A laser cutting and high-pressure air supply linkage device and method for demolition based on a quadruped robot

Abstract

This invention relates to the field of cutting robot technology, specifically to a laser cutting and high-pressure gas supply linkage device and method based on a quadruped robot, comprising a robot dog and a demolition device mounted on its back. The demolition device includes a cutting head, a telescopic module for controlling the extension and retraction of the cutting head, and a gas supply assembly disposed outside the cutting head for providing auxiliary gas. The gas supply device of this invention provides auxiliary gas to the laser cutting area, improving cutting efficiency and meeting the process requirements for rapid demolition of specific materials. The gas supply device includes a high-pressure gas tank, valves, a pressure relief valve, a pressure reducing valve, a solenoid valve, a gas delivery hose, and connectors. The high-pressure gas tank is equipped with an anti-collision shield, a high-temperature insulation layer, and a pressure relief protection structure to improve safety in hazardous environments.

Description

Technical Field

[0001] This invention relates to the field of cutting robot technology, and more specifically, to a laser cutting and high-pressure air supply linkage device and method for demolition based on a quadruped robot. Background Technology

[0002] In scenarios such as building collapse rescue, fire scene clearance, and emergency response to hazardous chemicals, traditional demolition tools have problems such as heavy weight, the need for personnel to enter the site for operation, and high safety risks. In recent years, combining laser cutting technology with mobile robot platforms has become a new technological direction. By mounting a laser clearance device on a quadruped robot, remote control and unmanned demolition operations can be achieved, which can greatly improve rescue safety and work efficiency.

[0003] Patent application CN202422219596.6 discloses a laser cutting robot for mold preprocessing, including a fixed frame. A first motor is fixedly connected to the top of the fixed frame, and a first rotating frame is fixedly connected to one side of the output shaft of the first motor. A rotating plate is rotatably connected inside the first rotating frame, and a second rotating frame is fixedly connected to one side of the rotating plate. This laser cutting robot for mold preprocessing filters dust through a filter plate, and through the combined action of a water tank and nozzles, causes the dust to settle, thereby completing the dust collection.

[0004] However, existing laser obstacle removal equipment mounted on quadruped robots, if integrating multiple air sources, usually relies on the torque self-locking of solenoid valves or motor-driven valves for air path switching. Since quadruped robots are subjected to significant vibration and impact during complex terrain walking and demolition operations, relying solely on electromagnetic force or motor torque to maintain the air path status has insufficient reliability, resulting in incorrect air supply, leading to decreased cutting quality or even safety accidents.

[0005] In view of this, this application proposes a laser cutting and high-pressure air supply linkage device and method for demolition based on a quadruped robot. Summary of the Invention

[0006] The purpose of this invention is to provide a laser cutting and high-pressure gas supply linkage device and method for demolition based on a quadruped robot. By mechanically interlocking the extension and retraction movement of the cutting head with the locking and unlocking mechanism of the converter, the problems mentioned in the background art can be solved.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A laser cutting and high-pressure gas supply linkage device for demolition based on a quadruped robot includes a robot dog and a demolition device mounted on its back. The demolition device includes a cutting head, a telescopic module for controlling the extension and retraction of the cutting head, and a gas supply component disposed on the outside of the cutting head for providing auxiliary gas to it. In the above configuration, the cutting head is configured with standby, cutting, and switching positions. When the cutting head is in the standby position, it is in a retracted state. When the cutting head is in the cutting position, it extends to perform demolition operations. When the cutting head is in the switching position, it further retracts, and the air supply assembly enters the air path switching state.

[0008] The gas supply assembly includes two gas cylinders located on both sides of the telescopic module and filled with different gases, and a converter connected to the cutting head and the two gas cylinders via a pipe. The internal gas passage of the converter is connected to one of the gas cylinders. The converter includes a valve body, a valve core that rotates within the valve body and is driven by a second motor, several steel balls that are slidably embedded in the outer wall of the valve body, a pressure ring sleeved on the outside of the valve body, and a lever that is disposed on the outer wall of the pressure ring and extends vertically upward. In the above configuration, when the telescopic module controls the cutting head to move to the switching position, the trigger lever drives the pressure ring to move axially, causing the steel ball to retract radially outward and release the lock on the valve core. At this time, the second motor drives the valve core to rotate to switch the air path. When the cutting head leaves the switching position, the pressure ring resets and the valve core is locked again.

[0009] In the technical solution of the present invention, the demolition device further includes a cutting module, which includes a laser host fixedly connected to the back of the robot dog by bolts, and a transmission pipeline for delivering laser is connected between the laser host and the cutting head.

[0010] The above setup provides a support base for the demolition device, defines three working states for the cutting head, and provides structural support and laser output for subsequent extension and pneumatic switching.

[0011] In the technical solution of the present invention, the telescopic module includes a fixed frame fixedly connected to the top surface of the laser host by bolts, a first motor fixedly connected to the inner partition of the fixed frame by bolts, a lead screw coaxially connected to the output shaft of the first motor, a slide table sliding inside the fixed frame, and a slide rail fixedly connected to the bottom surface of the fixed frame by bolts.

[0012] In the technical solution of the present invention, the first motor drives the lead screw to rotate, the slide table is threadedly connected to the lead screw and slides along the slide rail, and the cutting head is mounted on the slide table and moves with the slide table between the standby position, the cutting position and the switching position.

[0013] In the technical solution of the present invention, a push plate with an L-shaped longitudinal cross section is slidably arranged on the fixed frame, and a push rod is integrally formed on the bottom surface of the push plate; a cavity is opened inside the laser host, and a sliding groove communicating with the cavity is opened through the top surface of the laser host; a through groove is opened at the bottom of the fixed frame, and the sliding groove and the through groove communicate with each other and jointly define the movement range of the push rod.

[0014] The above setup enables controlled movement of the cutting head between standby, cutting, and switching positions, and transmits the telescopic motion to the converter via a push rod to trigger interlocking actions.

[0015] In the technical solution of the present invention, the converter further includes a sleeve tightly fitted on the outside of the valve body, a spring fitted on the outside of the valve body, an air nozzle tightly fitted in the round tubes on both sides of the valve body, and a cover plate threaded to the end of the valve body. A groove for sliding of the lever is provided through the outer wall of the sleeve, and the top end of the lever is engaged and fixed with the bottom end of the push rod.

[0016] In the technical solution of the present invention, the valve body is fixed inside the cavity of the laser host. The valve body has several radially penetrating through holes on its peripheral wall. The steel ball is placed in the corresponding through holes and slides radially along the through holes. The outer wall of the valve body is integrally formed with a ring for fixing the sleeve. The end of the valve body is provided with a limiting groove. The two ends of the spring abut against the outer walls of the ring and the pressure ring, respectively. The inner wall of the pressure ring has an annular groove area. When the pressure ring is not subjected to external force, it is in the first position. The straight section of the inner wall of the pressure ring presses the steel ball radially inward. After the pressure ring is driven to move axially by the lever, the annular groove area of ​​the pressure ring aligns with the steel ball, so that the steel ball has space to move radially outward.

[0017] In the technical solution of the present invention, the valve core has an L-shaped air passage inside, one end of the air passage axially passes through the end of the valve core, and the other end is aligned and connected with the air nozzle corresponding to one of the gas cylinders. The outer wall of the valve core has several limiting holes corresponding to the position of the steel ball. One end of the valve core is fixed with a rotating ring, and the rotating ring has a protrusion. The protrusion of the rotating ring slides in the limiting groove and limits the rotation angle of the valve core to 180°.

[0018] The above settings achieve a mechanical interlock between air path switching and cutting head position. The valve core is unlocked only when the switching position is reached to switch the air path, and it is automatically locked after leaving the position to ensure stable air path during operation.

[0019] In the technical solution of the present invention, the gas supply assembly further includes a connecting pipe connected between the gas cylinder and the gas nozzle, a gas supply pipe disposed between the converter and the cutting head, a second motor fixedly connected to the cavity of the laser host by bolts, a rotating shaft coaxially connected to the output shaft of the second motor, and a positioning frame sleeved on the outer wall of the gas cylinder and fixedly connected to the outer wall of the laser host by bolts. The interface of the gas supply pipe is located at the end position of the valve body corresponding to the axial end of the gas passage inside the valve core. The end of the rotating shaft passes through the cover plate and is coaxially connected to the valve core.

[0020] The above setup provides dual gas supply and gas path switching drive, with a second motor providing rotational power to the converter to achieve the selection and output of different auxiliary gases.

[0021] On the other hand, the present invention also provides a method for the linkage of laser cutting and high-pressure air supply for demolition based on a quadruped robot, comprising the following steps: S1. The robot dog carries the demolition device to the demolition work area. During this process, the cutting head is in the standby position and is in a retracted state. The valve core of the converter is mechanically locked in the current air circuit position by steel balls. S2. Upon arrival at the work location, determine the type of auxiliary gas to be used based on the type of the target material to be demolished. If the target is a metallic material, determine to use oxygen for auxiliary cutting; if the target is a flammable material, determine to use nitrogen for auxiliary cutting. S3. When the currently connected gas path is inconsistent with the required gas, the gas path needs to be switched. Start the first motor to drive the lead screw to rotate, drive the slide table to move along the slide rail, and make the cutting head retract further from the standby position to the switching position. S4. When the slide reaches the switching position, the slide moves backward against the push plate and pushes the lever to slide along the lever groove. The lever drives the pressure ring to move axially against the spring force, so that the annular groove area of ​​the inner wall of the pressure ring moves to align with the steel ball. The steel ball gains radial clearance space and releases the mechanical lock on the valve core. S5. Start the second motor. The second motor drives the valve core to rotate in the valve body through the rotating shaft. Under the restriction of the convexity of the rotating ring and the limiting groove, the valve core rotates 180°, so that the radial port of the L-shaped air passage inside it switches from the air nozzle corresponding to the current gas cylinder to the air nozzle corresponding to the target gas cylinder and connects. S6. When the currently connected gas path matches the required gas, the first motor reverses its drive, the slide table moves the cutting head forward away from the switching position, the push rod and the lever disengage, the pressure ring is axially reset under the restoring force of the spring, and its inner straight section presses the steel ball radially inward again, so that the inner side of the steel ball is embedded in the limit hole on the valve core corresponding to the new switching position, and the valve core is mechanically locked again. S7. The first motor continues to drive the slide table to move the cutting head forward to the cutting position, and the cutting head extends out of the fixed frame; the valve of the target gas cylinder is opened, and the gas is delivered to the coaxial nozzle of the cutting head through the connecting pipeline, the gas nozzle, the gas path in the valve core and the gas supply pipeline; at the same time, the laser host emits a laser, which is delivered to the cutting head through the transmission pipeline and focused on the target object to perform laser cutting and demolition operation. S8. After the cutting operation is completed, turn off the laser host and the target gas cylinder. The first motor drives the slide to retract the cutting head to the standby position. The robot dog can then move to the next work point.

[0022] Compared with the prior art, the beneficial effects of the present invention are: 1. This laser cutting and high-pressure air supply linkage device and method based on a quadruped robot for demolition, through mechanical interlocking of the extension and retraction movement of the cutting head with the locking and unlocking mechanism of the converter, ensures that the steel ball can only disengage from the limit hole of the valve core and the valve core can only rotate to switch the air circuit when the cutting head is fully retracted to the safe storage state of the switching position; once the cutting head leaves the switching position, the valve core is locked by pure mechanical means, fundamentally eliminating the possibility of accidental switching of the air circuit when the cutting head is in the working or semi-extended state, thus improving the safety of operation.

[0023] 2. The laser cutting and high-pressure air supply linkage device and method for demolition based on quadruped robots, after the air circuit is switched, the valve core is mechanically locked by multiple steel balls embedded in corresponding limit holes in multiple directions. With the continuous clamping force provided by the spring, a purely mechanical locking mechanism that does not require external energy maintenance is formed, which improves the reliability and vibration resistance of the equipment.

[0024] 3. The laser cutting and high-pressure air supply linkage device and method for demolition based on quadruped robots have three working positions for the cutting head: standby position for storage and protection, cutting position for operation, and switching position for retraction and unlocking. The states are clearly distinguished, making it easy to achieve automated control and providing error prevention functions. It is suitable for the actual operation process of quadruped robots in complex rescue environments.

[0025] 4. The laser cutting and high-pressure gas supply linkage device and method for demolition based on quadruped robots integrate functions such as telescopic drive, transmission trigger, gas path switching, and mechanical locking into a compact space on the top and inside of the laser host. The gas cylinders are placed on both sides, and the converter is placed in the cavity of the laser host. The overall center of gravity is low and the structure is compact, making full use of the limited installation space on the back of the quadruped robot. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the demolition device in this invention; Figure 3 This is a cross-sectional schematic diagram of the demolition device in this invention; Figure 4 This is a top-section sectional view of the demolition device in this invention; Figure 5 This is a schematic diagram of the cutting module in this invention; Figure 6 This is a cross-sectional view of the telescopic module in this invention; Figure 7 This is a cross-sectional view of the fixed frame structure in this invention; Figure 8 This is a schematic diagram of the slide table in this invention; Figure 9 This is one of the structural schematic diagrams of the push plate in this invention; Figure 10 This is the second schematic diagram of the push plate in this invention; Figure 11 This is a schematic diagram of the gas supply component in this invention; Figure 12 This is a schematic diagram of the converter in this invention; Figure 13 This is a schematic diagram showing the structural breakdown of the converter in this invention; Figure 14 This is a top-section sectional view of the converter structure in this invention; Figure 15 This is a schematic diagram of the valve body in this invention; Figure 16 This is a schematic diagram of the valve core structure in this invention; Figure 17 This is a top-section sectional view of the valve core structure in this invention; Figure 18 This is a schematic diagram of the laser cutting device in this invention. Figure 19 This is a schematic diagram of the laser cutting device in this invention; Explanation of reference numerals in the attached figures: 100. Robot dog; 200. Demolition device; 210. Cutting module; 211. Laser host; 2110. Slide rail; 212. Cutting head; 213. Transmission pipeline; 220. Telescopic module; 221. Fixing frame; 2210. Through groove; 222. First motor; 223. Lead screw; 224. Slide table; 225. Slide rail; 226. Push plate; 2260. Push rod; 230. Gas cylinder; 240. Converter; 241. Valve body; 2410. Through hole 2411, Ring body; 2412, Limiting groove; 242, Valve core; 2420, Air passage; 2421, Limiting hole; 2422, Rotating ring; 243, Steel ball; 244, Sleeve; 2440, Slot; 245, Pressure ring; 246, Lever; 247, Spring; 248, Air nozzle; 249, Cover plate; 250, Connecting pipeline; 260, Air supply pipeline; 270, Second motor; 280, Rotating shaft; 290, Positioning frame; 300. Laser cutting device. Detailed Implementation

[0027] The technical solutions of this invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention. Example 1

[0028] Please see Figures 1-5 As shown, this embodiment provides a technical solution: A laser cutting and high-pressure gas supply linkage device for demolition based on a quadruped robot includes a robot dog 100 and a demolition device 200 mounted on its back. The demolition device 200 includes a cutting head 212, a telescopic module 220 for controlling the extension and retraction of the cutting head 212, and a gas supply component disposed on the outside of the cutting head 212 for providing it with auxiliary gas.

[0029] Furthermore, the robot dog 100 body serves as the overall motion platform, including the body, four independently driven mechanical legs, joint drive components, foot wheels / feet structure, main control unit, attitude sensors, and power battery. The robot dog 100 can move forward, backward, turn, cross obstacles, climb stairs, walk on slopes, and stand still, thus meeting the mobility needs in ruins, stairs, potholes, and narrow environments.

[0030] Furthermore, the demolition device 200 also includes a cutting module 210, which includes a laser host 211 fixedly connected to the back of the robot dog 100 by bolts, and a transmission pipe 213 for transmitting laser is connected between the laser host 211 and the cutting head 212.

[0031] Furthermore, the cutting head 212 is configured with standby, cutting, and switching positions. When the cutting head 212 is in the standby position, it is in a retracted state, which facilitates the movement of the robot dog 100. When the cutting head 212 is in the cutting position, it extends to perform demolition operations. When the cutting head 212 is in the switching position, it further retracts, and the air supply component enters the air circuit switching state.

[0032] Furthermore, the laser host 211 uses a fiber laser with a power of 1000W to 2000W, and the transmission pipeline 213 is an armored fiber optic cable that delivers the laser to the cutting head 212. The cutting head 212 has a coaxial nozzle structure and integrates a collimating focusing lens group. The central hole of the nozzle passes through the laser, and the outer ring is an auxiliary gas outlet. A cavity is opened inside the laser host 211, and a sliding groove 2110 communicating with the cavity is opened through the top surface of the laser host 211. The push rod 2260 passes downward through the bottom surface of the slide table 224 and through the through groove 2210 at the bottom of the fixed frame 221 and the sliding groove 2110 on the top surface of the laser host 211. The sliding groove 2110 and the through groove 2210 communicate with each other and jointly limit the forward and backward movement range of the push rod 2260.

[0033] The above setup provides a support base for the demolition device 200, defines three working states for the cutting head 212, and provides structural support and laser output for subsequent extension and pneumatic switching.

[0034] Please see Figures 6-10As shown, in this embodiment, the telescopic module 220 includes a fixed frame 221 that is fixedly connected to the top surface of the laser host 211 by bolts, a first motor 222 that is fixedly connected to the internal partition of the fixed frame 221 by bolts, a lead screw 223 that is coaxially connected to the output shaft of the first motor 222, a slide table 224 that slides inside the fixed frame 221, and a slide rail 225 that is fixedly connected to the bottom surface of the fixed frame 221 by bolts.

[0035] Furthermore, the first motor 222 drives the lead screw 223 to rotate, the slide table 224 is threadedly connected to the lead screw 223 and slides along the slide rail 225, and the cutting head 212 is mounted on the slide table 224 and moves with the slide table 224 between the standby position, the cutting position and the switching position.

[0036] Furthermore, a push plate 226 with an L-shaped longitudinal cross section is slidably disposed on the fixed frame 221, and a push rod 2260 is integrally formed on the bottom surface of the push plate 226; a through groove 2210 is provided at the bottom of the fixed frame 221, and the sliding groove 2110 is connected to the through groove 2210 and together they define the movement range of the push rod 2260.

[0037] Furthermore, the fixed frame 221 provides space for the cutting head 212 to move and store. After the first motor 222 is started, it drives the lead screw 223 to rotate, which in turn drives the slide table 224 to move laterally on the slide rail 225, thereby adjusting the position of the cutting head 212. When the slide table 224 moves the cutting head 212 to the cutting position, the slide table 224 drives the push plate 226 to the position, thereby triggering the converter 240.

[0038] In the above configuration, the cutting head 212 is moved in a controlled manner between the standby, cutting, and switching positions, and the telescopic motion is transmitted to the converter 240 through the push rod 2260 to trigger the interlocking action.

[0039] Please see Figure 11 As shown, in this embodiment, the gas supply assembly includes two gas cylinders 230 disposed on both sides of the telescopic module 220 and loaded with different gases, and a converter 240 connected to the cutting head 212 and the two gas cylinders 230 via pipes. The gas supply assembly also includes a connecting pipe 250 connected between the gas cylinders 230 and the nozzles 248, a gas supply pipe 260 disposed between the valve body 241 and the cutting head 212, a second motor 270 fixedly connected to the cavity of the laser host 211 by bolts, a rotating shaft 280 coaxially connected to the output shaft of the second motor 270, and a positioning frame 290 sleeved on the outer wall of the gas cylinders 230 and fixedly connected to the outer wall of the laser host 211 by bolts. The internal gas passage of the converter 240 is connected to one of the gas cylinders 230.

[0040] Furthermore, two gas cylinders 230 are respectively positioned on both sides of the telescopic module 220 and fixed to the outer wall of the laser host 211 by positioning brackets 290 and bolts. The two gas cylinders 230 are filled with oxygen and nitrogen respectively, and are composite gas cylinders with carbon fiber wound aluminum liner, with a working pressure of 30MPa. The two gas cylinders 230 are connected to the converter 240 through connecting pipes 250. After the second motor 270 is started, it drives the rotating shaft 280 to rotate, thereby triggering the converter 240 to switch the gas path.

[0041] The above configuration provides dual gas supply and gas path switching drive, and the second motor 270 provides rotational power to the converter 240 to achieve the selection and output of different auxiliary gases.

[0042] Please see Figures 12-17 As shown, in this embodiment, the converter 240 includes a valve body 241, a valve core 242 that rotates within the valve body 241 and is driven by a second motor 270, a plurality of steel balls 243 that are slidably embedded in the outer wall of the valve body 241, a sleeve 244 that is tightly fitted on the outside of the valve body 241, a pressure ring 245 that is fitted on the outside of the valve body 241, a lever 246 that is disposed on the outer wall of the pressure ring 245 and extends vertically upward, a spring 247 that is fitted on the outside of the valve body 241, an air nozzle 248 that is tightly fitted in the round tubes on both sides of the valve body 241, and a cover plate 249 that is threadedly connected to the end of the valve body 241.

[0043] Furthermore, when the telescopic module 220 controls the cutting head 212 to move to the switching position, the trigger lever 246 drives the pressure ring 245 to move axially, causing the steel ball 243 to retract radially outward and release the lock on the valve core 242. At this time, the second motor 270 drives the valve core 242 to rotate to switch the air path. When the cutting head 212 leaves the switching position, the pressure ring 245 resets, and the valve core 242 is locked again. Furthermore, the interface of the air supply line 260 is located at the end of the valve body 241 corresponding to the axial end of the air passage 2420 inside the valve core 242. The end of the rotating shaft 280 passes through the cover plate 249 and is coaxially connected to the valve core 242. A groove 2440 for sliding the lever 246 is provided through the outer wall of the sleeve 244. The top of the lever 246 is engaged and fixed with the bottom of the push rod 2260. The push rod 2260 extends downward to a position where it can contact the lever 246. When the slide table 224 moves to the switching position, the push rod 2260 moves the lever 246 to drive the pressure ring 245 to move axially.

[0044] Furthermore, the valve body 241 is fixed inside the cavity of the laser host 211. The circumferential wall of the valve body 241 has several radially penetrating through holes 2410. The steel ball 243 is correspondingly accommodated in the through holes 2410 and slides radially along the through holes 2410. The outer wall of the valve body 241 is integrally formed with a ring body 2411 for fixing the sleeve 244. The end of the valve body 241 is provided with a limiting rotating groove 2412. The two ends of the spring 247 abut against the outer walls of the ring body 2411 and the pressure ring 245 respectively, providing the pressure ring 245 with an elastic force tending towards the first position.

[0045] Furthermore, the inner wall of the pressure ring 245 has an annular groove area. When the pressure ring 245 is not subjected to external force, it is in the first position. The straight section of the inner wall of the pressure ring 245 presses the steel ball 243 radially inward. After the pressure ring 245 is driven to move axially by the lever 246, the annular groove area of ​​the pressure ring 245 is aligned with the steel ball 243, so that the steel ball 243 has space to move radially outward.

[0046] Furthermore, the valve core 242 has an L-shaped air passage 2420 inside. One end of the air passage 2420 axially passes through the end of the valve core 242, and the other end is aligned and connected to the air nozzle 248 corresponding to one of the gas cylinders 230. The outer wall of the valve core 242 has several limiting holes 2421 corresponding to the positions of the steel balls 243. When the pressure ring 245 is in the first position, the inner side of the steel ball 243 partially protrudes from the inner wall of the valve body 241 and is embedded in the limiting hole 242. 1. Locking valve core 242; when pressure ring 245 is in the second position, steel ball 243 disengages from limiting hole 2421 to release the lock on valve core 242. One end of valve core 242 is fixed with rotating ring 2422. The rotating ring 2422 is provided with protrusion. The protrusion of rotating ring 2422 slides in limiting rotating groove 2412 and limits the rotation angle of valve core 242 to 180°, thereby ensuring that valve core 242 accurately flips between the two air passage 2420 switching positions.

[0047] Furthermore, when the slide table 224 reaches the switching position, the slide table 224 retracts after contacting the push plate 226, and pushes the lever 246 along the slot 2440 through the push rod 2260. The lever 246 drives the pressure ring 245 to move axially against the elastic force of the spring 247, so that the annular groove area on the inner wall of the pressure ring 245 moves to align with the steel ball 243. The steel ball 243 obtains a radial clearance space, releasing the mechanical lock on the valve core 242.

[0048] Furthermore, the second motor 270 is started. The second motor 270 drives the valve core 242 to rotate inside the valve body 241 via the rotating shaft 280. Under the constraint of the protrusion of the rotating ring 2422 and the limiting rotating groove 2412, the valve core 242 rotates 180°, so that the radial port of its internal L-shaped air passage 2420 is switched from the air nozzle 248 corresponding to the current gas cylinder 230 to the air nozzle 248 corresponding to the target gas cylinder 230 and is aligned and connected.

[0049] The above settings achieve mechanical interlock between air circuit switching and cutting head position: the valve core 242 is unlocked only when the switching position is reached to switch the air circuit, and it is automatically locked after leaving the position to ensure stable air circuit during operation.

[0050] The present invention provides a method for laser cutting and high-pressure air supply linkage for demolition based on a quadruped robot, comprising the following steps: S1. The robot dog 100 carries the demolition device 200 to the demolition operation area. During this process, the cutting head 212 is in the standby position and is in a retracted state. The valve core 242 of the converter 240 is mechanically locked in the current air passage position by the steel ball 243. S2. Upon arrival at the work location, determine the type of auxiliary gas to be used based on the type of the target material to be demolished. If the target is a metallic material, determine to use oxygen for auxiliary cutting; if the target is a flammable material, determine to use nitrogen for auxiliary cutting. S3. When the currently connected gas path is inconsistent with the required gas, the gas path needs to be switched, which drives the slide table 224 to move along the slide rail 225, so that the cutting head 212 is further retracted from the standby position to the switching position. S4. When the slide table 224 reaches the switching position, the slide table 224 retracts after contacting the push plate 226. The push rod 2260 pushes the lever 246 to slide along the groove 2440. The lever 246 drives the pressure ring 245 to move axially against the elastic force of the spring 247, so that the annular groove area on the inner wall of the pressure ring 245 moves to align with the steel ball 243. The steel ball 243 obtains a radial clearance space, releasing the mechanical lock on the valve core 242. S5. Start the second motor 270. The second motor 270 drives the valve core 242 to rotate inside the valve body 241 through the rotating shaft 280. Under the restriction of the protrusion of the rotating ring 2422 and the limiting rotating groove 2412, the valve core 242 rotates 180°, so that the radial port of the L-shaped air passage 2420 inside it switches from the air nozzle 248 corresponding to the current gas cylinder 230 to the air nozzle 248 corresponding to the target gas cylinder 230 and connects with it. S6. When the currently connected gas path matches the required gas, the first motor 222 drives in reverse, the slide table 224 drives the cutting head 212 to move forward away from the switching position, the push rod 2260 disengages from the lever 246, the pressure ring 245 is axially reset under the restoring force of the spring 247, and its inner straight section presses the steel ball 243 radially inward again, so that the inner side of the steel ball 243 is embedded in the limiting hole 2421 on the valve core 242 corresponding to the new switching position, and the valve core 242 is mechanically locked again. S7. The first motor 222 continues to drive the slide table 224 to move the cutting head 212 forward to the cutting position. The cutting head 212 extends out of the fixed frame 221. The valve of the target gas cylinder 230 is opened. The gas is delivered to the coaxial nozzle of the cutting head 212 and ejected after passing through the connecting pipe 250, the nozzle 248, the gas passage 2420 in the valve core 242 and the gas supply pipe 260. At the same time, the laser host 211 emits a laser, which is delivered to the cutting head 212 through the transmission pipe 213 and focused on the target object to perform laser cutting and demolition operations. S8. After the cutting operation is completed, turn off the laser host 211 and the target gas cylinder 230. The first motor 222 drives the slide table 224 to move the cutting head 212 back to the standby position. The robot dog 100 can continue to move to the next work point. Example 2

[0051] Please see Figures 18-19 As shown, this embodiment provides a laser cutting device 300, including a control system, a cutting head, a power supply system, a laser, and a gas supply device. The gas supply device includes a high-pressure gas tank, a valve, a pressure reducing valve, and a solenoid valve.

[0052] Furthermore, the cutting head is fixed to the outer shell of the cutting device via a mounting bracket, allowing the robot to quickly remove it after approaching the target and cut the obstacle. The gas supply device provides auxiliary gas to the laser cutting area, improving cutting efficiency and meeting the process requirements for rapid dismantling of specific materials.

[0053] Furthermore, the high-pressure gas tank is equipped with an anti-collision shield, a high-temperature isolation layer, and a pressure relief protection structure on the outside to improve safety in hazardous environments.

[0054] Furthermore, during the demolition operation, the laser cutting device 300 is activated, the valves are opened simultaneously, and the pressure reducing valve is adjusted to a suitable output pressure. The laser output port of the cutting head is aligned with the area to be cut, and the switch on the cutting head is pressed. The control system will then open the solenoid valve, and the high-pressure gas tank will output auxiliary gas to the cutting area. At the same time, the laser will start working, outputting laser light to the cutting area through the optical fiber. During cutting, the switch on the cutting head is continuously pressed. After releasing the switch, the laser stops working, and the solenoid valve closes.

[0055] The foregoing description of specific exemplary embodiments of the invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the invention, as well as various different choices and variations. The scope of the invention is intended to be defined by the specification and its equivalents.

Claims

1. A laser cutting and high-pressure gas supply linkage device for demolition based on a quadruped robot, comprising a robot dog (100) and a demolition device (200) mounted on its back, wherein the demolition device (200) comprises a cutting head (212), a telescopic module (220) for controlling the extension and retraction of the cutting head (212), and a gas supply component disposed on the outside of the cutting head (212) for providing auxiliary gas thereto; Its features are: The cutting head (212) is configured with standby, cutting and switching positions. When the cutting head (212) is in the standby position, it is in a retracted state. When the cutting head (212) is in the cutting position, it extends to perform demolition operations. When the cutting head (212) is in the switching position, it further retracts and the air supply assembly enters the air circuit switching state. The gas supply assembly includes two gas cylinders (230) disposed on both sides of the telescopic module (220) and filled with different gases, and a converter (240) connected to the cutting head (212) and the two gas cylinders (230) via a pipe. The internal gas passage of the converter (240) is connected to one of the gas cylinders (230). The converter (240) includes a valve body (241), a valve core (242) that rotates inside the valve body (241) and is driven by a second motor (270), a plurality of steel balls (243) that are slidably embedded in the outer wall of the valve body (241), a pressure ring (245) that is sleeved on the outside of the valve body (241), and a lever (246) that is disposed on the outer wall of the pressure ring (245) and extends vertically upward. When the telescopic module (220) controls the cutting head (212) to move to the switching position, the trigger lever (246) drives the pressure ring (245) to move axially, causing the steel ball (243) to retract radially outward and release the lock on the valve core (242). At this time, the second motor (270) drives the valve core (242) to rotate to switch the air path. When the cutting head (212) leaves the switching position, the pressure ring (245) resets and the valve core (242) is locked again.

2. The laser cutting and high-pressure air supply linkage device for demolition based on a quadruped robot as described in claim 1, characterized in that: The demolition device (200) also includes a cutting module (210), which includes a laser host (211) that is fixedly connected to the back of the robot dog (100) by bolts. A transmission pipeline (213) for transmitting laser is connected between the laser host (211) and the cutting head (212).

3. The laser cutting and high-pressure air supply linkage device for demolition based on a quadruped robot as described in claim 2, characterized in that: The telescopic module (220) includes a fixed frame (221) fixedly connected to the top surface of the laser host (211) by bolts, a first motor (222) fixedly connected to the internal partition of the fixed frame (221) by bolts, a lead screw (223) coaxially connected to the output shaft of the first motor (222), a slide table (224) sliding inside the fixed frame (221), and a slide rail (225) fixedly connected to the bottom surface inside the fixed frame (221) by bolts.

4. The laser cutting and high-pressure air supply linkage device for demolition based on a quadruped robot as described in claim 3, characterized in that: The first motor (222) drives the lead screw (223) to rotate. The slide table (224) is threaded onto the lead screw (223) and slides along the slide rail (225). The cutting head (212) is mounted on the slide table (224) and moves with the slide table (224) between the standby position, the cutting position and the switching position.

5. The laser cutting and high-pressure air supply linkage device for demolition based on a quadruped robot as described in claim 4, characterized in that: A push plate (226) with an L-shaped longitudinal cross section is slidably disposed on the fixed frame (221), and a push rod (2260) is integrally formed on the bottom surface of the push plate (226); a cavity is opened inside the laser host (211), and a sliding groove (2110) communicating with the cavity is opened through the top surface of the laser host (211); a through groove (2210) is opened at the bottom of the fixed frame (221), and the sliding groove (2110) and the through groove (2210) are connected and jointly limit the movement range of the push rod (2260).

6. The laser cutting and high-pressure air supply linkage device for demolition based on a quadruped robot as described in claim 5, characterized in that: The converter (240) also includes a sleeve (244) tightly fitted on the outside of the valve body (241), a spring (247) fitted on the outside of the valve body (241), an air nozzle (248) tightly fitted in the round tubes on both sides of the valve body (241), and a cover plate (249) threaded to the end of the valve body (241). The outer wall of the sleeve (244) is provided with a groove (2440) for sliding of the lever (246). The top of the lever (246) is engaged and fixed with the bottom of the push rod (2260).

7. The laser cutting and high-pressure air supply linkage device for demolition based on a quadruped robot as described in claim 6, characterized in that: The valve body (241) is fixed inside the cavity of the laser host (211). The valve body (241) has several radially penetrating through holes (2410) on its peripheral wall. The steel ball (243) is placed in the corresponding through hole (2410) and slides radially along the through hole (2410). The outer wall of the valve body (241) is integrally formed with an annular body (2411) for fixing the sleeve (244). The end of the valve body (241) is provided with a limiting rotating groove (2412). The spring (247) The two ends of the ring (2411) and the outer wall of the pressure ring (245) respectively abut against each other. The inner wall of the pressure ring (245) has an annular groove area. When the pressure ring (245) is not subjected to external force, it is in the first position. The straight section of the inner wall of the pressure ring (245) presses the steel ball (243) radially inward. After the pressure ring (245) is driven to move axially by the lever (246), the annular groove area of ​​the pressure ring (245) is aligned with the steel ball (243), so that the steel ball (243) has space to move radially outward.

8. The laser cutting and high-pressure air supply linkage device for demolition based on a quadruped robot as described in claim 7, characterized in that: The valve core (242) has an L-shaped air passage (2420) inside. One end of the air passage (2420) is axially connected to the end of the valve core (242), and the other end is aligned and connected to the air nozzle (248) corresponding to one of the gas cylinders (230). The outer wall of the valve core (242) has several limiting holes (2421) corresponding to the position of the steel ball (243). One end of the valve core (242) is fixed with a rotating ring (2422). The rotating ring (2422) has a protrusion. The protrusion of the rotating ring (2422) slides in the limiting groove (2412) and limits the rotation angle of the valve core (242) to 180°.

9. The laser cutting and high-pressure air supply linkage device for demolition based on a quadruped robot as described in claim 8, characterized in that: The gas supply assembly also includes a connecting pipe (250) connecting the gas cylinder (230) and the gas nozzle (248), a gas supply pipe (260) set between the converter (240) and the cutting head (212), a second motor (270) fixedly connected to the cavity of the laser host (211) by bolts, a rotating shaft (280) coaxially connected to the output shaft of the second motor (270), and a positioning frame (290) sleeved on the outer wall of the gas cylinder (230) and fixedly connected to the outer wall of the laser host (211) by bolts. The interface of the gas supply pipe (260) is located at the end of the valve body (241) corresponding to the axial end of the gas passage (2420) inside the valve core (242). The end of the rotating shaft (280) passes through the cover plate (249) and is coaxially connected to the valve core (242).

10. A method for laser cutting and high-pressure air supply linkage for demolition based on a quadruped robot, using the laser cutting and high-pressure air supply linkage device for demolition based on a quadruped robot as described in claim 9, characterized in that: Includes the following steps: S1. The robot dog (100) carries the demolition device (200) to the demolition operation area. During this process, the cutting head (212) is in the standby position and is in a retracted state. The valve core (242) of the converter (240) is mechanically locked in the current air passage position by the steel ball (243). S2. Upon arrival at the work location, determine the type of auxiliary gas to be used based on the type of the target material to be demolished. If the target is a metallic material, determine to use oxygen for auxiliary cutting; if the target is a flammable material, determine to use nitrogen for auxiliary cutting. S3. When the gas path currently connected is inconsistent with the required gas, the gas path needs to be switched. Start the first motor (222) to drive the lead screw (223) to rotate, drive the slide table (224) to move along the slide rail (225), and make the cutting head (212) retract further from the standby position to the switching position. S4. When the slide (224) reaches the switching position, the slide (224) retracts after contacting the push plate (226), and pushes the lever (246) along the groove (2440) through the push rod (2260). The lever (246) drives the pressure ring (245) to move axially against the elastic force of the spring (247), so that the annular groove area of ​​the inner wall of the pressure ring (245) moves to align with the steel ball (243). The steel ball (243) obtains a radial clearance space, releasing the mechanical lock on the valve core (242). S5. Start the second motor (270). The second motor (270) drives the valve core (242) to rotate inside the valve body (241) through the rotating shaft (280). Under the restriction of the cooperation between the protrusion of the rotating ring (2422) and the limiting rotating groove (2412), the valve core (242) rotates 180°, so that the radial port of the L-shaped air passage (2420) inside it switches from the air nozzle (248) corresponding to the current gas cylinder (230) to the air nozzle (248) corresponding to the target gas cylinder (230) and connects. S6. When the currently connected gas path matches the required gas, the first motor (222) drives in reverse, the slide (224) drives the cutting head (212) to move forward away from the switching position, the push rod (2260) and the lever (246) disengage, the pressure ring (245) is axially reset under the restoring force of the spring (247), and its inner straight section presses the steel ball (243) radially inward again, so that the inner side of the steel ball (243) is embedded in the limiting hole (2421) on the valve core (242) corresponding to the new switching position, and the valve core (242) is mechanically locked again. S7. The first motor (222) continues to drive the slide (224) to move the cutting head (212) forward to the cutting position. The cutting head (212) extends out of the fixed frame (221). The valve of the target gas cylinder (230) is opened. The gas is delivered to the coaxial nozzle of the cutting head (212) after passing through the connecting pipe (250), the gas nozzle (248), the gas passage (2420) in the valve core (242) and the gas supply pipe (260). At the same time, the laser host (211) emits a laser, which is delivered to the cutting head (212) through the transmission pipe (213) and focused on the target object to perform laser cutting and demolition operations. S8. After the cutting operation is completed, turn off the laser host (211) and the target gas cylinder (230). The first motor (222) drives the slide (224) to move the cutting head (212) back to the standby position. The robot dog (100) can continue to move to the next work point.

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