least partially inserted into the slot 325 of the tipping bracket 32. At this time, the active clamp 41 locks the position of the hydraulic breaker 31, preventing it from tipping and sliding. At this time, the manipulator 2 switches to the breaker form.

[0050] Through the cooperation of the first tipping hydraulic arm 22, the second tipping hydraulic arm 23, and the rotating hydraulic arm 24, the hydraulic breaker 31 is driven to break the demolition object.

[0051] Embodiment 2

[0052] In this embodiment, the present invention performs the demolition work in the form of a demolition clamp. Please refer to Figure 10 as shown.

[0053] Specifically, a polished rod 321, a slider 322, a hinge shaft 323, and a spring 324 are provided on the tipping bracket 32. The polished rod 321 is fixedly arranged on the side wall of the tipping bracket 32. The slider 322 is slidably arranged on the polished rod 321. The slider 322 is connected to one side of the tipping bracket 32 close to the hammer head of the breaker assembly 3 through the spring 324. The hinge shaft 323 is fixedly arranged on the slider 322, and the hinge shaft 323 is hinged to the front end of the rotating hydraulic arm 24. It can be understood that when the hydraulic breaker 31 drives the tipping bracket 32 to move away from the hammer head, the slider 322 slides relative to the polished rod 321. At this time, the spring 324 is compressed by force. When the hydraulic breaker 31 drives the tipping bracket 32 to move towards the hammer head, the slider 322 slides relative to the polished rod 321. At this time, the spring 324 releases the elastic force and elongates, pushing the tipping bracket 32 to quickly reset.

[0054] A connecting block 311 is also provided on the hydraulic breaker 31. The connecting block 311 is fixedly arranged on the hammer head of the hydraulic breaker 31. Correspondingly, a connecting groove 241 is provided at the upper end of the rotating hydraulic arm 24. The connecting groove 241 cooperates with the connecting block 311. It can be understood that when the manipulator 2 is in the form of a demolition clamp, the tipping bracket 32 tips forward until the hammer head of the hydraulic breaker 31 faces backward. At this time, the connecting block 311 on the hammer head of the hydraulic breaker 31 is inserted into the connecting groove 241 on the rotating hydraulic arm 24. At this time, the hammer head of the hydraulic breaker 31 makes a reciprocating motion, thereby driving the hydraulic breaker 31, the tipping bracket 32, and the passive clamp 43 to slide reciprocally along the polished rod 321, so as to realize the vibration of the passive clamp 43.

[0055] It should be noted that the polished rod 321 is inclined, and the side of the polished rod 321 close to the hammer head of the hydraulic breaker 31 is inclined downward. It can be understood that the hydraulic breaker 31 can drive the passive clamp 43 to reciprocate along the inclined direction of the polished rod 321, which can improve the demolition effect and speed of the demolition object.

[0056] During operation, the third hydraulic motor 42 drives the active clamp 41 to turn downward until the clamping block 411 at the front end of the active clamp 41 completely slides out of the clamping groove 325 of the turning bracket 32, releasing the position locking of the hydraulic breaker 31. The turning bracket 32 turns forward until the hammer head of the hydraulic breaker 31 faces backward. At this time, the connecting block 311 on the hammer head of the hydraulic breaker 31 is clamped into the connecting groove 241 on the rotating hydraulic arm 24.

[0057] Through the cooperation of the first turning hydraulic arm 22, the second turning hydraulic arm 23, and the rotating hydraulic arm 24, the demolition object is driven to move between the active clamp 41 and the passive clamp 43. The third hydraulic motor 42 drives the active clamp 41 to turn upward, clamping the demolition object between the active clamp 41 and the passive clamp 43, which can be used for the movement of the demolition object.

[0058] At this time, the hammer head of the hydraulic breaker 31 makes a reciprocating motion, thereby driving the hydraulic breaker 31, the turning bracket 32, and the passive clamp 43 to slide reciprocally along the polished rod 321, so as to realize the vibration of the passive clamp 43 and the vibration demolition of the demolition object clamped between the active clamp 41 and the passive clamp 43.

[0059] The above are only embodiments of the present invention. Common general knowledge such as specific structures and characteristics in the solution is not described in detail here. Those of ordinary skill in the art know all the common general knowledge in the technical field to which the invention belongs before the application date or the priority date, can know all the prior art in this field, and have the ability to apply the conventional experimental means before this date. Those of ordinary skill in the art can, under the inspiration given in this application, combine their own abilities to improve and implement this solution. Some typical well-known structures or well-known methods should not become an obstacle for those of ordinary skill in the art to implement this application. It should be noted that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicality of the patent.

Claims

1. A multi-functional hydraulic demolition robot, characterized in that Comprising: A chassis assembly (1) and a manipulator (2); The chassis assembly (1) includes a vehicle frame (11), drive tracks (12), a protective shed (14) and a rotating platform (15). The drive tracks (12) are installed on the vehicle frame (11), and the protective shed (14) is connected to the vehicle frame (11) through the rotating platform (15); The manipulator (2) includes a fixed seat (21), a first flipping hydraulic arm (22), a second flipping hydraulic arm (23), a breaker assembly (3) and a demolition clamp assembly (4). The fixed seat (21) is fixedly installed on the protective shed (14). The lower end of the first flipping hydraulic arm (22) is hinged to the fixed seat (21), and the other end is hinged to the front end of the second flipping hydraulic arm (23). The rotating hydraulic arm (24) is rotatably arranged at the front end of the second flipping hydraulic arm (23); The breaker assembly (3) includes a hydraulic breaker (31), a flipping bracket (32) and a second hydraulic motor (33). The hydraulic breaker (31) is fixedly installed on the flipping bracket (32). The flipping bracket (32) is rotatably arranged at the front end of the rotating hydraulic arm (24), and the second hydraulic motor (33) is connected to the flipping bracket (32); The demolition clamp assembly (4) includes a main clamp (41), a third hydraulic motor (42) and a passive clamp (43). The main clamp (41) is rotatably arranged below the rear end of the rotating hydraulic arm (24). The third hydraulic motor (42) is connected to the main clamp (41). The passive clamp (43) is fixedly connected above the flipping bracket (32). The front end of the main clamp (41) is in pressing fit with the flipping bracket (32). The breaker assembly (3) and the demolition clamp assembly (4) cooperate, and the manipulator (2) can switch between the breaker form and the demolition clamp form.

2. The multifunctional hydraulic demolition robot according to claim 1, wherein: The chassis assembly (1) further includes outriggers (13), and the outriggers (13) are fixedly installed on the vehicle frame (11).

3. A multi-functional hydraulic demolition robot according to claim 1, characterized in that: A first hydraulic rod (221) and a second hydraulic rod (222) are arranged on the first flipping hydraulic arm (22). One end of the first hydraulic rod (221) is hinged to the lower end of the first flipping hydraulic arm (22), and the other end of the first hydraulic rod (221) is hinged to the rear end of the second flipping hydraulic arm (23). One end of the second hydraulic rod (222) is hinged to the fixed seat (21), and the other end of the second hydraulic rod (222) is hinged to the upper end of the first flipping hydraulic arm (22).

4. The multifunctional hydraulic demolition robot according to claim 1, characterized in that: A first hydraulic motor (231) is further arranged on the second flipping hydraulic arm (23). The first hydraulic motor (231) is fixedly connected to the front end of the second flipping hydraulic arm (23), and the rotating shaft of the first hydraulic motor (231) is connected to the rotating hydraulic arm (24).

5. A multi-functional hydraulic demolition robot according to claim 1, characterized in that: A light rod (321), a slider (322), a hinge shaft (323) and a spring (324) are arranged on the flipping bracket (32). The light rod (321) is fixedly arranged on the side wall of the flipping bracket (32). The slider (322) is slidably arranged on the light rod (321). The slider (322) is connected to one side of the flipping bracket (32) close to the hammer head of the breaker assembly (3) through the spring (324). The hinge shaft (323) is fixedly arranged on the slider (322). The hinge shaft (323) is hinged to the front end of the rotary hydraulic arm (24).

6. The multifunctional hydraulic breaking robot according to claim 5, wherein: The light rod (321) is arranged obliquely, and the side of the light rod (321) close to the hammer head of the hydraulic breaker (31) slopes downward.

7. The multifunctional hydraulic breaking robot according to claim 5, wherein: A connecting block (311) is further arranged on the hydraulic breaker (31). The connecting block (311) is fixedly arranged on the hammer head of the hydraulic breaker (31).

8. The multifunctional hydraulic demolition robot according to claim 6, wherein: A connecting groove (241) is arranged at the upper end of the rotary hydraulic arm (24). The connecting groove (241) is matched with the connecting block (311).

9. The multifunctional hydraulic demolition robot according to claim 5, characterized in that: A clamping groove (325) is arranged on the flipping bracket (32).

10. The multifunctional hydraulic breaking robot according to claim 9, wherein: A clamping block (411) is arranged at the front end of the active clamp (41). The clamping block (411) is in extrusion fit with the clamping groove (325).

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