Self-assembled excavating device

Abstract

The excavating device comprises a frame, an excavating assembly and supporting assemblies, the supporting assemblies are detachably arranged on the two side edges of the frame, the excavating assembly is detachably arranged at one end of the frame, and the excavating assembly comprises an excavator arm and an excavator bucket. One end of the excavator arm is detachably arranged on the frame through an installation assembly, the excavator bucket is detachably arranged at the other end of the excavator arm, and a detachable hook is arranged on the back of the excavator bucket. The excavating device capable of being self-assembled is formed by assembling a plurality of independent modules, the independent modular design facilitates reduction of the transportation time and improvement of the transportation safety during transportation in a mountainous area, excavation can be conducted during operation in the mountainous area through the arranged excavator arm, the excavator arm can be used as hoisting equipment through the detachable hook arranged on the back of the excavator arm, and the excavator arm is convenient to use. All the components can be hoisted without other hoisting equipment, transportation is facilitated, and meanwhile assembly of other modules can be assisted.

Description

Technical Field

[0001] The present invention relates to the technical field of transportation equipment, and in particular to a self-assembling excavation device. Background Art

[0002] The bionic six-legged transporter has high adaptability in mountain transportation and can cross more complex terrain, such as large rocks, bushes, deep pits and other obstacles. In addition, since the six-legged transporter relies on six legs to walk in the mountains, it causes less damage to vegetation than wheeled or tracked transporters.

[0003] Although the bionic six-legged transporter has many advantages in mountainous areas, it is difficult to transport it directly to the work site during the transportation process. The modular design requires the use of other professional lifting equipment for auxiliary installation, which increases the difficulty of transportation. Summary of the Invention

[0004] The purpose of the present invention is to provide a self-assembling excavation device. By modularizing the bionic hexapod transporter, the device not only has the excavation function, but also has the function of lifting various components without the aid of other lifting equipment, which is convenient for transportation and can also assist in the assembly of other components.

[0005] The present invention is achieved through the following technical solutions: An embodiment of the present invention provides a self-assembly excavation device, comprising: a vehicle frame, an excavation assembly and a support assembly, wherein the support assembly is detachably arranged on both sides of the vehicle frame, the excavation assembly is detachably arranged at one end of the vehicle frame, the excavation assembly comprises an excavator arm and a bucket, one end of the excavator arm is detachably arranged on the vehicle frame via an installation assembly, the bucket is detachably arranged at the other end of the excavator arm, and a detachable hook is provided on the back of the bucket.

[0006] Furthermore, the hook includes a hook body and a connecting plate, a partition is fixedly provided on the back of the bucket, a partition groove matching the hook body is provided in the middle of the partition, and the connecting plate is detachably connected to the partition.

[0007] Furthermore, the connecting plate and the partition are connected via fixing pins.

[0008] Furthermore, the mounting assembly includes a detachable fixing frame and a fixing seat, the fixing frame is fixedly set on the vehicle frame, the fixing seat is fixedly set at the bottom of the excavator arm, and one side of the fixing seat extends outward to provide an insert matching the fixing frame, and the thickness of the insert is smaller than that of the fixing seat.

[0009] Furthermore, the fixing seat is connected to the vehicle frame via locking bolts.

[0010] Furthermore, the insert is a "U"-shaped steel.

[0011] Furthermore, the bucket is provided with a plurality of exhaust holes. Furthermore, the excavator arm is a telescopic arm.

[0012] Furthermore, the support assembly includes six legs and a leg control assembly. The leg control assembly includes a sensor module and a hydraulic module. The sensor module is used to collect motion data of the legs, and the hydraulic module is used to control the operation of the execution assembly according to the motion data.

[0013] Furthermore, the sensing module includes a displacement sensor, a speed sensor, a force sensor, an angle sensor, an angular velocity sensor, a torque sensor, a pressure sensor and a plantar sensor.

[0014] Compared with the prior art, the present invention has the following advantages and beneficial effects: An embodiment of the present invention provides a self-assembly excavation device, which is assembled from multiple independent components. The independent modular design makes it easy to reduce transportation time and improve transportation safety during transportation in mountainous areas. The excavator arm can be used for excavation during mountain operations, and the detachable hook provided on the back can enable the excavator arm to be used as a lifting device. Various components can be lifted without the help of other lifting equipment. While facilitating transportation, it can also assist in the assembly of other modules. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for use in the examples. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be considered as limiting the scope. A person of ordinary skill in the art can also derive other relevant drawings based on these drawings without inventive effort. In the drawings: Figure 1 A schematic diagram of the overall structure of a self-assembly excavation device provided in a first embodiment of the present invention; Figure 2 It is a structural diagram of the mining component; Figure 3 is a structural diagram of the frame; Figure 4 This is a schematic diagram of the structure of the bucket and the hook; Figure 5 Schematic diagram of the bucket structure; Figure 6 Schematic diagram of the structure of the hook; Figure 7 It is a triangular gait diagram; Figure 8 It is the ripple gait diagram; Figure 9 is the fluctuating gait graph; Figure 10 is the free gait diagram; Figure 11 Flowchart for switching states of each leg of the hexapod robot; Figure 12 This is a general diagram of the foot trajectory of a hexapod robot when walking; Figure 13 is the Yt curve graph; Figure 14 is the Zt curve; Figure 15 Schematic diagram of the fitted polynomial foot trajectory; In the figure: 10-frame; 101-fixing frame; 102-fixing seat; 103-insert; 104-locking bolt; 20-excavation assembly; 201-excavator arm; 202-bucket; 203-partition, 204-hook; 205-hook body; 206-connecting plate; 30-support assembly. DETAILED DESCRIPTION

[0016] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with examples and drawings. The exemplary embodiments of the present invention and their descriptions are only used to explain the present invention and are not intended to limit the present invention.

[0017] Example 1 like Figure 1-6As shown, an embodiment of the present invention provides a self-assembly excavation device, comprising: a frame 10, an excavation assembly 20, and a support assembly 30. The frame 10 is provided with several connection points around it. The support assembly 30 is detachably mounted on both sides of the frame 10. The excavation assembly 20 is detachably mounted on one end of the frame 10. The excavation assembly 20 includes an excavator arm 201 and a bucket 202. One end of the excavator arm 201 is detachably mounted on the frame 10 via a mounting assembly. The bucket 202 is detachably mounted on the other end of the excavator arm 201. A detachable hook 204 is provided on the back of the bucket 202. The self-assembly excavation device is assembled by detachably mounting the frame 10, the excavation assembly 20, and the support assembly 30. The mounting assembly facilitates quick assembly and removal of the excavation assembly 20 from the frame 10, improving assembly and disassembly efficiency. The support assembly 30 is used to enable the self-assembly excavation device to operate in mountainous terrain. Modular components are typically transported by cableway, but cableway transportation has weight restrictions, so the device or modules should not be too heavy. Therefore, the self-assembling excavation device of this embodiment includes a vehicle frame 10, an excavation assembly 20, and a support assembly 30. Using modular components for transportation can improve transportation safety and reduce transportation time. The excavation assembly is mounted on the vehicle frame, allowing for excavation in mountainous areas. The detachable hook on the back of the bucket allows the excavator arm to be used as a lifting device, eliminating the need for additional lifting equipment to lift individual components. This not only facilitates transportation but also assists in the assembly of other components.

[0018] In another embodiment of the present invention, hook 204 includes a hook body 205 and a connecting plate 206. A partition 203 is fixed to the back of bucket 202. A groove is defined in the middle of partition 203 to accommodate hook body 205. Connecting plate 206 is detachably connected to partition 205. Partition 203 can be welded to the back of bucket 202. When hook 204 is installed on bucket 202, hook body 205 is inserted into the groove. Connecting plate 206 and partition 205 are connected via a securing pin. The securing pin passes through connecting plate 206 and partition 205, securing hook 204 relative to bucket 202. This secures hook 204 to bucket 202. When not in use, the hook can be removed without affecting excavation operations, broadening the range of uses for the excavation assembly. Using securing pins to connect the partition and connecting plate enhances the strength of the connection, improving safety during use and preventing the hook from becoming detached from the bucket during hoisting.

[0019] The mounting assembly includes a detachable mounting frame 101 and a mounting base 102. The mounting frame 101 is fixed to the vehicle frame 10, and the mounting base 102 is fixed to the bottom of the excavator arm 201. An insert 103, which mates with the mounting frame and is thinner than the mounting base 102, extends outward from one side of the mounting base 102. In this embodiment, the insert 103 is made of U-shaped steel. Since the insert is thinner than the mounting base, it is subject to some stress when inserted into the mounting frame. One side of the mounting base contacts the vehicle frame, which also bears some stress. This reduces steel usage and improves the strength of the mounting assembly. The mounting base 102 is connected to the vehicle frame 10 by locking bolts 104. These locking bolts 104 are sequentially inserted into the mounting base 102 and the vehicle frame 10, securing the mounting base 102 relative to the vehicle frame 10.

[0020] In another embodiment of the present invention, a plurality of exhaust holes are provided on the bucket 202. The exhaust holes can be used to dig at any angle when digging the soft mud layer, and the gas in the bucket 202 can be discharged in time, which is convenient for construction.

[0021] In another embodiment of the present invention, the excavator arm is a telescopic arm. The forearm of the excavator arm is telescopic, so that the excavator arm can adapt to various operation requirements at different heights.

[0022] In another embodiment of the present invention, the support assembly includes six legs and a leg control assembly, wherein the leg control assembly includes a sensing module and a hydraulic module, wherein the sensing module is used to collect motion data of the legs, and the hydraulic module is used to control the operation of the execution assembly according to the motion data. The sensing module includes a displacement sensor, a speed sensor, a force sensor, an angle sensor, an angular velocity sensor, a torque sensor, a pressure sensor, and a sole sensor. The displacement sensor is used to measure the displacement data of the legs, the speed sensor is used to collect the real-time speed of the legs, the force sensor is used to measure the end force of the hydraulic rod push rod, the angle sensor is used to measure the real-time angle of the hydraulic motor, the angular velocity sensor is used to measure the rotation direction and speed of the hydraulic motor, the torque sensor is used to measure the torque of the hydraulic motor, the pressure sensor is used to measure the pipeline oil pressure, and the sole sensor is used to collect information on whether the sole of the foot is touching the ground.

[0023] The hydraulic module consists of an actuator, energy source, control unit, and working medium. The actuator converts hydraulic energy into mechanical energy, which is used to control the movement of the outriggers. In a single-leg configuration, the actuator includes a hydraulic motor and three hydraulic cylinders: the thigh movement cylinder, the calf movement cylinder, and the calf extension and retraction cylinder.

[0024] The energy component typically converts mechanical energy into hydraulic energy within the hydraulic module, and typically refers to a hydraulic pump. In the simulation model of this embodiment, a constant pressure source is used as the power element to provide the hydraulic module with working hydraulic energy. The control component typically refers to a hydraulic valve, which is used to control oil pressure, flow direction, and flow rate. The directional control valve in the single-leg hydraulic module is a three-position, four-way electromagnetic reversing valve with an O-type center position.

[0025] An embodiment of the present invention provides an assembling method of a self-assembling excavating device, comprising: S1: Build an assembly platform, and arrange the excavation component 20, the support component 30, the power pack, the hydraulic oil tank and the diesel tank bucket on the assembly platform in sequence, and correspondingly located around the frame 10.

[0026] S2: Installation of the excavating assembly 20: insert the fixing seat 102 into the fixing frame 101 and fix it with the locking bolt 104; fix the hook 204 on the excavating assembly 20 to be used as a lifting device.

[0027] S3: Installation of components inside the vehicle frame 10. After connecting the hydraulic oil tank to the oil circuit of the excavating assembly, the hydraulic oil tank, the diesel tank and the truck bed are sequentially hoisted to the top of the installation position of the vehicle frame 10 via the hook 204.

[0028] S4: Installation of the support assembly 30. The support assembly 30 is installed in an alternating manner. The support assembly 30 includes six legs. It is understood that the six legs are numbered: the left front leg is leg one, the right front leg is leg two, the left middle leg is leg three, the right middle leg is leg four, the left rear leg is leg five, and the right rear leg is leg six. The excavation assembly 20 is located between legs five and six. Therefore, the alternating manner of installation in this embodiment is to initially install either leg one or leg two, with leg one being the first leg to be installed. After leg one is installed, leg six is ​​then hoisted onto the hook 204 on the excavation assembly 20. For ease of installation, after leg six is ​​installed, leg five is installed. Since leg five and leg six are at the same distance from the excavation assembly 20, installation is more convenient than installing the other legs. Leg two is then installed, and finally, legs three and four are installed according to the actual situation on site.

[0029] An embodiment of the present invention provides a self-assembly excavation device, which is assembled from multiple independent modules. The independent modular design makes it easy to reduce transportation time and improve transportation safety during transportation in mountainous areas. The excavator arm can be used for excavation during mountain operations, and the detachable hook provided on the back allows the excavator arm to be used as a lifting device. Various components can be lifted without the help of other lifting equipment. While facilitating transportation, it can also assist in the assembly of other modules.

[0030] The self-assembling excavation device also includes a main controller, which is connected to the sensor module and the hydraulic module respectively. After the self-assembling excavation device is installed, the walking motion of the excavation device is controlled by the main controller. The self-assembling excavation device has six legs and can be regarded as a hexapod robot. There are four common gaits of hexapod robots, namely triangular gait, ripple gait, wave gait and free gait. The first three are periodic gaits, and the latter is a quasi-periodic gait. Figure 7 As shown in the figure, the three-legged alternating gait is often used for fast walking on relatively flat terrain, with a duty cycle of about 50%. LF: left front leg, LM: left middle leg, LH: left hind leg, RF: right front leg, RM: right middle leg, RH: right hind leg. The ripple gait is as follows Figure 8 As shown in the figure, the leg part moves alternately in three groups (LF-RM, LF-RM, LF-RM). Figure 9 As shown in Figure 1, it is often used for walking at medium and low speeds on relatively rough terrain, with a duty cycle generally higher than 70%. Since more than four legs are always in the support phase at the same time, this gait has high static stability. When the terrain is very complex, in addition, such as Figure 10 As shown, hexapod robots also employ a free gait, where the animal chooses which legs to move and where to land based on the terrain. The gait period, duty cycle, and swing phase are all uncertain. The triangular gait combines high stability with high walking speed, making it a desirable gait for walking motion control.

[0031] When the trunk of the self-assembling excavator tilts or the ground is uneven, the swinging foot will often touch the ground early or late. If the predetermined trajectory is still executed when the self-assembling excavator touches the ground early, it will often cause the self-assembling excavator to become unstable. Therefore, a state machine based on touchdown detection is designed for leg phase switching to achieve a smooth transition between the swing phase and the support phase. Figure 11 As shown in the figure, a flow chart of the state switching of each leg is shown. The sole sensor detects the sole force and monitors the leg contact information. Once a swinging foot touches the ground, the foot immediately stops falling and maintains the current position unchanged. When the touchdown signals of all swinging feet are detected, the main controller resets the running time and controls the phase switching of each leg. The phase switching of a single leg is controlled by the main controller.

[0032] Methods for single-leg phase switching include: Recalculate leg phases; Get the leg number; Determine whether the outrigger is in the swing phase; If so, determine whether the outrigger has touched the ground, and if not, obtain the support phase trajectory; If it touches the ground, it stops swinging the reference trajectory; if it does not touch the ground, it continues swinging the reference trajectory; Perform ground contact detection to determine whether all swinging legs have touched the ground; If so, return to recalculate the leg phase; If not, return to get the leg number.

[0033] The foot trajectory of the robot varies in various forms, including rectangular trajectory, elliptical trajectory, cycloid trajectory, and polynomial fitting trajectory. Choosing the appropriate foot trajectory in different situations helps to stabilize the movement of the hexapod robot. Regardless of the form of the foot trajectory, it should meet the following conditions: (1) The foot end trajectory is smooth and there is no sudden change in position, ensuring that the robot's walking process is stable and reliable; (2) The speed is continuous throughout the entire movement process without sudden changes; (3) The vertical velocity and acceleration at points AB are 0, to avoid the impact force generated by the foot end contacting the ground and affecting the stability of the entire machine; (4) The angles of each joint change continuously.

[0034] Based on the above conditions, the polynomial fitting method will be used to design the foot end trajectory of the self-assembling excavation device. The foot end trajectory is also controlled by the main controller. In the leg base coordinate system YOZ, the foot end trajectory of the self-assembling excavation device when walking is generally as follows Figure 12 As shown, curve AP-PB is the swing phase, and curve BA is the landing phase. Assuming that the swing phase curve is axisymmetric, the quadruped robot performs uniform motion during the support phase. Based on the position changes of the foot end trajectory on the Y axis and Z axis, we can roughly draw a curve diagram of the change of the foot end position in the Y direction with respect to time t and a curve diagram of the change of the foot end position in the Z direction with respect to time t, as shown in Figure 13 As shown in the Yt curve image, the swing phase time period T sw During this period, the trajectory starts from point A, passes through point P and finally moves to point B. The distance traveled at this time is the step length S. In the support phase time period T st During this period, the trajectory returns from point B to point A, marking the end of a gait cycle. Figure 14 As shown in the Zt curve image, within half the swing phase time, the trajectory moves from point A to point P, at which point it reaches the highest point of the trajectory, and the leg-lifting height is H. d During the remaining swing phase, the foot drops from the highest point of the trajectory to point B and enters the stance phase until the end of a gait cycle.

[0035] Curve fitting is performed for the swing phase and the support phase respectively, as shown in Figure 12 The swing phase is represented by a black curve and the support phase is represented by a red curve. From the Y-axis position and time t curve, it can be found that the swing phase curve is about the point (𝑇 𝑠𝑤 / 2, 𝑆 / 2) is symmetrical, and the support curve is a monotonically decreasing straight line; in the Z-axis position and time t curve, the swing phase curve is about the straight line 𝑡=𝑇 𝑠𝑤 / 2 symmetry, and the supporting phase curve is a straight line.

[0036] In summary, the foot trajectory fitting expression is:

[0037] Take S=500mm, T=10s, H d =300mm, T sw =5s, T st = 5s, the polynomial foot trajectory fitted in the leg base coordinate system can be obtained as follows Figure 15 shown.

[0038] Through the above-mentioned walking motion control design of the self-assembling excavation device, the self-assembling excavation device can maintain the function of walking quickly and stably on complex terrain.

[0039] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A self-assembling excavation device, characterized in that: include: A vehicle frame, an excavating assembly and a support assembly, wherein the support assembly is detachably arranged on both sides of the vehicle frame, the excavating assembly is detachably arranged at one end of the vehicle frame, the excavating assembly includes an excavator arm and a bucket, one end of the excavator arm is detachably arranged on the vehicle frame through an installation assembly, and the bucket is detachably arranged at the other end of the excavator arm, and a detachable hook is provided on the back of the bucket.

2. The self-assembly excavation device according to claim 1, wherein: The hook comprises a hook body and a connecting plate. A partition is fixedly provided on the back of the bucket. A partition groove matching the hook body is provided in the middle of the partition. The connecting plate is detachably connected to the partition.

3. The self-assembly excavation device according to claim 2, wherein: The connecting plate and the partition plate are connected via fixing pins.

4. The self-assembly excavation device according to claim 1, wherein: The mounting assembly includes a detachable fixing frame and a fixing seat, wherein the fixing frame is fixedly arranged on the vehicle frame, and the fixing seat is fixedly arranged on the bottom of the excavator arm. An insert matching the fixing frame is extended outward on one side of the fixing seat, and the thickness of the insert is smaller than that of the fixing seat.

5. The self-assembly excavation device according to claim 4, characterized in that: The fixing seat is connected to the vehicle frame via locking bolts.

6. The self-assembly excavation device according to claim 4, characterized in that: The insert is a "U" shaped steel.

7. The self-assembly excavation device according to claim 1, wherein: The bucket is provided with a plurality of exhaust holes.

8. The self-assembly excavation device according to any one of claims 1 to 7, characterized in that: The excavator arm is a telescopic arm.

9. The self-assembly excavation device according to claim 1, wherein: The support assembly includes six legs and a leg control assembly. The leg control assembly includes a sensor module and a hydraulic module. The sensor module is used to collect the motion data of the legs, and the hydraulic module is used to control the operation of the execution assembly according to the motion data.

10. The self-assembly excavation device according to claim 9, wherein: The sensing module includes a displacement sensor, a speed sensor, a force sensor, an angle sensor, an angular velocity sensor, a torque sensor, a pressure sensor and a foot sensor.

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