A multifunctional hydraulic breaching robot

Abstract

The present application belongs to the technical field of breaking robot, and particularly relates to a multifunctional hydraulic breaking robot, which comprises a chassis assembly and a manipulator. The manipulator comprises a fixing seat, a first overturning hydraulic arm, a second overturning hydraulic arm, a breaking hammer assembly and a breaking clamp assembly. The fixing seat is installed on the chassis assembly. The lower end of the first overturning hydraulic arm is hingedly connected to the fixing seat. The upper end of the first overturning hydraulic arm is hingedly connected to the second overturning hydraulic arm. The rotating 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 rotating hydraulic arm. The breaking clamp assembly comprises a driving clamp and a driven clamp. The driving clamp is rotationally arranged on the rear end of the rotating hydraulic arm. The driven clamp is arranged on the overturning support. The breaking hammer assembly and the breaking clamp assembly are matched to automatically switch the breaking hammer mode and the breaking clamp mode without disassembling or replacing the tool head.

Description

Technical Field

[0001] This invention belongs to the field of demolition robot technology, specifically relating to a multi-functional hydraulic demolition robot. Background Technology

[0002] Hydraulic demolition robots, as specialized operational equipment, are widely used in fire rescue, earthquake collapse sites, and building demolition. In recent years, with advancements in hydraulic transmission and intelligent control technologies, demolition robots have gradually evolved from single-function to multi-functional integrated systems.

[0003] Traditional demolition equipment typically relies on independent hydraulic breakers or demolition shears to complete tasks. While existing demolition robots often incorporate modular designs for tool switching to improve efficiency, allowing for different tool heads to be installed and removed, manual intervention is still required for component replacement. This process is cumbersome and can lead to work interruptions and inefficiencies, potentially causing delays, especially in emergency rescue scenarios. Furthermore, the storage and switching mechanisms for modular tool heads occupy significant space, increasing the robot's overall weight and complexity, and impacting mobility and stability. These issues severely affect the practicality and reliability of demolition robots in dynamic environments.

[0004] Therefore, it is essential to research a multi-functional hydraulic demolition robot that enables rapid switching and collaborative operation between a hydraulic breaker and a demolition clamp without requiring the replacement of any components. By combining a flip-up hydraulic breaker assembly with a linked demolition clamp assembly, the robotic arm can automatically switch between the breaker and clamp modes according to instructions. This design not only solves the inefficiency problem caused by tool switching in traditional equipment but also avoids functional interference through a compact mechanical structure, significantly improving the robot's adaptability in confined spaces and complex working conditions. Summary of the Invention

[0005] To address the aforementioned shortcomings of existing technologies, this invention provides a multifunctional hydraulic demolition robot, which solves the problems of cumbersome and inefficient operation processes caused by the disassembly and installation of different tool heads to achieve function switching in existing technologies.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A multi-functional hydraulic demolition robot includes: a chassis assembly and a robotic arm; The chassis assembly includes a frame, drive tracks, a protective canopy, and a rotating platform. The drive tracks are mounted on the frame, and the protective canopy is connected to the frame via the rotating platform. The robotic arm includes a fixed base, a first tilting hydraulic arm, a second tilting hydraulic arm, a rotating hydraulic arm, a breaker assembly, and a demolition clamp assembly. The fixed base is fixedly installed on the protective machine shed. The lower end of the first tilting hydraulic arm is hinged to the fixed base, and the other end is hinged to the front end of the second tilting hydraulic arm. The rotating hydraulic arm is rotatably mounted at the front end of the second tilting hydraulic arm. The hydraulic breaker assembly includes a hydraulic breaker, a tilting bracket, and a second hydraulic motor. The hydraulic breaker is fixedly mounted on the tilting bracket, which is rotatably mounted at the front end of the rotating hydraulic arm. The second hydraulic motor is connected to the tilting bracket. The demolition clamp assembly includes an active clamp, a third hydraulic motor, and a passive clamp. The active clamp is rotatably mounted below the rear end of the rotating hydraulic arm. The third hydraulic motor is connected to the active clamp. The passive clamp is fixedly connected above the tilting bracket. The front end of the active clamp is pressed against the tilting bracket. The breaker assembly and the demolition clamp assembly cooperate with each other. The robotic arm can switch between the breaker mode and the demolition clamp mode.

[0007] Furthermore, the chassis assembly also includes outriggers, which are fixedly mounted on the vehicle frame.

[0008] Furthermore, the first tilting hydraulic arm is provided with a first hydraulic rod and a second hydraulic rod. One end of the second hydraulic rod is hinged to the lower end of the first tilting hydraulic arm, and the other end of the second hydraulic rod is hinged to the rear end of the second tilting hydraulic arm. One end of the first hydraulic rod is hinged to the fixed base, and the other end of the first hydraulic rod is hinged to the upper end of the first tilting hydraulic arm.

[0009] Furthermore, the second tilting hydraulic arm is also equipped with a first hydraulic motor, which is fixedly connected to the front end of the second tilting hydraulic arm, and the shaft of the first hydraulic motor is connected to the rotating hydraulic arm.

[0010] Furthermore, the tilting bracket is provided with a guide rod, a slider, a hinge shaft, and a spring. The guide rod is fixedly mounted on the side wall of the tilting bracket, the slider is slidably mounted on the guide rod, and the slider is connected to the side of the tilting bracket near the hammer head of the breaker assembly via the spring. The hinge shaft is fixedly mounted on the slider and is hinged to the front end of the rotating hydraulic arm.

[0011] Furthermore, the guide rod is inclined, with the side of the guide rod closest to the hammer head of the hydraulic breaker tilting downwards.

[0012] Furthermore, the hydraulic breaker is also equipped with a connecting block, which is fixedly mounted on the hammer head of the hydraulic breaker.

[0013] Furthermore, the upper end of the rotary hydraulic arm is provided with a connecting groove, which cooperates with the connecting block.

[0014] Furthermore, the flipping bracket is provided with a slot.

[0015] Furthermore, the front end of the active clamp is provided with a locking block, which engages with the locking groove through a pressing mechanism.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention discloses a multi-functional hydraulic demolition robot, which, through the cooperation of a breaker assembly and a demolition clamp assembly, combined with a multi-degree-of-freedom hydraulic arm, can automatically switch between breaker mode and demolition clamp mode without disassembling or replacing the tool head during operation, significantly shortening the downtime of the operation cycle and improving the overall utilization rate and adaptability of the equipment to working conditions.

[0017] 2. This invention discloses a multi-functional hydraulic demolition robot that employs a cooperative locking mechanism of a slot-block coupling mechanism and an elastic buffer component to ensure structural stability after function switching. In breaker mode, the block and slot form a rigid constraint; in demolition clamp mode, the impact kinetic energy of the hydraulic breaker is converted into directional reciprocating vibration of the passive clamp through the cooperation of the connecting block and the connecting slot, while the spring provides dynamic reset, ensuring the mechanical transmission efficiency and equipment operational reliability of dual-mode operation. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the robotic arm. Figure 4 Schematic diagram of the hydraulic breaker assembly Figure 1 ; Figure 5 Schematic diagram of the hydraulic breaker assembly Figure 2 ; Figure 6 This is a schematic diagram of the structure of a rotating hydraulic arm; Figure 7 This is a schematic diagram of the active clamp structure; Figure 8 The positional relationship between the hydraulic breaker assembly and the demolition pliers assembly is shown when the hydraulic breaker is in its hammer configuration. Figure 9 for Figure 8 Enlarged structural diagram at point A in the middle; Figure 10 The positional relationship between the hydraulic breaker assembly and the hydraulic breaker assembly is shown when the hydraulic breaker is in the form of a hydraulic breaker.

[0019] The reference numerals used in the attached figures are as follows: 1. Chassis assembly; 11. Frame; 12. Drive track; 13. Outriggers; 14. Protective canopy; 15. Rotating platform; 2. Manipulator; 21. Fixed base; 22. First tilting hydraulic arm; 221. First hydraulic rod; 222. Second hydraulic rod; 23. Second tilting hydraulic arm; 231. First hydraulic motor; 24. Rotating hydraulic arm; 241. Connecting slot; 3. Hydraulic breaker assembly; 31. Hydraulic breaker; 311. Connecting block; 32. Tilting bracket; 321. Smooth rod; 322. Slider; 323. Hinge shaft; 324. Spring; 325. Slot; 33. Second hydraulic motor; 4. Demolition clamp assembly; 41. Active clamp; 411. Slot; 42. Third hydraulic motor; 43. Passive clamp. Detailed Implementation

[0020] 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 in conjunction with the accompanying drawings and embodiments.

[0021] In the description of this application, it should be noted that the directional terms such as "center", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation and positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. They should not be construed as limiting the specific protection scope of this application.

[0022] It should be noted that the terms "first," "second," etc., in the specification and claims of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0023] Example 1

[0024] In this embodiment, the invention uses a hydraulic breaker for demolition work. Please refer to [link / reference]. Figures 1 to 9 As shown, a multi-functional hydraulic demolition robot includes: a chassis assembly 1 for moving and fixing the demolition robot, and a manipulator 2 for performing the functions of a hydraulic breaker and demolition shears.

[0025] The chassis assembly 1 includes a frame 11, drive tracks 12, a protective canopy 14, and a rotating platform 15. The drive tracks 12 are mounted on the frame 11, and the protective canopy 14 is connected to the frame 11 via the rotating platform 15. Correspondingly, the chassis assembly 1 also includes outriggers 13, which are fixedly mounted on the frame 11.

[0026] The robotic arm 2 includes a fixed base 21, a first tilting hydraulic arm 22, a second tilting hydraulic arm 23, a rotating hydraulic arm 24, a breaker assembly 3, and a demolition clamp assembly 4.

[0027] The fixed base 21 is fixedly installed on the protective shed 14. The lower end of the first tilting hydraulic arm 22 is hinged to the fixed base 21, and the other end is hinged to the front end of the second tilting hydraulic arm 23. Specifically, the first tilting hydraulic arm 22 is provided with a first hydraulic rod 221 and a second hydraulic rod 222. One end of the second hydraulic rod 222 is hinged to the lower end of the first tilting hydraulic arm 22, and the other end is hinged to the rear end of the second tilting hydraulic arm 23. One end of the first hydraulic rod 221 is hinged to the fixed base 21, and the other end is hinged to the upper end of the first tilting hydraulic arm 22. It can be understood that by extending and retracting the first hydraulic rod 221, the first tilting hydraulic arm 22 can be driven to tilt up and down around the hinge point between its lower end and the fixed base 21. Similarly, by extending and retracting the second hydraulic rod 222, the second tilting hydraulic arm 23 can be driven to tilt up and down around the hinge point between its upper end and the first hydraulic rod 221.

[0028] The rotating hydraulic arm 24 is rotatably mounted at the front end of the second tilting hydraulic arm 23. Specifically, the second tilting hydraulic arm 23 is also equipped with a first hydraulic motor 231, which is fixedly connected to the front end of the second tilting hydraulic arm 23. The 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.

[0029] The hydraulic breaker assembly 3 includes a hydraulic breaker 31, a tilting bracket 32, and a second hydraulic motor 33. The hydraulic breaker 31 is fixedly mounted on the tilting bracket 32, which is rotatably positioned at the front end of the rotating hydraulic arm 24. The second hydraulic motor 33 is connected to the tilting bracket 32. In essence, the second hydraulic motor 33 can activate the tilting bracket 32 ​​and the hydraulic breaker 31 mounted on it to tilt around the hinge point between the tilting bracket 32 ​​and the front end of the rotating hydraulic arm 24. Specifically, when the manipulator 2 is in breaker mode, the tilting bracket 32 ​​tilts forward until the head of the hydraulic breaker 31 faces forward. At this time, the tilting bracket 32 ​​engages with the active clamp 41 to lock the hydraulic breaker 31. When the manipulator 2 is in demolition clamp mode, the tilting bracket 32 ​​tilts forward until the head of the hydraulic breaker 31 faces backward. At this time, the head of the hydraulic breaker 31 engages with the rotating hydraulic arm 24.

[0030] 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 mounted below the rear end of the rotating hydraulic arm 24. The third hydraulic motor 42 is connected to the active clamp 41, meaning that the third hydraulic motor 42 can drive the active clamp 41 to rotate around the hinge, thereby opening and closing the demolition clamp. The passive clamp 43 is fixedly connected above the tilting bracket 32, meaning that the passive clamp 43 can rotate together with the tilting bracket 32. The front end of the active clamp 41 engages with the tilting bracket 32, and the breaker assembly 3 and the demolition clamp assembly 4 cooperate, allowing the robotic arm 2 to switch between the breaker mode and the demolition clamp mode.

[0031] It should be noted that the tilting bracket 32 ​​is provided with a slot 325, and correspondingly, the front end of the active clamp 41 is provided with a locking block 411. The locking block 411 and the slot 325 are engaged in a pressing fit. It can be understood that when the robot arm 2 is in the breaker hammer mode, the tilting bracket 32 ​​tilts forward until the hammer head of the hydraulic breaker 31 faces forward. The third hydraulic motor 42 drives the active clamp 41 to tilt upward until the locking block 411 at the front end of the active clamp 41 engages in the slot 325 of the tilting bracket 32. At this time, the active clamp 41 locks the position of the hydraulic breaker 31, preventing it from tilting or sliding.

[0032] During operation, the chassis assembly 1 drives the robot to move as a whole via the drive track 12. When it moves to the demolition work point, the chassis assembly 1 is fixed in place by releasing the outriggers 13.

[0033] The second hydraulic motor 33 drives the tilting bracket 32 ​​to tilt forward until the hammer head of the hydraulic breaker 31 faces forward. The third hydraulic motor 42 drives the active clamp 41 to tilt upward until the locking block 411 at the front end of the active clamp 41 is at least partially engaged in the locking groove 325 of the tilting bracket 32. At this time, the active clamp 41 locks the position of the hydraulic breaker 31, preventing it from tilting or sliding. At this time, the robot arm 2 switches to the breaker mode.

[0034] The hydraulic breaker 31 is driven to break up objects by the cooperation of the first tilting hydraulic arm 22, the second tilting hydraulic arm 23, and the rotating hydraulic arm 24.

[0035] Example 2

[0036] In this embodiment, the invention uses demolition pliers for demolition work. Please refer to [link / reference]. Figure 10 As shown.

[0037] Specifically, the tilting bracket 32 ​​is equipped with a smooth rod 321, a slider 322, a hinge shaft 323, and a spring 324. The smooth rod 321 is fixedly mounted on the side wall of the tilting bracket 32, and the slider 322 is slidably mounted on the smooth rod 321. The slider 322 is connected to the side of the tilting bracket 32 ​​near the hammer head of the breaker assembly 3 via the spring 324. The hinge shaft 323 is fixedly mounted on the slider 322 and is hinged to the front end of the rotating hydraulic arm 24. In other words, when the hydraulic breaker 31 drives the tilting bracket 32 ​​to move away from the hammer head, the slider 322 slides relative to the smooth rod 321, at which point the spring 324 is compressed. When the hydraulic breaker 31 drives the tilting bracket 32 ​​to move closer to the hammer head, the slider 322 slides relative to the smooth rod 321, at which point the spring 324 releases its elastic force and extends, pushing the tilting bracket 32 ​​to quickly return to its original position.

[0038] The hydraulic breaker 31 is also equipped with a connecting block 311, which is fixedly mounted on the hammer head of the hydraulic breaker 31. Correspondingly, the upper end of the rotating hydraulic arm 24 is provided with a connecting groove 241, which cooperates with the connecting block 311. It can be understood that when the manipulator 2 is in the breaking clamp mode, the flipping bracket 32 ​​flips forward until the hammer head of the hydraulic breaker 31 is facing backward. At this time, the connecting block 311 on the hammer head of the hydraulic breaker 31 is engaged in the connecting groove 241 on the rotating hydraulic arm 24. At this time, the hammer head of the hydraulic breaker 31 reciprocates, thereby driving the hydraulic breaker 31, the flipping bracket 32, and the passive clamp 43 to slide back and forth along the smooth rod 321, thereby realizing the vibration of the passive clamp 43.

[0039] It should be noted that the guide rod 321 is inclined, with the side of the guide rod 321 closest to the hammer head of the hydraulic breaker 31 tilting downwards. This can be understood as the hydraulic breaker 31 driving the passive clamp 43 to reciprocate along the inclined direction of the guide rod 321, thereby improving the demolition effect and speed.

[0040] During operation, the third hydraulic motor 42 drives the active clamp 41 to tilt downwards until the locking block 411 at the front end of the active clamp 41 completely slides out of the slot 325 of the tilting bracket 32, releasing the position lock of the hydraulic breaker 31. The tilting bracket 32 ​​tilts forward until the hammer head of the hydraulic breaker 31 faces backwards. At this time, the connecting block 311 on the hammer head of the hydraulic breaker 31 engages in the connecting slot 241 on the rotating hydraulic arm 24.

[0041] The first tilting hydraulic arm 22, the second tilting hydraulic arm 23, and the rotating hydraulic arm 24 work together to drive the object to be broken into place between the active clamp 41 and the passive clamp 43. The third hydraulic motor 42 drives the active clamp 41 to tilt upwards, clamping the object between the active clamp 41 and the passive clamp 43. This can be used to move the object.

[0042] At this time, the hammer head of the hydraulic breaker 31 reciprocates, thereby driving the hydraulic breaker 31, the tilting bracket 32 ​​and the passive clamp 43 to slide back and forth along the smooth rod 321, thereby realizing the vibration of the passive clamp 43 and realizing the vibration crushing of the demolition object clamped between the active clamp 41 and the passive clamp 43.

[0043] The above descriptions are merely embodiments of the present invention. Commonly known structures and characteristics of the solutions are not described in detail here. Those skilled in the art are aware of all common technical knowledge in the field prior to the application date or priority date, are aware of all existing technologies in that field, and have the ability to apply conventional experimental methods prior to that date. Those skilled in the art can, under the guidance of this application, improve and implement this solution in combination with their own capabilities. Some typical known structures or methods should not be obstacles for those skilled in the art to implement this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of the present invention. These should also be considered within the scope of protection of the present invention, and will not affect the effectiveness of the implementation of the present invention or the practicality of the patent.

Claims

1. A multi-functional hydraulic demolition robot, characterized in that, include: Chassis assembly (1) and robotic arm (2); The chassis assembly (1) includes a frame (11), drive tracks (12), protective canopy (14) and rotating platform (15). The drive tracks (12) are mounted on the frame (11), and the protective canopy (14) is connected to the frame (11) through the rotating platform (15). The robotic arm (2) includes a fixed base (21), a first tilting hydraulic arm (22), a second tilting hydraulic arm (23), a rotating hydraulic arm (24), a breaker assembly (3), and a demolition pliers assembly (4). The fixed base (21) is fixedly installed on the protective machine shed (14). The lower end of the first tilting hydraulic arm (22) is hinged to the fixed base (21), and the other end is hinged to the front end of the second tilting hydraulic arm (23). The rotating hydraulic arm (24) is rotatably disposed at the front end of the second tilting hydraulic arm (23). The hydraulic breaker assembly (3) includes a hydraulic breaker (31), a tilting bracket (32), and a second hydraulic motor (33). The hydraulic breaker (31) is fixedly mounted on the tilting bracket (32). The tilting bracket (32) is rotatably mounted at the front end of the rotating hydraulic arm (24). The second hydraulic motor (33) is connected to the tilting bracket (32). The tilting bracket (32) is provided with a smooth rod (321), a slider (322), a hinge shaft (323) and a spring (324). The smooth rod (321) is fixedly mounted on the side wall of the tilting bracket (32). The slider (322) is slidably mounted on the smooth rod (321). The slider (322) is connected to the side of the tilting bracket (32) near the hammer head of the breaker assembly (3) through the spring (324). The hinge shaft (323) is fixedly mounted on the slider (322). The hinge shaft (323) is hinged to the front end of the rotating hydraulic arm (24). The polished rod (321) is inclined, and the side of the polished rod (321) near the hammer head of the hydraulic breaker (31) is inclined downward; The hydraulic breaker (31) is also provided with a connecting block (311), which is fixedly installed on the hammer head of the hydraulic breaker (31). The upper end of the rotary hydraulic arm (24) is provided with a connecting groove (241), which cooperates with the connecting block (311); The flip bracket (32) is provided with a slot (325); 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 disposed below the rear end of the rotating hydraulic arm (24). The third hydraulic motor (42) is connected to the active clamp (41). The passive clamp (43) is fixedly connected above the tilting bracket (32). The front end of the active clamp (41) is pressed against the tilting bracket (32). The breaker assembly (3) and the demolition clamp assembly (4) cooperate. The manipulator (2) can switch between the breaker mode and the demolition clamp mode. The active clamp (41) is provided with a locking block (411) at its front end, and the locking block (411) is pressed and engaged with the locking groove (325).

2. The multifunctional hydraulic demolition robot according to claim 1, characterized in that: The chassis assembly (1) also includes outriggers (13), which are fixedly mounted on the frame (11).

3. The multifunctional hydraulic demolition robot according to claim 1, characterized in that: The first tilting hydraulic arm (22) is provided with a first hydraulic rod (221) and a second hydraulic rod (222). One end of the second hydraulic rod (222) is hinged to the lower end of the first tilting hydraulic arm (22), and the other end of the second hydraulic rod (222) is hinged to the rear end of the second tilting hydraulic arm (23). One end of the first hydraulic rod (221) is hinged to the fixed seat (21), and the other end of the first hydraulic rod (221) is hinged to the upper end of the first tilting hydraulic arm (22).

4. The multifunctional hydraulic demolition robot according to claim 1, characterized in that: The second tilting hydraulic arm (23) is also provided with a first hydraulic motor (231), which is fixedly connected to the front end of the second tilting hydraulic arm (23), and the shaft of the first hydraulic motor (231) is connected to the rotating hydraulic arm (24).

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